CN112061349A

CN112061349A - Underwater robot

Info

Publication number: CN112061349A
Application number: CN202010830225.5A
Authority: CN
Inventors: 梁智勇; 梁刚; 杨昕; 庄国钦; 龙斌; 吴奇; 梁智东; 罗祖昌; 刘云辉; 周柊伶; 柯明
Original assignee: Liuzhou Shenying Technology Co ltd
Current assignee: Liuzhou Shenying Technology Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2020-12-11
Anticipated expiration: 2040-08-18
Also published as: CN112061349B

Abstract

The invention relates to the technical field of robots, in particular to an underwater robot, which comprises a robot body and a shell, wherein the robot body comprises a cylinder body and an installation frame, the cylinder body is provided with a cavity, a control module, a shooting module and a power supply module are arranged in the cavity, two ends of the cylinder body are respectively provided with a front opening and a rear opening which are communicated with the cavity, the front opening is provided with a front cover, and the rear opening is provided with a rear cover; the mounting frame is provided with a plurality of mounting frames, and the shell is wrapped outside the machine body and is fixedly connected with the cylinder body through the mounting frame; the shell is provided with four first preformed grooves, four corners of the shell are provided with second preformed grooves, and the first preformed grooves and the second preformed grooves are provided with power mechanisms; the power mechanisms are respectively electrically connected with the control modules. The underwater robot is simple in structure, and high in installation and maintenance difficulty.

Description

Underwater robot

Technical Field

The invention relates to the technical field of robots, in particular to an underwater robot.

Background

An underwater robot is also called an unmanned remote control submersible, is a limit operation robot working underwater, has severe underwater environment and danger, and has limited diving depth, so the underwater robot becomes an important tool for developing underwater. When the underwater robot carries out detection work underwater, the camera equipment of the underwater robot is equivalent to the eyes of the robot, the underwater robot can perform investigation, shoot and monitor underwater conditions, the underwater robot can replace manual work in underwater long-time operation in a high-risk environment, a polluted environment and a zero-visibility water area, and the underwater robot is generally provided with a sonar system, a camera, a lighting lamp, a mechanical arm and other devices. The existing underwater robot is complex in structure and high in installation difficulty, the water body environment for operation of the underwater robot is complex, faults are easy to occur, and when the underwater robot breaks down, the maintenance difficulty is high.

Disclosure of Invention

In order to solve the problems, the invention provides an underwater robot which is simple in structure and high in difficulty of installation and maintenance.

In order to achieve the purpose, the invention adopts the technical scheme that:

an underwater robot comprises a machine body and a shell, wherein the machine body comprises a cylinder body and an installation frame,

the barrel is provided with a cavity, a control module, a shooting module and a power module are arranged in the cavity, and the control module is electrically connected with the shooting module and the power module respectively;

the front opening is provided with a front cover, the front cover comprises a front flange plate, a flange ring, a resin spherical cover and a front pressing plate, the front flange plate is positioned at the front opening, the front flange plate is fixedly connected with the cylinder body, the flange ring, the resin spherical cover and the front pressing plate are sequentially arranged in the direction of the front flange plate away from the front opening, and the front flange plate, the flange ring and the front pressing plate are connected through flange bolts, so that the resin spherical cover is clamped between the flange ring and the front pressing plate; the rear opening is provided with a rear cover, the rear cover comprises a rear flange and a rear cover body, the rear flange is positioned at the rear opening and is fixedly connected with the barrel, the rear cover body is positioned on one side of the rear flange, which is back to the barrel, and is fixedly connected with the rear flange through a flange bolt;

the mounting frames are fixedly sleeved on the cylinder body, and the shell is wrapped outside the machine body and is fixedly connected with the cylinder body through the mounting frames; the shell is provided with four first preformed grooves, every two first preformed grooves are respectively positioned on two sides of the cylinder body, four corners of the shell are respectively provided with a second preformed groove, the opening direction of the second preformed groove is perpendicular to the first preformed grooves, the first preformed grooves and the second preformed grooves are respectively provided with a power mechanism, the power mechanisms of the first preformed grooves are used for controlling the lifting of the robot, and the power mechanisms of the second preformed grooves are used for controlling the advancing and retreating or steering of the robot;

the power mechanisms are respectively electrically connected with the control modules.

Furthermore, the rear cover body is provided with a plurality of threaded holes, the threaded holes are provided with threading screws, and the threading screws are used for leading out the wires in the barrel body to the shell.

Further, four angles of installation frame are equipped with the installation screens, the installation screens is equipped with the frame board, the frame board is equipped with four, just frame board one side is erect in the installation screens and with installation frame fixed connection, the frame board be equipped with the shell first reservation groove reaches the same trench in second reservation tank aperture, the shell passes through the frame board reaches the installation frame with barrel fixed connection, just the trench with first reservation groove is aimed at.

Furthermore, a silicone waterproof gasket is clamped between the front flange plate and the flange ring, and a tetrafluoro waterproof gasket is clamped between the resin spherical cover and the front pressure plate; the back ring flange reaches back lid silica gel waterproof gasket and tetrafluoro waterproof gasket.

Further, the shell is provided with a plurality of guide holes communicated with the inside, two buoyancy adjusting mechanisms are arranged in the shell and located on two sides of the barrel, each buoyancy adjusting mechanism comprises a buoyancy bin, a sealing piece and an electric push rod, one end of each buoyancy bin is provided with a discharge port communicated with the inside, the sealing piece is located in the buoyancy bin, the sealing piece is connected with the inner wall of the buoyancy bin in a sliding mode, the electric push rods are located in the buoyancy bins, one end of each buoyancy bin is opposite to the sealing piece, the other end of each buoyancy bin is fixedly connected with the inner wall of the corresponding buoyancy bin, the electric push rods are electrically connected with the control module, and under the action of the electric push rods, the sealing pieces push or discharge liquid into or out of the buoyancy bins through the discharge ports.

Further, the buoyancy bin is provided with a discharge port which is provided with an electromagnetic switch valve, and the electromagnetic switch valve is electrically connected with the control module.

Furthermore, the power mechanism comprises propellers and driving motors, two ends of each first preformed groove and each second preformed groove are respectively provided with a notch communicated with the inside, the notches are respectively provided with a fixing frame, the propellers are positioned in the corresponding first preformed groove or the second preformed groove, two ends of each propeller are respectively rotatably connected with the two fixing frames, the driving motors are fixedly arranged on the fixing frames and are in transmission connection with the propellers, and the driving motors are electrically connected with the control module; each notch all is equipped with the kuppe, first reservation groove reaches two kuppes of second reservation groove set up relatively, just the kuppe with mount fixed connection, just driving motor locates one in the kuppe.

Furthermore, one side of the fixing frame, which faces the propeller, is fixedly provided with a plurality of cutting knives.

Further, the bottom of the shell is provided with a mounting mechanism, the mounting mechanism comprises a mounting bin and a fishing device arranged in the mounting bin,

the hanging bin is detachably mounted at the bottom of the shell through screws, a bin body is arranged in the hanging bin, the hanging bin is provided with a bin opening communicated with the bin body, the bin opening is provided with a bin door, one end of the bin door is hinged with the hanging bin, the other end of the bin door is connected with the hanging bin through a first electric telescopic rod, so that the bin opening can be sealed by the bin door, one end of the first electric telescopic rod is slidably connected with the bin door, the other end of the first electric telescopic rod is rotatably connected with the inner wall of the bin body, and the first electric telescopic rod is electrically connected with the control module; one surface of the bin door facing the bin body is provided with a closing piece abutted against the bin opening, and the periphery of the closing piece is provided with a sealing rubber ring so that the closing piece can seal the bin opening; the bin door is provided with a pressure relief opening, the pressure relief opening is provided with a pressure relief valve, and the pressure relief valve is electrically connected with the control module;

the fishing device comprises a scissor type telescopic frame, a second electric telescopic rod and a fishing hand, wherein the scissor type telescopic frame is formed by connecting a plurality of X supports which are hinged with each other, the X support at one end of the scissor type telescopic frame is a fixed support, the rest of the X supports are sliding supports, one end of the fixed support, far away from one side of the sliding support, is rotatably connected with the inner wall of one end of the bin body, the other end of the fixed support is slidably connected with the inner wall of one end of the bin body, and one side of the sliding support is slidably connected with the side wall of the bottom of the bin body; the second electric telescopic rod is used for telescopic driving of the scissor type telescopic frame and is electrically connected with the control module;

the sliding support at one end of the scissor type telescopic frame, which is far away from the fixed support, is provided with a connecting rod, one end of the sliding support is rotatably connected with the connecting rod, the other end of the sliding support is slidably connected with the connecting rod, and two ends of the connecting rod are respectively slidably connected with the inner wall of the bin body; the fishing hand is fixedly connected with one side of the connecting rod, which is back to the scissor type telescopic frame;

the fishing hand comprises connecting arms and fishing arms, one end of each connecting arm is fixedly connected with the corresponding connecting rod, at least three fishing arms are arranged, the fishing arms are connected with one ends, far away from the corresponding connecting rod, of the connecting arms, each fishing arm comprises a first arm body and a second arm body, one end of each first arm body is fixedly connected with one end, far away from the corresponding connecting rod, of each connecting arm, the other end of each first arm body is rotatably connected with the middle of the corresponding second arm body, a third electric telescopic rod is arranged at one end, close to the corresponding connecting arm, of each second arm body, one end of each third electric telescopic rod is rotatably connected with the corresponding first arm body, the other end of each third electric telescopic rod is slidably connected with the corresponding second arm body, each third electric telescopic rod is electrically connected with the corresponding control module, and the first arm body performs grabbing or releasing actions under the action of the third electric;

the bin body is internally provided with a high-pressure air bottle filled with high-pressure gas, the high-pressure air bottle is provided with an exhaust electromagnetic valve, and the exhaust electromagnetic valve is electrically connected with the control module.

Furthermore, one end of the mounting bin, which is close to the shell, is provided with an adjusting bin with a sealing structure, a balance adjusting mechanism is arranged in the adjusting bin, the balance adjusting mechanism comprises a floating block, a horizontal sensor, a transverse moving device and a longitudinal moving device,

the transverse moving device comprises a first transmission piece, a first driving rod and a first adjusting motor, the first transmission piece is fixedly arranged on the upper surface of the floating block, the first driving rod is threaded through the first transmission piece, two ends of the first driving rod are respectively connected with the inner wall of the adjusting bin in a sliding mode, the first adjusting motor is connected with the first driving rod in a transmission mode through a gear set, and the first driving rod is connected with the inner wall of the adjusting bin in a sliding mode; the first adjusting motor is electrically connected with the control module;

the longitudinal moving device comprises a second transmission part, a second driving rod and a second adjusting motor, the second transmission part is fixedly arranged on the lower surface of the floating block, the second driving rod penetrates through the second transmission part in a threaded manner, two ends of the second driving rod are respectively connected with the inner wall of the adjusting bin in a sliding manner, the second adjusting motor is connected with the second driving rod in a transmission manner through a gear set, and the second driving rod is connected with the inner wall of the adjusting bin in a sliding manner; the second adjusting motor is electrically connected with the control module;

the horizontal sensor is fixedly arranged in the cylinder and is electrically connected with the control module.

The invention has the beneficial effects that:

1. because preceding ring flange, flange ring reach between the preceding clamp plate through flange bolted connection for the spherical cover centre gripping of resin is between flange ring and preceding clamp plate, and the back lid passes through flange bolt and back ring flange fixed connection, when control module, shooting module and the power module in the barrel broke down, can be convenient for dismantle protecgulum or back lid, in order to repair the maintenance to control module, shooting module and power module. The resin spherical cover provides a clear visual field for the shooting module, and the resin spherical cover has high compressive strength, prevents the resin spherical cover from breaking, leads to liquid to get into the barrel. The compressive strength in barrel middle part space can have been increased to the ring flange and the installation frame at the cylindric structure of barrel, barrel both ends, passes through the installation frame at the shell moreover and is connected with the shell, realizes the convenience of installation, modularization and the intensity gain of structure.

2. Under the effect of threading screw, can make the wire in the barrel draw forth to the barrel outside through the threading screw, can guarantee the leakproofness of barrel moreover. Under the effect of frame plate, improved the compressive strength of shell, moreover through setting up the frame plate on the installation frame, can strengthen the intensity of installation frame, further improve the compressive strength of barrel. Under the effect of silica gel waterproof gasket and tetrafluoro waterproof gasket, can guarantee the leakproofness of barrel.

3. When the underwater robot needs to ascend, the electric push rod is controlled to be started through the control module, the sealing element moves towards the direction close to the discharge port, liquid in the buoyancy bin is discharged through the discharge port, and therefore buoyancy of the underwater robot is increased; when the underwater robot needs to descend, the control module controls the electric push rod to be started, the sealing element moves towards the direction far away from the discharge port, liquid enters the buoyancy bin through the discharge port, buoyancy of the underwater robot is reduced, electric energy required by ascending or descending of the underwater robot can be reduced under the action of the buoyancy adjusting mechanism, and running time of the underwater robot is prolonged. Under the effect of electromagnetic switch valve, can prevent that the air in the buoyancy storehouse from leaking, when guaranteeing that underwater robot needs to rise, the buoyancy storehouse provides and has stable buoyancy.

4. When underwater objects need to be salvaged, the control module controls the pressure release valve to be opened, so that water can enter the bin body through the pressure release valve to be convenient for opening the bin door, and after the pressure release valve is opened, the control module controls the first electric telescopic rod to extend, so that the bin door is opened; through the extension of control second electric telescopic handle, cut the external outside hand push delivery bin of formula expansion bracket will salvage to make and salvage the hand and can snatch the object that needs were salvaged. After the object snatchs finishing, control module controls second electric telescopic handle, first electric telescopic handle in proper order and shortens for the door closure of storehouse after the formula of cutting the expansion bracket snatchs the object and goes into in the storehouse body, opens through control module control exhaust solenoid valve, and the gas discharge of highly-compressed air bottle is to the internal storehouse, so that the internal liquid in storehouse passes through the relief valve and discharges to the external storehouse, in order to improve the buoyancy in hanging year storehouse, required electric energy when reducing underwater robot come-up to the surface of water.

Drawings

Fig. 1 is a schematic structural diagram of an underwater robot according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a cylinder of the underwater robot according to a preferred embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a housing of the underwater robot according to a preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of a power mechanism of the underwater robot according to a preferred embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a buoyancy adjustment mechanism of the underwater robot according to a preferred embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a mounting bin of the underwater robot according to a preferred embodiment of the present invention.

Fig. 7 is a schematic view of a hatch structure of the underwater robot according to a preferred embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a balance adjustment mechanism of the underwater robot according to a preferred embodiment of the present invention.

In the figure, 1-machine body, 11-cylinder body, 12-mounting frame, 13-frame plate, 131-groove position, 2-shell, 21-first preformed groove, 22-second preformed groove, 23-guide hole, 24-beacon, 3-front cover, 31-front flange, 32-flange ring, 33-resin spherical cover, 34-front pressure plate, 4-rear cover, 41-rear flange, 42-rear cover body, 421-threading screw, 43-silica gel waterproof gasket, 44-tetrafluoro waterproof gasket, 5-buoyancy cabin, 501-discharge port, 51-sealing element, 511-sealing rubber ring, 52-electric push rod, 53-electromagnetic switch valve, 6-propeller, 601-notch, 61-driving motor, 62-fixing frame, 63-a guide cover, 64-a cutting knife, 7-a hanging bin, 701-a bin body, 702-a bin port, 71-a bin door, 711-a sealing piece, 712-a sealing rubber ring, 713-a pressure relief port, 714-a pressure relief valve, 72-a first electric telescopic rod, 73-a high-pressure air bottle, 731-an exhaust solenoid valve, 8-a scissor type telescopic rack, 81-a second electric telescopic rod, 801-a fixed bracket, 802-a sliding bracket, 82-a fishing hand, 821-a connecting arm, 822-a fishing arm, 823-a first arm body, 824-a second arm body, 825-a third electric telescopic rod, 83-a connecting rod, 9-an adjusting bin, 901-a first chute, 902-a second chute, 91-a floating block, 92-a first transmission piece, 921-a first driving rod, 922-a first adjustment motor, 923-a first bearing, 924-a second bearing, 925-a first slider, 926-a first bevel gear, 927-a second bevel gear, 93-a second transmission member, 931-a second drive rod, 932-a second adjustment motor, 933-a third bearing, 934-a fourth bearing, 935-a second slider, 936-a third bevel gear, 937-a fourth bevel gear.

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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 8, an underwater robot according to a preferred embodiment of the present invention includes a body 1 and a housing 2, where the body 1 includes a cylinder 11 and a mounting frame 12.

The barrel 11 is provided with a cavity, a control module, a shooting module and a power module are arranged in the cavity, and the control module is electrically connected with the shooting module and the power module respectively. The control module, the shooting module and the power module of the embodiment are all known technologies, and for saving space, the description of the embodiment is not repeated.

As shown in fig. 2, a front opening and a rear opening which are communicated with the cavity are respectively arranged at two ends of the cylinder 11, the front opening is provided with a front cover 3, the front cover 3 comprises a front flange 31, a flange ring 32, a resin spherical cover 33 and a front pressure plate 34, the front flange 31 is positioned at the front opening, the front flange 31 is fixedly connected with the cylinder 11, the flange ring 32, the resin spherical cover 33 and the front pressure plate 34 are sequentially arranged in the direction of the front flange 31 away from the front opening, and the front flange 31, the flange ring 32 and the front pressure plate 34 are connected through flange bolts, so that the resin spherical cover 33 is clamped between the flange ring 32 and the front pressure plate 34; the rear opening is provided with a rear cover 4, the rear cover 4 comprises a rear flange 41 and a rear cover body 42, the rear flange 41 is located at the rear opening, the rear flange 41 is fixedly connected with the barrel 11, the rear cover body 42 is located on one side of the rear flange 41, which faces away from the barrel 11, and the rear cover body 42 is fixedly connected with the rear flange 41 through flange bolts.

Because the front flange plate 31, the flange ring 32 and the front pressure plate 34 are connected through the flange bolts, the resin spherical cover 33 is clamped between the flange ring 32 and the front pressure plate 34, and the rear cover body 42 is fixedly connected with the rear flange plate 41 through the flange bolts, when the control module, the shooting module and the power module in the barrel body 11 are in failure, the front cover 3 or the rear cover 4 can be conveniently detached, so that the control module, the shooting module and the power module can be repaired and maintained. The resin globe 33 provides a clear view of the camera module, and the resin globe 33 has high compressive strength, preventing the resin globe 33 from being broken, resulting in liquid entering the cylinder.

In this embodiment, a silicone waterproof gasket 43 is interposed between the front flange 31 and the flange ring 32, and a tetrafluoro waterproof gasket 44 is interposed between the resin spherical cover 33 and the front platen 34. A rear flange 41, a rear cover 42, a silica gel waterproof gasket 43 and a tetrafluoro waterproof gasket 44. The sealing performance of the cylinder 11 can be improved by the silicone waterproof gasket 43 and the tetrafluoro waterproof gasket 44.

A plurality of mounting frames 12 are arranged, the mounting frames 12 are fixedly sleeved on the barrel body 11, and the shell 2 is wrapped outside the machine body 1 and is fixedly connected with the barrel body 11 through the mounting frames 12; the shell 2 is equipped with four first preformed grooves 21, and per two first preformed grooves 21 are located the both sides of barrel 11 respectively, four angles of shell 2 all are equipped with second preformed groove 22, the first preformed groove 22 of opening direction perpendicular to of second preformed groove 22, first preformed groove 21 and second preformed groove 22 all are equipped with power unit, power unit of first preformed groove 21 is used for the control that the robot goes up and down, power unit of second preformed groove 22 is used for the control that the robot advanced and retreated or turned to.

As shown in fig. 2, four corners of the mounting frame 12 are provided with mounting clamping positions, each mounting clamping position is provided with a frame plate 13, the frame plates 13 are provided with four blocks, one side of each frame plate 13 is erected on the mounting clamping position and is fixedly connected with the mounting frame 12, each frame plate 13 is provided with a groove 131 with the same hole diameter as the first reserved groove 21 and the second reserved groove 22 of the shell 2, the shell 2 is fixedly connected with the barrel 11 through the frame plates 13 and the mounting frame 12, and the groove 131 is aligned with the first reserved groove 21. The compressive strength of the housing 2 is improved by the frame plate 13, and by providing the frame plate 13 on the mounting frame 12, the strength of the mounting frame 13 can be enhanced, further improving the compressive strength of the barrel 11.

In this embodiment, the compressive strength in barrel 11 middle space can be increased to the ring flange of the cylindric structure of barrel 11, barrel 11 both ends and installation frame 12, is connected with shell 2 through installation frame 12 at shell 2 moreover, realizes the convenience of installation, modularization and the intensity gain of structure.

Preferably, the cylinder 11 is made of aluminum alloy, and the frame plate 13 is made of carbon fiber.

The power mechanisms are respectively electrically connected with the control module.

In this embodiment, the rear cover 42 has a plurality of threaded holes, the threaded holes are provided with threading screws 421, and the threading screws 421 are used for leading out the wires in the barrel 11 to the housing 2. Under the action of the threading screw 421, the lead wire in the cylinder 11 can be led out of the cylinder 11 through the threading screw, and the sealing performance of the cylinder 11 can be ensured.

As shown in fig. 4, the power mechanism of the present embodiment includes a propeller 6 and a driving motor 61.

Two ends of each first preformed groove 21 and each second preformed groove 22 are respectively provided with a notch 601 communicated with the inside, each notch 601 is provided with a fixing frame 62, the propeller 6 is positioned in the corresponding first preformed groove 21 or the corresponding second preformed groove 22, two ends of the propeller 6 are respectively in rotating connection with the two fixing frames 62, the driving motor 61 is fixedly arranged on the fixing frames 62 and is in transmission connection with the propeller 6, and the driving motor 61 is electrically connected with the control module; each notch 601 is provided with a diversion cover 63, the two diversion covers 63 of the first preformed groove 21 and the second preformed groove 22 are oppositely arranged, the diversion covers 63 are fixedly connected with the fixed frame 62, and the driving motor 61 is arranged in one diversion cover 63. In the embodiment, the driving motors 61 are all electrically connected with the control module. Preferentially, the included angle between the second preformed groove 22 and the second preformed groove 22 is 45 degrees, and the steering of the underwater robot is realized by starting the driving motors 61 in different second preformed grooves 22.

Under the action of the driving motor 61 in the first preformed groove 21, the propeller 6 can be driven to rotate, and the underwater robot can ascend or descend by controlling the driving motor 61 to rotate forwards or backwards. Under the action of the driving motor 61 in the second preformed groove 22, the propeller 6 can be driven to rotate, and the underwater robot can advance, retreat or steer by controlling the driving motor 61 to rotate forwards or backwards.

Preferably, a plurality of cutting knives 64 are fixedly arranged on one side of the fixing frame 62 facing the propeller 6. Under the effect of cutting knife 64, can prevent that the foreign matter from twining propeller 6, guarantee propeller 6 can normal operating.

The housing 2 of this embodiment is provided with a plurality of guide holes 23 communicating the inside, and two buoyancy adjusting mechanisms are provided in the housing 2 and located at both sides of the cylinder 11.

As shown in fig. 5, the buoyancy adjusting mechanism includes a buoyancy chamber 5, a sealing member 51 and an electric push rod 52, one end of the buoyancy chamber 5 is provided with a discharge port 501 communicated with the inside, the sealing member 51 is located in the buoyancy chamber 5, the sealing member 51 is slidably connected with the inner wall of the buoyancy chamber 5, the electric push rod 52 is located in the buoyancy chamber 5, one end of the buoyancy chamber 5 is fixedly connected with the surface of the sealing member 51 facing away from the discharge port 501, the other end of the buoyancy chamber is fixedly connected with the inner wall of the buoyancy chamber 5, the electric push rod 52 is electrically connected with the control module, and under the action of the electric push rod 52, the sealing member 51 pushes or discharges liquid into or. The sealing member 51 of this embodiment is fixedly provided with a sealant 511 at its periphery.

The buoyancy chamber 5 of the embodiment is provided with a discharge port 501 and an electromagnetic switch valve 53, and the electromagnetic switch valve 53 is electrically connected with the control module. Under the action of the electromagnetic switch valve 53, air in the buoyancy chamber 5 can be prevented from leaking out, and the buoyancy chamber 5 can provide stable buoyancy when the underwater robot needs to ascend.

When the underwater robot needs to ascend, the electric push rod 52 is controlled by the control module to be started, the sealing element 51 moves towards the direction close to the discharge port 501, so that the liquid in the buoyancy bin 5 is discharged through the discharge port 501, and the buoyancy of the underwater robot is increased.

When the underwater robot needs to descend, the electric push rod 52 is controlled by the control module to be started, the sealing element 51 moves towards the direction away from the discharge port 501, liquid enters the buoyancy bin 5 through the discharge port 501, and therefore buoyancy of the underwater robot is reduced.

Under the action of the buoyancy adjusting mechanism, the electric energy required by the ascending or descending of the underwater robot can be reduced, and the running time of the underwater robot is prolonged.

In this embodiment, as shown in fig. 6 and 7, a mounting mechanism is disposed at the bottom of the housing 2, and the mounting mechanism includes a mounting bin 7 and a fishing device disposed in the mounting bin 7.

The bottom at shell 2 is installed through screw detachably to carry storehouse 7, be equipped with storehouse body 701 in the carry storehouse 7, and carry storehouse 7 is equipped with the bin mouth 702 with storehouse body 701 intercommunication, bin mouth 702 is equipped with door 71, bin door 71 one end is articulated with carry storehouse 7, the other end is connected with carry storehouse 7 through first electric telescopic handle 72, so that door 71 can seal bin mouth 702, first electric telescopic handle 72 one end and bin door 71 sliding connection, the other end rotates with storehouse body 701 inner wall to be connected, and first electric telescopic handle 72 is connected with the control module electricity.

A seal 711 that abuts against the bin opening 702 is provided on one surface of the bin door 71 facing the bin body 701, and a seal rubber ring 712 is provided around the seal 711 so that the seal 711 seals the bin opening 702. The bin door 71 is provided with a pressure relief port 713, the pressure relief port 713 is provided with a pressure relief valve 714, and the pressure relief valve 714 is electrically connected with the control module. Preferably, two sides of one surface of the bin gate 71 facing the bin opening 702 are provided with groove bodies, so that one end of the first electric telescopic rod 72 can be slidably connected with the bin gate 71.

When the bin door 702 needs to be opened, the pressure relief valve 714 is opened through the control module, so that the pressure in the bin body 701 is the same as the pressure in the bin body 701, and the first electric telescopic rod 72 can smoothly push the bin door 71 open.

The fishing device comprises a scissor type telescopic frame 8, a second electric telescopic rod 81 and a fishing hand 82.

The scissor type telescopic frame 8 is formed by connecting a plurality of X supports which are hinged with each other, the X support at one end of the scissor type telescopic frame 8 is a fixed support 801, the rest X supports are sliding supports 802, one end, far away from the sliding support 802, of the fixed support 801 is rotatably connected with the inner wall at one end of the bin body 701, the other end of the fixed support is slidably connected with the inner wall at one end of the bin body 701, and one side of the sliding support 802 is slidably connected with the side wall at the bottom of the bin body 701; the second electric telescopic rod 81 is used for telescopic driving of the scissor type telescopic frame 8, and the second electric telescopic rod 81 is electrically connected with the control module. In this embodiment, one end of the second electric telescopic rod 81 is rotatably connected to the hinge of the fixing bracket 801, and the other end of the second electric telescopic rod 81 is rotatably connected to the hinge of one sliding bracket 802, so that the second electric telescopic rod 81 can pull the scissor type telescopic frame 8 to extend and retract.

A connecting rod 83 is arranged on a sliding support 802 at one end of the scissor type telescopic frame 8, which is far away from the fixed support 801, one end of the sliding support 802 is rotatably connected with the connecting rod 83, the other end of the sliding support 802 is slidably connected with the connecting rod 83, and two ends of the connecting rod 83 are respectively slidably connected with the inner wall of the bin body 701; the fishing hand 82 is fixedly connected with one side of the connecting rod 83, which is back to the scissor type telescopic frame 8.

By controlling the extension of the second electric telescopic rod 81, the scissor type telescopic frame 8 pushes the fishing hand 82 out of the bin body 701, so that the fishing hand 82 can grab the object to be fished. After the object is grabbed, the control module sequentially controls the second electric telescopic rod 81 and the first electric telescopic rod 72 to be shortened, so that the scissor type telescopic 8 frame grabs the object into the bin body 701, and the bin door 71 is closed, thereby storing the object in the bin body 701.

Salvage hand 82 and include linking arm 821 and salvage arm 822, linking arm 821 one end and connecting rod 83 fixed connection, salvage arm 822 is equipped with threely, and salvage arm 822 and linking arm 821 are kept away from the one end of connecting rod 83 and are connected, salvage arm 822 includes first arm 823 and second arm 824, the one end of first arm 823 is kept away from the one end fixed connection of connecting rod 83 with linking arm 821, the other end rotates with the middle part of second arm 824 and is connected, the one end that second arm 824 is close to linking arm 821 is equipped with third electric telescopic handle 825, third electric telescopic handle 825 one end rotates with first arm 823 and is connected, the other end and second arm 824 sliding connection, third electric telescopic handle 825 is connected with the control module electricity, under the effect of third electric telescopic handle 825, first arm 823 snatchs or the action of release.

By controlling the extension of the third electric telescopic rod 825, the end of the second arm 82 far away from the fishing arm 822 rotates towards the first arm 823, and the object is grabbed. Preferably, the first arm 823 and the second arm 824 are both sleeved with rubber gloves, and the rubber gloves are filled with buffering latex to prevent accidental triggering of an explosive bomb when the bomb under river water is salvaged.

The bin body 701 is internally provided with a high-pressure air bottle 73, the high-pressure air bottle 73 is filled with high-pressure gas, the high-pressure air bottle 73 is provided with an exhaust electromagnetic valve 731, and the exhaust electromagnetic valve 731 is electrically connected with the control module.

After the object is grabbed into the bin body 701 and the bin door 71 is closed, the control module controls the exhaust electromagnetic valve 731 to be opened, and the gas of the high-pressure air bottle 73 is discharged into the bin body 701, so that the liquid in the bin body 701 is discharged out of the bin body 701 through the pressure release valve 714, the buoyancy of the hanging bin 7 is improved, and the electric energy required by the underwater robot when the underwater robot floats to the water surface is reduced.

As shown in fig. 8, an adjusting bin 9 with a sealing structure is arranged at one end of the mounting bin 7 close to the housing 2, and a balance adjusting mechanism is arranged in the adjusting bin 9 and comprises a floating block 91, a horizontal sensor, a transverse moving device and a longitudinal moving device.

The traverse device includes a first transmission member 92, a first driving rod 921 and a first adjustment motor 922.

The first transmission piece 92 is fixedly arranged on the upper surface of the floating block 91, the first driving rod 921 is threaded through the first transmission piece 92, two ends of the first driving rod 921 are respectively connected with the inner wall of the adjusting bin 9 in a sliding manner, the first adjusting motor 922 is connected with the first driving rod 921 in a transmission manner through a gear set, and the first driving rod 921 is connected with the inner wall of the adjusting bin 9 in a sliding manner; the first adjustment motor 922 is electrically connected to the control module.

Preferentially, the two opposite sides of the adjusting bin 9 are provided with first sliding grooves 901, one end of a first driving rod 921 is connected with the first sliding grooves 901 in a sliding manner through a first bearing 923, the other end of the first driving rod is provided with a first sliding block 925, the first driving rod 921 is connected with the first sliding block 925 in a rotating manner through a second bearing 924, the first sliding block 925 is connected with the first sliding grooves 901 far away from the first bearing 923 in a sliding manner, and a first adjusting motor 922 is fixedly arranged on the first sliding block 925.

The gear set of the traverse device of this embodiment includes a first bevel gear 926 and a second bevel gear 927, the first bevel gear 926 is fixedly sleeved on the first driving rod 921, the second bevel gear 927 is fixedly connected with the driving shaft of the first adjusting motor 922, and the first bevel gear 926 and the second bevel gear 927 are engaged with each other, so that the first adjusting motor 922 can drive the first driving rod 921 to rotate, and the floating block 91 can perform the traverse motion in the adjusting chamber 9.

The longitudinal moving device comprises a second transmission member 93, a second driving rod 931 and a second adjusting motor 932, the second transmission member 93 is fixedly arranged on the lower surface of the floating block 91, the second driving rod 931 is threaded through the second transmission member 93, two ends of the second driving rod 931 are respectively in sliding connection with the inner wall of the adjusting bin 9, the second adjusting motor 932 is in transmission connection with the second driving rod 931 through a gear set, and the second driving rod 921 is in sliding connection with the inner wall of the adjusting bin 9; the second adjustment motor 932 is electrically connected to the control module.

The horizontal sensor is fixedly arranged in the barrel body 11 and is electrically connected with the control module.

Preferably, the two opposite sides of the adjusting cabin 9 are provided with second sliding grooves 902, one end of a second driving rod 931 is slidably connected with one second sliding groove 902 through a third bearing 933, the other end of the second driving rod 931 is provided with a second sliding block 935, the second driving rod 931 is rotatably connected with the second sliding block 935 through a fourth bearing 934, the second sliding block 935 is slidably connected with the second sliding groove 902 far away from the third bearing 933, and the second adjusting motor 932 is fixedly arranged on the second sliding block 935.

The gear set of the vertical movement device of this embodiment includes a third bevel gear 936 and a fourth bevel gear 937, the third bevel gear 936 is fixedly sleeved on the second driving rod 931, the fourth bevel gear 937 is fixedly connected with the driving shaft of the second adjusting motor 932, and the third bevel gear 936 and the fourth bevel gear 937 are engaged with each other, so that the second adjusting motor 932 can drive the second driving rod 931 to rotate, and the floating block 91 can perform vertical movement in the adjusting bin 9.

Because the structure of snatching the object is various, can lead to unmanned aerial vehicle's line of gravity skew for underwater robot loses original balance, under the cooperation of sideslip device and indulge the device, can remove floating block 91 to suitable position, in order to guarantee to carry storehouse 7 and be in balanced position. And the floating block 91 can reduce the electric energy required when the underwater robot ascends.

In this embodiment, the shell 2 is provided with the beacon 24, the beacon 24 is electrically connected with the control module, and when the volume of the object to be salvaged is too large, the control module controls the release of the beacon 24, so that the beacon 24 can float on the river surface, and the worker can obtain the position of the object to be salvaged underwater through the beacon 24, and then salvage the object by adopting other schemes.

When the underwater robot is used, the control module controls the driving motor 61 in the first reserved groove 21, so that the underwater robot sinks, and the control module controls the driving motor 61 in the second reserved groove 22 to adjust the moving direction of the underwater robot. When the underwater robot sinks, the control module controls the electric push rod 52 to be started, and the sealing element 51 moves towards the direction away from the discharge port 501, so that liquid enters the buoyancy bin 5 through the discharge port 501, and the buoyancy of the underwater robot is reduced.

After the underwater robot reaches the position of the object to be fished, the pressure release valve 714 is opened through the control module, liquid enters the bin body 701 through the pressure release valve 714, the pressure in the bin body 701 is made to be the same as the pressure in the bin body 701, and then the control module controls the first electric telescopic rod 72 to extend, so that the bin door 71 is opened.

By controlling the extension of the second electric telescopic rod 81, the scissor type telescopic frame 8 pushes the fishing hand 82 out of the bin body 701, so that the fishing hand 82 can grab the object to be fished. After the object is grabbed, the control module sequentially controls the second electric telescopic rod 81 and the first electric telescopic rod 72 to be shortened, so that the scissor type telescopic 8 frame grabs the object into the bin body 701, and the bin door 71 is closed, so that the object is stored in the bin body 701.

When the underwater unmanned aerial vehicle needs to ascend, the control module controls the electric push rod 52 to be started, the sealing element 51 moves towards the direction close to the discharge port 501, liquid in the buoyancy bin 5 is discharged through the discharge port 501, and therefore buoyancy of the underwater robot is increased. Meanwhile, under the cooperation of the transverse moving device and the longitudinal moving device, the floating block 91 can be moved to a proper position so as to ensure that the mounting bin 7 is in a balanced position.

Claims

1. An underwater robot is characterized by comprising a machine body (1) and a shell (2), wherein the machine body (1) comprises a cylinder body (11) and an installation frame (12),

the barrel (11) is provided with a cavity, a control module, a shooting module and a power supply module are arranged in the cavity, and the control module is electrically connected with the shooting module and the power supply module respectively;

the front opening and the rear opening which are communicated with the cavity are respectively arranged at two ends of the barrel (11), the front opening is provided with a front cover (3), the front cover (3) comprises a front flange plate (31), a flange ring (32), a resin spherical cover (33) and a front pressing plate (34), the front flange plate (31) is positioned at the front opening, the front flange plate (31) is fixedly connected with the barrel (11), the flange ring (32), the resin spherical cover (33) and the front pressing plate (34) are sequentially arranged in the direction of the front flange plate (31) far away from the front opening, and the front flange plate (31), the flange ring (32) and the front pressing plate (34) are connected through flange bolts, so that the resin spherical cover (33) is clamped between the flange ring (32) and the front pressing plate (34); the rear opening is provided with a rear cover (4), the rear cover (4) comprises a rear flange plate (41) and a rear cover body (42), the rear flange plate (41) is located at the rear opening, the rear flange plate (41) is fixedly connected with the barrel body (11), the rear cover body (42) is located on one side, back to the barrel body (11), of the rear flange plate (41), and the rear cover body (42) is fixedly connected with the rear flange plate (41) through flange bolts;

the installation frame (12) is provided with a plurality of installation frames, the installation frame (12) is fixedly sleeved on the barrel body (11), and the shell (2) is wrapped outside the machine body (1) and is fixedly connected with the barrel body (11) through the installation frame (12); the shell (2) is provided with four first preformed grooves (21), every two first preformed grooves (21) are respectively positioned at two sides of the cylinder body (11), four corners of the shell (2) are respectively provided with a second preformed groove (22), the opening direction of the second preformed groove (22) is perpendicular to the first preformed groove (22), the first preformed groove (21) and the second preformed groove (22) are respectively provided with a power mechanism, the power mechanism of the first preformed groove (21) is used for controlling the lifting of the robot, and the power mechanism of the second preformed groove (22) is used for controlling the advancing and retreating or the steering of the robot;

2. An underwater robot as claimed in claim 1, wherein: the rear cover body (42) is provided with a plurality of threaded holes, the threaded holes are provided with threading screws (421), and the threading screws (421) are used for leading out wires in the barrel body (11) to the shell (2).

3. An underwater robot as claimed in claim 1, wherein: four angles of installation frame (12) are equipped with the installation screens, the installation screens is equipped with frame plate (13), frame plate (13) are equipped with four, just frame plate (13) one side is erect in the installation screens on and with installation frame (12) fixed connection, frame plate (13) be equipped with shell (2) first reservation groove (21) reach trench (131) that second reservation groove (22) aperture is the same, shell (2) pass through frame plate (13) reach installation frame (12) with barrel (11) fixed connection, just trench (131) with first reservation groove (21) are aimed at.

4. An underwater robot as claimed in claim 1, wherein: a silica gel waterproof gasket (43) is clamped between the front flange plate (31) and the flange ring (32), and a tetrafluoro waterproof gasket (44) is clamped between the resin spherical cover (33) and the front pressure plate (34); the rear flange plate (41) and the rear cover body (42) are provided with a silica gel waterproof gasket (43) and a tetrafluoro waterproof gasket (44).

5. An underwater robot as claimed in claim 1, wherein: the shell (2) is provided with a plurality of guide holes (23) communicated with the inside, two buoyancy adjusting mechanisms are arranged in the shell (2) and located on two sides of the barrel body (11), each buoyancy adjusting mechanism comprises a buoyancy bin (5), a sealing element (51) and an electric push rod (52), one end of each buoyancy bin (5) is provided with a discharge port (501) communicated with the inside, the sealing element (51) is located in the buoyancy bin (5), the sealing element (51) is connected with the inner wall of the buoyancy bin (5) in a sliding mode, the electric push rod (52) is located in the buoyancy bin (5), one end of each buoyancy bin (5) is fixedly connected with one surface, back to the discharge port (501), of the sealing element (51), the other end of each buoyancy bin is fixedly connected with the inner wall of the buoyancy bin (5), and the electric push rod (52) is electrically connected with the control module, under the action of the electric push rod (52), the sealing element (51) pushes liquid into or out of the buoyancy chamber (5) through the discharge opening (501).

6. An underwater robot as claimed in claim 5, wherein: the buoyancy bin (5) is provided with a discharge port (501) and an electromagnetic switch valve (53), and the electromagnetic switch valve (53) is electrically connected with the control module.

7. An underwater robot as claimed in claim 1, wherein: the power mechanism comprises propellers (6) and driving motors (61), two ends of each first preformed groove (21) and each second preformed groove (22) are respectively provided with a notch (601) communicated with the inside, each notch (601) is provided with a fixing frame (62), the propellers (6) are positioned in the corresponding first preformed groove (21) or the corresponding second preformed groove (22), two ends of each propeller (6) are respectively rotatably connected with the two fixing frames (62), the driving motors (61) are fixedly arranged on the fixing frames (62) and are in transmission connection with the propellers (6), and the driving motors (61) are electrically connected with the control module; each notch (601) all is equipped with kuppe (63), first reservation groove (21) and two kuppe (63) of second reservation groove (22) set up relatively, just kuppe (63) with mount (62) fixed connection, just driving motor (61) locate one in kuppe (63).

8. An underwater robot as claimed in claim 7, wherein: and a plurality of cutting knives (64) are fixedly arranged on one side of the fixed frame (62) facing the propeller (6).

9. An underwater robot as claimed in claim 1, wherein: the bottom of the shell (2) is provided with a mounting mechanism, the mounting mechanism comprises a mounting bin (7) and a fishing device arranged in the mounting bin (7),

the hanging bin (7) is detachably mounted at the bottom of the shell (2) through screws, a bin body (701) is arranged in the hanging bin (7), a bin opening (702) communicated with the bin body (701) is formed in the hanging bin (7), a bin door (71) is arranged on the bin opening (702), one end of the bin door (71) is hinged to the hanging bin (7), the other end of the bin door is connected with the hanging bin (7) through a first electric telescopic rod (72), so that the bin door (71) can seal the bin opening (702), one end of the first electric telescopic rod (72) is slidably connected with the bin door (71), the other end of the first electric telescopic rod is rotatably connected with the inner wall of the bin body (701), and the first electric telescopic rod (72) is electrically connected with the control module; a sealing piece (711) which is abutted against the bin opening (702) is arranged on one surface, facing the bin body (701), of the bin door (71), and sealing rubber rings (712) are arranged on the periphery of the sealing piece (711) so that the sealing piece (711) seals the bin opening (702); the bin door (71) is provided with a pressure relief opening (713), the pressure relief opening (713) is provided with a pressure relief valve (714), and the pressure relief valve (714) is electrically connected with the control module;

the fishing device comprises a scissor type telescopic frame (8), a second electric telescopic rod (81) and a fishing hand (82), the scissor type telescopic frame (8) is formed by connecting a plurality of X supports which are hinged to each other, the X support at one end of the scissor type telescopic frame (8) is a fixed support (801), the rest of the X supports are sliding supports (802), one end, away from one side of the sliding support (802), of the fixed support (801) is rotatably connected with the inner wall at one end of the bin body (701), the other end of the fixed support is slidably connected with the inner wall at one end of the bin body (701), and one side of the sliding support (802) is slidably connected with the side wall at the bottom of the bin body (701); the second electric telescopic rod (81) is used for telescopic driving of the scissor type telescopic frame (8), and the second electric telescopic rod (81) is electrically connected with the control module;

a connecting rod (83) is arranged on the sliding support (802) at one end, far away from the fixed support (801), of the scissor type telescopic frame (8), one end of the sliding support (802) is rotatably connected with the connecting rod (83), the other end of the sliding support is slidably connected with the connecting rod (83), and two ends of the connecting rod (83) are respectively slidably connected with the inner wall of the cabin body (701); the fishing hand (82) is fixedly connected with one side of the connecting rod (83) back to the scissor type telescopic frame (8);

the fishing hand (82) comprises a connecting arm (821) and a fishing arm (822), one end of the connecting arm (821) is fixedly connected with the connecting rod (83), at least three fishing arms (822) are arranged, the fishing arm (822) is connected with one end, far away from the connecting rod (83), of the connecting arm (821), the fishing arm (822) comprises a first arm body (823) and a second arm body (824), one end of the first arm body (823) is fixedly connected with one end, far away from the connecting rod (83), of the connecting arm (821), the other end of the first arm body is rotatably connected with the middle of the second arm body (824), a third electric telescopic rod (825) is arranged at one end, close to the connecting arm (821), of the second arm body (824), one end of the third electric telescopic rod (825) is rotatably connected with the first arm body (823), and the other end of the third electric telescopic rod is slidably connected with the second arm body (824), the third electric telescopic rod (825) is electrically connected with the control module, and the first arm body (823) performs grabbing or releasing action under the action of the third electric telescopic rod (825);

the bin body (701) is internally provided with a high-pressure air bottle (73), the high-pressure air bottle (73) is filled with high-pressure gas, the high-pressure air bottle (73) is provided with an exhaust electromagnetic valve (731), and the exhaust electromagnetic valve (731) is electrically connected with the control module.

10. An underwater robot as claimed in claim 9, wherein: one end of the mounting bin (7) close to the shell (2) is provided with an adjusting bin (9) with a sealing structure, a balance adjusting mechanism is arranged in the adjusting bin (9), the balance adjusting mechanism comprises a floating block (91), a horizontal sensor, a transverse moving device and a longitudinal moving device,

the transverse moving device comprises a first transmission piece (92), a first driving rod (921) and a first adjusting motor (922), the first transmission piece (92) is fixedly arranged on the upper surface of the floating block (91), the first driving rod (921) is threaded through the first transmission piece (92), two ends of the first driving rod (921) are respectively in sliding connection with the inner wall of the adjusting bin (9), the first adjusting motor (922) is in transmission connection with the first driving rod (921) through a gear set, and the first driving rod (921) is in sliding connection with the inner wall of the adjusting bin (9); the first adjusting motor (922) is electrically connected with the control module;

the longitudinal moving device comprises a second transmission piece (93), a second driving rod (931) and a second adjusting motor (932), the second transmission piece (93) is fixedly arranged on the lower surface of the floating block (91), the second driving rod (931) penetrates through the second transmission piece (93) in a threaded mode, two ends of the second driving rod (931) are respectively connected with the inner wall of the adjusting bin (9) in a sliding mode, the second adjusting motor (932) is connected with the second driving rod (931) in a transmission mode through a gear set, and the second driving rod (921) is connected with the inner wall of the adjusting bin (9) in a sliding mode; the second adjusting motor (932) is electrically connected with the control module;

the horizontal sensor is fixedly arranged in the cylinder body (11) and is electrically connected with the control module.