CN112061349B - Underwater robot - Google Patents

Underwater robot Download PDF

Info

Publication number
CN112061349B
CN112061349B CN202010830225.5A CN202010830225A CN112061349B CN 112061349 B CN112061349 B CN 112061349B CN 202010830225 A CN202010830225 A CN 202010830225A CN 112061349 B CN112061349 B CN 112061349B
Authority
CN
China
Prior art keywords
bin
control module
buoyancy
electric telescopic
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010830225.5A
Other languages
Chinese (zh)
Other versions
CN112061349A (en
Inventor
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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liuzhou Shenying Technology Co ltd
Original Assignee
Liuzhou Shenying Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liuzhou Shenying Technology Co ltd filed Critical Liuzhou Shenying Technology Co ltd
Priority to CN202010830225.5A priority Critical patent/CN112061349B/en
Publication of CN112061349A publication Critical patent/CN112061349A/en
Application granted granted Critical
Publication of CN112061349B publication Critical patent/CN112061349B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/16—Apparatus engaging vessels or objects
    • B63C7/20—Apparatus engaging vessels or objects using grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)

Abstract

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

Description

Underwater robot
Technical Field
The invention relates to the technical field of robots, in particular to an underwater robot.
Background
The underwater robot is also called an unmanned remote-control submersible, is a limited operation robot working under water, has severe underwater environment and limited diving depth, and therefore becomes an important tool for developing underwater. When the underwater robot detects underwater, the photographing equipment of the underwater robot is equivalent to eyes of the robot, the underwater robot performs investigation, photographing and monitoring on underwater conditions, the underwater robot can replace manual work in a water area with high dangerous environment, polluted environment and zero visibility for long time, and the underwater robot is generally provided with a sonar system, a camera, an illuminating lamp, a mechanical arm and other devices. The existing underwater robot is complex in structure, high in installation difficulty, complex in water environment for operation of the underwater robot, easy to fail, and high in maintenance difficulty when the underwater robot fails.
Disclosure of Invention
In order to solve the problems, the invention provides the underwater robot which has a simple structure and high difficulty in installation and maintenance.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an underwater robot comprises a machine body and a shell, wherein the machine body comprises a cylinder body and a mounting 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 respectively and electrically connected with the shooting module and the power module;
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 and fixedly connected with the cylinder, the flange ring, the resin spherical cover and the front pressing plate are sequentially arranged in the direction of keeping 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 plate and a rear cover body, the rear flange plate is positioned at the rear opening, the rear flange plate is fixedly connected with the cylinder body, the rear cover body is positioned at one side of the rear flange plate, which is opposite to the cylinder body, and the rear cover body is fixedly connected with the rear flange plate through a flange bolt;
The mounting frames are arranged in a plurality, the mounting frames are fixedly sleeved on the cylinder body, and the shell is wrapped outside the machine body and fixedly connected with the cylinder body through the mounting frames; the shell is provided with four first reserved grooves, each two first reserved grooves are respectively positioned on two sides of the cylinder body, four corners of the shell are respectively provided with a second reserved groove, the opening direction of each second reserved groove is perpendicular to the corresponding first reserved groove, the first reserved groove and the second reserved groove are respectively provided with a power mechanism, the power mechanisms of the first reserved grooves are used for controlling lifting of the robot, and the power mechanisms of the second reserved grooves are used for controlling advancing and retreating or steering of the robot;
the power mechanism is electrically connected with the control module respectively.
Further, 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 wires in the cylinder body to the shell.
Further, four corners of the installation frame are provided with installation clamping positions, the installation clamping positions are provided with frame plates, the frame plates are provided with four blocks, one side of each frame plate is erected on the installation clamping positions and fixedly connected with the installation frame, the frame plates are provided with slots with the same aperture as the first reserved slots and the second reserved slots of the shell, and the shell is aligned with the first reserved slots through the frame plates and the installation frame fixedly connected with the cylinder body.
Further, a silica gel 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 pressing plate; the rear flange plate and the rear cover body are provided with a silica gel waterproof gasket and a 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 are positioned on two sides of the cylinder, each buoyancy adjusting mechanism comprises a buoyancy bin, a sealing element and an electric push rod, one end of each buoyancy bin is provided with a discharge port communicated with the inside, the sealing element is positioned in each buoyancy bin, the sealing element is in sliding connection with the inner wall of each buoyancy bin, the electric push rod is positioned in each buoyancy bin, one end of each buoyancy bin is opposite to one side of each sealing element, the other end of each buoyancy bin is fixedly connected with the inner wall of each buoyancy bin, the electric push rod is electrically connected with the control module, and the sealing element pushes or discharges liquid into the buoyancy bin through the corresponding discharge port under the action of the electric push rod.
Further, the buoyancy bin is provided with a discharge port provided with an electromagnetic switch valve, and the electromagnetic switch valve is electrically connected with the control module.
Further, the power mechanism comprises a propeller and a driving motor, two ends of each first reserved groove and each second reserved groove are respectively provided with a notch communicated with the inside, the notches are respectively provided with a fixing frame, the propeller is positioned in the corresponding first reserved groove or the corresponding second reserved groove, two ends of the propeller are respectively connected with the two fixing frames in a rotating way, and the driving motor is fixedly arranged on the fixing frames and is in transmission connection with the propeller and is electrically connected with the control module; each notch is provided with a guide cover, the two guide covers of the first reserved groove and the second reserved groove are arranged oppositely, the guide covers are fixedly connected with the fixing frame, and the driving motor is arranged in one guide cover.
Further, a plurality of cutting knives are fixedly arranged on one side, facing the propeller, of the fixing frame.
Further, the bottom of the shell is provided with a mounting mechanism, the mounting mechanism comprises a mounting bin and a salvaging device arranged in the mounting bin,
the mounting bin is detachably arranged at the bottom of the shell through a screw, a bin body is arranged in the mounting bin, the mounting 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 mounting bin, the other end of the bin door is connected with the mounting bin through a first electric telescopic rod, so that the bin door can seal the bin opening, one end of the first electric telescopic rod is in sliding connection with the bin door, the other end of the first electric telescopic rod is in rotary connection with the inner wall of the bin body, and the first electric telescopic rod is electrically connected with the control module; a sealing piece which is in butt joint with the bin opening is arranged on one surface of the bin door facing the bin body, and a sealing glue ring is arranged around the sealing piece so that the sealing piece seals the bin opening; the bin gate 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 expansion bracket, a second electric telescopic rod and a fishing hand, wherein the scissor type expansion bracket is formed by connecting a plurality of mutually hinged X brackets, the X brackets at one end of the scissor type expansion bracket are fixed brackets, the rest X brackets are sliding brackets, one end of the fixed brackets, which is far away from one side of the sliding brackets, is rotationally connected with the inner wall at one end of the bin body, the other end of the fixed brackets is in sliding connection with the inner wall at one end of the bin body, and one side of the sliding brackets is in sliding connection with the side wall at 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 shear type expansion bracket is characterized in that a connecting rod is arranged on the sliding bracket far away from one end of the fixed bracket, one end of the sliding bracket is rotationally connected with the connecting rod, the other end of the sliding bracket is in sliding connection with the connecting rod, and two ends of the connecting rod are respectively in sliding connection with the inner wall of the bin body; the salvaging hand is fixedly connected with one side of the connecting rod, which is opposite to the scissor type expansion bracket;
the salvage hand comprises a connecting arm and a salvage arm, one end of the connecting arm is fixedly connected with the connecting rod, at least three salvage arms are arranged, the salvage arm is connected with one end of the connecting arm far away from the connecting rod, the salvage arm comprises a first arm body and a second arm body, one end of the first arm body is fixedly connected with one end of the connecting arm far away from the connecting rod, the other end of the first arm body is rotatably connected with the middle part of the second arm body, one end of the second arm body, which is close to the connecting arm, is provided with a third electric telescopic rod, one end of the third electric telescopic rod is rotatably connected with the first arm body, the other end of the third electric telescopic rod is slidably connected with the second arm body, and the third electric telescopic rod is electrically connected with the control module.
The high-pressure air cylinder is arranged in the bin body, high-pressure air is filled in the high-pressure air cylinder, the high-pressure air cylinder is provided with an exhaust electromagnetic valve, and the exhaust electromagnetic valve is electrically connected with the control module.
Further, an adjusting bin with a sealing structure is arranged at one end of the mounting bin, which is close to the shell, a balance adjusting mechanism is arranged in the adjusting bin, the balance adjusting mechanism comprises a floating block, a horizontal sensor, a traversing device and a longitudinal moving device,
the transverse moving device comprises a first transmission part, a first driving rod and a first adjusting motor, wherein the first transmission part is fixedly arranged on the upper surface of the floating block, the first driving rod is threaded through the first transmission part, two ends of the first driving rod are respectively in sliding connection with the inner wall of the adjusting bin, the first adjusting motor is in transmission connection with the first driving rod through a gear set, and the first driving rod is in sliding connection with the inner wall of the adjusting bin; the first regulating motor is electrically connected with the control module;
the vertical moving device comprises a second transmission part, a second driving rod and a second adjusting motor, wherein the second transmission part is fixedly arranged on the lower surface of the floating block, the second driving rod is threaded through the second transmission part, two ends of the second driving rod are respectively in sliding connection with the inner wall of the adjusting bin, the second adjusting motor is in transmission connection with the second driving rod through a gear set, and the second driving rod is in sliding connection with the inner wall of the adjusting bin; the second regulating motor is electrically connected with the control module;
The level sensor is fixedly arranged in the cylinder and is electrically connected with the control module.
The beneficial effects of the invention are as follows:
1. because pass through flange bolted connection between preceding ring flange, flange ring and the front bezel for the spherical cover centre gripping of resin is between flange ring and front bezel, and back lid passes through flange bolt and back ring flange fixed connection, when control module in the barrel, shooting module and power module break down, can be convenient for dismantle protecgulum or back lid, with repair maintenance to control module, shooting module and power module. The resin spherical cover provides a clear view for the photographing module, and has high compressive strength to prevent the resin spherical cover from being broken, resulting in liquid entering the cylinder. The compressive strength of the middle space of the cylinder body can be increased through the cylindrical structure of the cylinder body, the flange plates at the two ends of the cylinder body and the mounting frame, and the shell is connected with the shell through the mounting frame, so that the convenience, modularization and structural strength gain of the installation are realized.
2. Under the action of the threading screw, the lead in the cylinder body can be led out of the cylinder body through the threading screw, and the tightness of the cylinder body can be ensured. Under the effect of frame board, improved the compressive strength of shell, through setting up the frame board on the installing frame moreover, can strengthen the intensity of installing frame, further improve the compressive strength of barrel. Under the effect of the silica gel waterproof gasket and the tetrafluoro waterproof gasket, the tightness of the cylinder body can be ensured.
3. When the underwater robot needs to ascend, the control module controls the electric push rod to start, and the sealing element moves towards the direction close to the discharge port, so that liquid in the buoyancy bin is discharged through the discharge port, and the buoyancy of the underwater robot is increased; when the underwater robot needs to descend, the electric push rod is controlled by the control module to start, the sealing element moves towards the direction away from the discharge opening, so that liquid enters the buoyancy bin through the discharge opening, the buoyancy of the underwater robot is reduced, the electric energy required by the ascending or descending of the underwater robot can be reduced under the action of the buoyancy adjusting mechanism, and the running duration of the underwater robot is prolonged. Under the effect of electromagnetic switch valve, can prevent that the air in the buoyancy storehouse from spilling, when guaranteeing that the underwater robot needs to rise, the buoyancy storehouse provides has stable buoyancy.
4. When an underwater object is required 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, the bin door can be conveniently opened, 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 controlling the extension of the second electric telescopic rod, the scissor type telescopic frame pushes the salvaging hand out of the bin body, so that the salvaging hand can grab the object to be salvaged. After the object is grabbed, the control module sequentially controls the second electric telescopic rod and the first electric telescopic rod to be shortened, so that the scissor type telescopic frame grabs the object into the bin body, the bin door is closed, the exhaust electromagnetic valve is controlled to be opened by the control module, the gas of the high-pressure air cylinder is discharged into the bin body, the liquid in the bin body is discharged out of the bin body through the pressure release valve, the buoyancy of the mounting bin is improved, and the electric energy required by the underwater robot when floating to the water surface is reduced.
Drawings
Fig. 1 is a schematic view of an underwater robot according to a preferred embodiment of the present invention.
Fig. 2 is a schematic view of a barrel structure of an underwater robot according to a preferred embodiment of the present invention.
Fig. 3 is a schematic view showing a housing structure of an underwater robot according to a preferred embodiment of the present invention.
Fig. 4 is a schematic view of a power mechanism of an underwater robot according to a preferred embodiment of the present invention.
Fig. 5 is a schematic structural view of a buoyancy adjusting mechanism of an underwater robot according to a preferred embodiment of the present invention.
Fig. 6 is a schematic view of a mounting bin structure of an underwater robot according to a preferred embodiment of the present invention.
Fig. 7 is a schematic view showing a door structure of an underwater robot according to a preferred embodiment of the present invention.
Fig. 8 is a schematic structural view of a balance adjusting mechanism of an underwater robot according to a preferred embodiment of the present invention.
In the figure, 1-machine body, 11-cylinder, 12-mounting frame, 13-frame plate, 131-slot, 2-housing, 21-first pre-slot, 22-second pre-slot, 23-guide hole, 24-beacon, 3-front cover, 31-front flange, 32-flange ring, 33-resin spherical cover, 34-front press plate, 4-rear cover, 41-rear flange, 42-rear cover, 421-threading screw, 43-silica gel waterproof gasket, 44-tetrafluoro waterproof gasket, 5-buoyancy bin, 501-discharge port, 51-sealing member, 511-sealing rubber ring, 52-electric push rod, 53-electromagnetic switch valve, 6-propeller, 601-notch, 61-driving motor, 62-fixing frame, 63-guide cover, 64-cutting knife, 7-mounting bin, 701-bin body, 702-bin mouth, 71-bin door, 711-sealing piece, 712-sealing glue ring, 713-pressure relief opening, 714-pressure relief valve, 72-first electric telescopic rod, 73-high-pressure air cylinder, 731-exhaust electromagnetic valve, 8-scissor type telescopic frame, 81-second electric telescopic rod, 801-fixed bracket, 802-sliding bracket, 82-salvaging hand, 821-connecting arm, 822-salvaging arm, 823-first arm body, 824-second arm body, 825-third electric telescopic rod, 83-connecting rod, 9-adjusting bin, 901-first chute, 902-second chute, 91-floating block, 92-first transmission piece, 921-first driving rod, 922-first adjusting motor, 923-first bearing, 924-second bearing, 925-first slider, 926-first bevel gear, 927-second bevel gear, 93-second transmission member, 931-second driving rod, 932-second adjusting motor, 933-third bearing, 934-fourth bearing, 935-second slider, 936-third bevel gear, 937-fourth bevel gear.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein 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 herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein 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, wherein the body 1 includes a cylinder 11 and a mounting frame 12.
The cylinder 11 is provided with a cavity, and a control module, a shooting module and a power module are arranged in the cavity, and the control module is respectively and electrically connected with the shooting module and the power module. The control module, the shooting module and the power module of the present embodiment are all known techniques, and for the sake of economy, the description will not be repeated in the present embodiment.
As shown in fig. 2, two ends of the cylinder 11 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 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 cylinder 11, the flange ring 32, the resin spherical cover 33 and the front pressing plate 34 are sequentially arranged in the direction of keeping away from the front opening of the front flange plate 31, 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 back opening is equipped with back lid 4, and back lid 4 includes back ring flange 41 and back lid 42, and back ring flange 41 is located back opening part, and back ring flange 41 and barrel 11 fixed connection, and back lid 42 is located back ring flange 41 and is directed away from the one side of barrel 11, and back lid 42 passes through flange bolt and back ring flange 41 fixed connection.
Because the front flange plate 31, the flange ring 32 and the front pressing plate 34 are connected through flange bolts, the resin spherical cover 33 is clamped between the flange ring 32 and the front pressing plate 34, the rear cover 42 is fixedly connected with the rear flange plate 41 through flange bolts, and when a control module, a shooting module and a power module in the cylinder 11 fail, the front cover 3 or the rear cover 4 can be conveniently detached so as to repair and maintain the control module, the shooting module and the power module. The resin spherical cap 33 provides a clear view of the photographing module, and the resin spherical cap 33 has high compressive strength, preventing the resin spherical cap 33 from being broken, resulting in liquid entering the cylinder.
In this embodiment, a silica gel 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 silicone waterproof gasket 43 and a tetrafluoro waterproof gasket 44. The sealing performance of the cylinder 11 can be improved by the silica gel waterproof gasket 43 and the tetrafluoro waterproof gasket 44.
The installation frames 12 are provided with a plurality of installation frames 12, the installation frames 12 are fixedly sleeved on the cylinder 11, and the shell 2 is wrapped outside the machine body 1 and is fixedly connected with the cylinder 11 through the installation frames 12; the shell 2 is provided with four first reservation grooves 21, and every two first reservation grooves 21 are respectively located the both sides of barrel 11, and four angles of shell 2 all are equipped with second reservation grooves 22, and the opening direction of second reservation grooves 22 is perpendicular to first reservation grooves 22, and first reservation grooves 21 and second reservation grooves 22 all are equipped with power unit, and power unit of first reservation grooves 21 is used for the control that the robot goes up and down, and power unit of second reservation grooves 22 is used for the control that the robot advances and retreats or turns to.
As shown in fig. 2, the four corners of the mounting frame 12 are provided with mounting clamping positions, the mounting clamping positions are provided with frame plates 13, the frame plates 13 are provided with four pieces, one side of each frame plate 13 is erected on the mounting clamping positions and fixedly connected with the mounting frame 12, the frame plates 13 are provided with groove positions 131 with the same aperture as the first reserved groove 21 and the second reserved groove 22 of the shell 2, the shell 2 is fixedly connected with the cylinder 11 through the frame plates 13 and the mounting frame 12, and the groove positions 131 are aligned with the first reserved groove 21. Under the action of the frame plate 13, the compressive strength of the housing 2 is improved, and by providing the frame plate 13 on the mounting frame 12, the strength of the mounting frame 13 can be enhanced, and the compressive strength of the cylinder 11 can be further improved.
In this embodiment, the cylindrical structure of the cylinder 11, the flanges at two ends of the cylinder 11 and the mounting frame 12 can increase the compressive strength of the middle space of the cylinder 11, and the housing 2 is connected with the housing 2 through the mounting frame 12, so as to achieve convenience, modularization and strength gain of the 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 and electrically connected with the control module.
In this embodiment, the rear cover 42 is provided with a plurality of threaded holes, and the threaded holes are provided with threading screws 421, and the threading screws 421 are used for leading out wires in the cylinder 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 tightness 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 drive motor 61.
The two ends of each first reserved groove 21 and each second reserved groove 22 are respectively provided with a notch 601 communicated with the inside, the notches 601 are respectively provided with a fixed frame 62, the propeller 6 is positioned in the corresponding first reserved groove 21 or second reserved groove 22, the two ends of the propeller 6 are respectively connected with the two fixed frames 62 in a rotating way, a driving motor 61 is fixedly arranged on the fixed 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 guide cover 63, two guide covers 63 of the first reserved groove 21 and the second reserved groove 22 are oppositely arranged, the guide covers 63 are fixedly connected with the fixing frame 62, and the driving motor 61 is arranged in one guide cover 63. The driving motors 61 of the present embodiment are all electrically connected to the control module. Preferably, the angle between the second pre-groove 22 and the second pre-groove 22 is 45 °, and steering of the underwater robot is achieved by starting the driving motor 61 in the different second pre-groove 22.
The propeller 6 can be driven to rotate under the action of the driving motor 61 in the first pre-groove 21, and the lifting or lowering of the underwater robot is realized by controlling the driving motor 61 to rotate forward or backward. The propeller 6 can be driven to rotate under the action of the driving motor 61 in the second pre-groove 22, and the forward, backward or steering of the underwater robot can be realized by controlling the driving motor 61 to rotate forward or backward.
Preferably, the side of the fixed frame 62 facing the propeller 6 is fixedly provided with a plurality of cutting knives 64. Under the action of the cutter 64, the screw 6 can be prevented from being wound by foreign matter, and the screw 6 can be ensured to normally operate.
The casing 2 of this embodiment is provided with a plurality of guide holes 23 communicating with the inside, two buoyancy adjusting mechanisms are provided in the casing 2, and the two buoyancy adjusting mechanisms are located at both sides of the cylinder 11.
As shown in fig. 5, the buoyancy adjusting mechanism comprises a buoyancy chamber 5, a sealing element 51 and an electric push rod 52, wherein one end of the buoyancy chamber 5 is provided with a discharge port 501 communicated with the inside, the sealing element 51 is positioned in the buoyancy chamber 5, the sealing element 51 is slidably connected with the inner wall of the buoyancy chamber 5, the electric push rod 52 is positioned in the buoyancy chamber 5, one end of the buoyancy chamber 5 is fixedly connected with one surface of the sealing element 51, which is opposite to the discharge port 501, the other end of the buoyancy chamber 5 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 element 51 pushes or discharges liquid into the buoyancy chamber 5 through the discharge port 501. The sealant 511 is fixed around the sealing member 51 of this embodiment.
The buoyancy chamber 5 of the present embodiment is provided with a discharge port 501 provided with 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, and the buoyancy chamber 5 is ensured to provide stable buoyancy when the underwater robot needs to ascend.
When the underwater robot needs to ascend, the control module controls the electric push rod 52 to start, the sealing piece 51 moves towards the direction close to the discharge port 501, so that 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 control module controls the electric push rod 52 to start, the sealing piece 51 moves 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.
Under the action of the buoyancy adjusting mechanism, the electric energy required by the lifting 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 arranged at the bottom of the housing 2, and the mounting mechanism includes a mounting bin 7 and a fishing device arranged in the mounting bin 7.
The mounting bin 7 is detachably arranged at the bottom of the shell 2 through screws, a bin body 701 is arranged in the mounting bin 7, a bin opening 702 communicated with the bin body 701 is arranged in the mounting bin 7, a bin door 71 is arranged on the bin opening 702, one end of the bin door 71 is hinged with the mounting bin 7, the other end of the bin door 71 is connected with the mounting 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 in sliding connection with the bin door 71, the other end of the first electric telescopic rod 72 is in rotary connection with the inner wall of the bin body 701, and the first electric telescopic rod 72 is electrically connected with a control module.
The side of the bin gate 71 facing the bin body 701 is provided with a sealing member 711 abutting against the bin port 702, and a sealant ring 712 is arranged around the sealing member 711 so that the sealing member 711 seals the bin port 702. The 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. Preferably, both sides of the side of the door 71 facing the door 702 are provided with grooves, so that one end of the first electric telescopic rod 72 can be slidably connected with the door 71.
When the door 702 needs to be opened, the pressure release valve 714 is opened by the control module, so that the pressure in the cabin 701 is the same as the pressure in the cabin 701, and the first electric telescopic rod 72 can smoothly push the door 71 open.
The salvaging device comprises a scissor type telescopic frame 8, a second electric telescopic rod 81 and a salvaging hand 82.
The scissors-type expansion bracket 8 is formed by connecting a plurality of X brackets which are mutually hinged, the X bracket at one end of the scissors-type expansion bracket 8 is a fixed bracket 801, the rest X brackets are sliding brackets 802, one end of the fixed bracket 801, which is far away from the sliding bracket 802, is rotationally connected with the inner wall at one end of the bin body 701, the other end of the fixed bracket is slidingly connected with the inner wall at one end of the bin body 701, and one side of the sliding bracket 802 is slidingly 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 jack 8, and the second electric telescopic rod 81 is electrically connected with the control module. One end of the second electric telescopic rod 81 of the present embodiment is rotatably connected to the hinge of the fixing bracket 801, and the other end is rotatably connected to the hinge of the sliding bracket 802, so that the second electric telescopic rod 81 can pull the scissor jack 8 to expand and contract.
A connecting rod 83 is arranged on a sliding bracket 802 at one end, far away from the fixed bracket 801, of the scissor type telescopic bracket 8, one end of the sliding bracket 802 is rotationally connected with the connecting rod 83, the other end of the sliding bracket is in sliding connection with the connecting rod 83, and two ends of the connecting rod 83 are respectively in sliding connection with the inner wall of the bin body 701; the salvaging 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 second electric telescopic rod 81 to extend, the scissor jack 8 pushes the salvage hand 82 out of the bin body 701, so that the salvage hand 82 can grab an object to be salvaged. 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 frames grabs the object into the bin body 701, and the rear bin door 71 is closed, and therefore the object is stored in the bin body 701.
The salvage hand 82 includes link arm 821 and salvage arm 822, link arm 821 one end and connecting rod 83 fixed connection, salvage arm 822 is equipped with the three, and salvage arm 822 is connected with the one end that link arm 821 kept away from connecting rod 83, salvage arm 822 includes first arm body 823 and second arm body 824, the one end of first arm body 823 and the one end fixed connection that link arm 821 kept away from connecting rod 83, the other end rotates with the middle part of second arm body 824 to be connected, the one end that second arm body 824 is close to link arm 821 is equipped with third electric telescopic handle 825, third electric telescopic handle 825 one end rotates with first arm body 823 to be connected, the other end and second arm body 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 body 823 snatchs or the action of release.
By controlling the extension of the third motor-operated telescopic rod 825, the end of the second arm 82 away from the salvage arm 822 is rotated toward 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 buffer emulsion to prevent accidental triggering of the detonating bomb when fishing the shell under the river.
The bin body 701 is internally provided with a high-pressure air cylinder 73, the high-pressure air cylinder 73 is filled with high-pressure air, the high-pressure air cylinder 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 gate 71 is closed, the control module controls the exhaust electromagnetic valve 731 to be opened, and the gas of the high-pressure air cylinder 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 mounting bin 7 is improved, and the electric energy required by the underwater robot when floating up 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, which is close to the shell 2, and a balance adjusting mechanism is arranged in the adjusting bin 9, wherein the balance adjusting mechanism comprises a floating block 91, a horizontal sensor, a traversing device and a longitudinal moving device.
The traversing device includes a first transmission 92, a first drive rod 921, and a first adjustment motor 922.
The first transmission member 92 is fixedly arranged on the upper surface of the floating block 91, the first driving rod 921 is threaded through the first transmission member 92, two ends of the first driving rod 921 are respectively and slidably connected 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 slidably connected with the inner wall of the adjusting bin 9; the first adjustment motor 922 is electrically connected with the control module.
Preferably, the opposite sides of the adjustment bin 9 are provided with first sliding grooves 901, one end of a first driving rod 921 is slidably connected with a first sliding groove 901 through a first bearing 923, the other end of the first driving rod 921 is provided with a first sliding block 925, the first driving rod 921 is rotatably connected with the first sliding block 925 through a second bearing 924, the first sliding block 925 is slidably connected with the first sliding groove 901 far away from the first bearing 923, and a first adjustment motor 922 is fixedly arranged on the first sliding block 925.
The gear set of the traversing device in this embodiment includes a first bevel gear 926 and a second bevel gear 927, where the first bevel gear 926 is fixedly sleeved on the first driving rod 921, the second bevel gear 927 is fixedly connected with a driving shaft of the first adjusting motor 922, and the first bevel gear 926 and the second bevel gear 927 are meshed 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 traversing motion in the adjusting bin 9.
The longitudinal moving device comprises a second transmission member 93, a second driving rod 931 and a second adjusting motor 932, wherein 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 level sensor is fixedly arranged in the cylinder 11 and is electrically connected with the control module.
Preferably, the opposite sides of the adjustment cabin 9 are provided with second sliding grooves 902, one end of the second driving rod 931 is slidably connected with a second sliding groove 902 through a third bearing 933, the other end 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 from the third bearing 933, and the second adjustment motor 932 is fixedly arranged on the second sliding block 935.
The gear set of the vertical moving device of the present 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 meshed 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 move vertically in the adjusting cabin 9.
Because the structure of snatching the object is various, can lead to unmanned aerial vehicle's gravity center line skew for underwater robot loses original balance, under the cooperation of sideslip device and indulging the device, can remove the kicker 91 to suitable position, in order to guarantee that mount storehouse 7 is in balanced position. And the floating blocks 91 can reduce the electric power required for the ascent of the underwater robot.
In this embodiment, the casing 2 is provided with the beacon 24, the beacon 24 is electrically connected with the control module, when the volume of the object to be salvaged is too large, the control module controls the beacon 24 to release, so that the beacon 24 can float on the river surface, and a worker can obtain the position of the object to be salvaged under water through the beacon 24, so that other schemes are adopted to salvage the object.
When the underwater robot of the embodiment 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, so as to adjust the moving direction of the underwater robot. When the underwater robot sinks, the control module controls the electric push rod 52 to start, and the sealing piece 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 salvaged, the pressure relief valve 714 is opened by the control module, and the liquid enters the bin body 701 through the pressure relief valve 714, so that the pressure in the bin body 701 is 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 second electric telescopic rod 81 to extend, the scissor jack 8 pushes the salvage hand 82 out of the bin body 701, so that the salvage hand 82 can grab an object to be salvaged. 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 frames grabs the object into the bin body 701, and the rear bin door 71 is closed, so that the object is stored in the bin body 701.
After the object is grabbed into the bin body 701 and the bin gate 71 is closed, the control module controls the exhaust electromagnetic valve 731 to be opened, and the gas of the high-pressure air cylinder 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 mounting bin 7 is improved, and the electric energy required by the underwater robot when floating up to the water surface is reduced.
When the underwater unmanned aerial vehicle needs to ascend, the control module controls the electric push rod 52 to start, the sealing piece 51 moves towards the direction close to the discharge port 501, so that liquid in the buoyancy bin 5 is discharged through the discharge port 501, and the buoyancy of the underwater unmanned aerial vehicle is increased. Meanwhile, under the cooperation of the transverse moving device and the longitudinal moving device, the floating blocks 91 can be moved to a proper position so as to ensure that the mounting bin 7 is in a balanced position.

Claims (7)

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 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 respectively and electrically connected with the shooting module and the power module;
the novel plastic sealing device is characterized in that a front opening and a rear opening which are communicated with the cavity are respectively formed in two ends of the cylinder body (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 located at the front opening, the front flange plate (31) is fixedly connected with the cylinder body (11), the flange ring (32), the resin spherical cover (33) and the front pressing plate (34) are sequentially arranged in the direction that the front flange plate (31) is 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 positioned at the rear opening, the rear flange plate (41) is fixedly connected with the cylinder body (11), the rear cover body (42) is positioned at one side, opposite to the cylinder 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 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 cylinder body (11) to the shell (2);
the mounting frames (12) are arranged in a plurality, the mounting frames (12) are fixedly sleeved on the cylinder (11), and the shell (2) is wrapped outside the machine body (1) and is fixedly connected with the cylinder (11) through the mounting frames (12); four first reserved grooves (21) are formed in the shell (2), each two first reserved grooves (21) are respectively located on two sides of the cylinder body (11), second reserved grooves (22) are formed in four corners of the shell (2), the opening direction of each second reserved groove (22) is perpendicular to the corresponding first reserved groove (21), power mechanisms are respectively arranged in the first reserved groove (21) and the corresponding second reserved groove (22), the power mechanisms of the first reserved grooves (21) are used for controlling lifting of a robot, and the power mechanisms of the second reserved grooves (22) are used for controlling advancing and retreating or steering of the robot;
the power mechanism is respectively and electrically connected with the control module;
the bottom of the shell (2) is provided with a mounting mechanism which comprises a mounting bin (7) and a salvaging device arranged in the mounting bin (7),
The mounting bin (7) is detachably arranged at the bottom of the shell (2) through screws, a bin body (701) is arranged in the mounting bin (7), the mounting bin (7) is provided with a bin opening (702) communicated with the bin body (701), the bin opening (702) is provided with a bin door (71), one end of the bin door (71) is hinged with the mounting bin (7), the other end of the bin door is connected with the mounting 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 in sliding connection with the bin door (71), the other end of the first electric telescopic rod (72) is in rotary connection 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 in butt joint with the bin opening (702) is arranged on one surface of the bin door (71) facing the bin body (701), and a sealing glue ring (712) is arranged around the sealing piece (711) so that the sealing piece (711) seals the bin opening (702); the bin gate (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), wherein the scissor type telescopic frame (8) is formed by connecting a plurality of mutually hinged X brackets, the X brackets at one end of the scissor type telescopic frame (8) are fixed brackets (801), the rest X brackets are sliding brackets (802), one end of the fixed brackets (801) away from one side of the sliding brackets (802) is rotationally connected with the inner wall at one end of the bin body (701), the other end of the fixed brackets is in sliding connection with the inner wall at one end of the bin body (701), and one side of the sliding brackets (802) is in sliding connection 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;
the shear type telescopic frame (8) is provided with a connecting rod (83) far away from the sliding support (802) at one end of the fixed support (801), one end of the sliding support (802) is rotationally connected with the connecting rod (83), the other end of the sliding support is slidingly connected with the connecting rod (83), and two ends of the connecting rod (83) are respectively slidingly connected with the inner wall of the bin body (701); the salvaging hand (82) is fixedly connected with one side of the connecting rod (83) back to the scissor type telescopic frame (8);
The salvage hand (82) comprises a connecting arm (821) and a salvage arm (822), one end of the connecting arm (821) is fixedly connected with the connecting rod (83), at least three salvage arms (822) are arranged, the salvage arm (822) is connected with one end of the connecting arm (821) far away from the connecting rod (83), the salvage 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 of the connecting arm (821) far away from the connecting rod (83), the other end of the first arm body is rotatably connected with the middle part of the second arm body (824), one end of the second arm body (824) close to the connecting arm (821) is provided with a third electric telescopic rod (825), one end of the third electric telescopic rod (825) is rotatably connected with the first arm body (823), the other end of the third electric telescopic rod (825) is slidably connected with the second arm body (824), and the third electric telescopic rod (825) is electrically connected with the control module, and the first electric telescopic rod (823) or the first electric telescopic rod (823) is released under the action of the third electric telescopic rod (823);
a high-pressure air cylinder (73) is arranged in the bin body (701), high-pressure air is injected into the high-pressure air cylinder (73), the high-pressure air cylinder (73) is provided with an exhaust electromagnetic valve (731), and the exhaust electromagnetic valve (731) is electrically connected with the control module;
An adjusting bin (9) with a sealing structure is arranged at one end of the mounting bin (7) close to the shell (2), a balance adjusting mechanism is arranged in the adjusting bin (9) and comprises a floating block (91), a horizontal sensor, a traversing device and a longitudinal moving device,
the transverse moving device comprises a first transmission member (92), a first driving rod (921) and a first adjusting motor (922), wherein the first transmission member (92) is fixedly arranged on the upper surface of the floating block (91), the first driving rod (921) is threaded through the first transmission member (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 regulating motor (922) is electrically connected with the control module;
the vertical moving device comprises a second transmission part (93), a second driving rod (931) and a second adjusting motor (932), the second transmission part (93) is fixedly arranged on the lower surface of the floating block (91), the second driving rod (931) is threaded through the second transmission part (93), 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 (931) is connected with the inner wall of the adjusting bin (9) in a sliding mode; the second regulating motor (932) is electrically connected with the control module;
The level sensor is fixedly arranged in the cylinder (11) and is electrically connected with the control module.
2. An underwater robot as claimed in claim 1, wherein: four corners of installation frame (12) are equipped with installation screens, the installation screens are equipped with frame board (13), frame board (13) are equipped with four, just frame board (13) one side erect on the installation screens and with installation frame (12) fixed connection, frame board (13) be equipped with shell (2) first reservation groove (21) with second reservation groove (22) the same trench (131) in aperture, shell (2) are through frame board (13) with installation frame (12) with barrel (11) fixed connection, just trench (131) with first reservation groove (21) are aimed at.
3. 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 pressing plate (34); a silica gel waterproof gasket (43) and a tetrafluoro waterproof gasket (44) are clamped between the rear flange plate (41) and the rear cover body (42).
4. An underwater robot as claimed in claim 1, wherein: the utility model discloses a buoyancy control device for a liquid storage device, including casing (2), casing (2) is equipped with inside guide hole (23) of a plurality of intercommunications, be equipped with two buoyancy adjustment mechanism in casing (2), and two buoyancy adjustment mechanism is located the both sides of barrel (11), buoyancy adjustment mechanism includes buoyancy storehouse (5), sealing member (51) and electric putter (52), buoyancy storehouse (5) one end is equipped with inside discharge port (501) of intercommunication, sealing member (51) are located in buoyancy storehouse (5), just sealing member (51) with the inner wall sliding connection of buoyancy storehouse (5), electric putter (52) are located in buoyancy storehouse (5), just buoyancy storehouse (5) one end with sealing member (51) dorsad discharge port (501) one side fixed connection, the other end with the inner wall fixed connection of buoyancy storehouse (5), electric putter (52) with control module electricity is connected under the effect of electric putter (52), sealing member (51) are through discharge port (501) will be pushed into buoyancy storehouse (5).
5. An underwater robot as claimed in claim 4 wherein: the buoyancy bin (5) is characterized in that an electromagnetic switch valve (53) is arranged at a discharge port (501) of the buoyancy bin, and the electromagnetic switch valve (53) is electrically connected with the control module.
6. An underwater robot as claimed in claim 1, wherein: the power mechanism comprises a propeller (6) and a driving motor (61), wherein two ends of each first reserved groove (21) and each second reserved groove (22) are respectively provided with a notch (601) communicated with the inside, the notches (601) are respectively provided with a fixing frame (62), the propeller (6) is positioned in the corresponding first reserved groove (21) or second reserved groove (22), two ends of the propeller (6) are respectively and rotatably connected 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 guide cover (63), the two guide covers (63) of the first reserved groove (21) are oppositely arranged, the two guide covers (63) of the second reserved groove (22) are oppositely arranged, the guide covers (63) are fixedly connected with the fixing frame (62), and the driving motor (61) is arranged in one guide cover (63).
7. The underwater robot of claim 6 wherein: a plurality of cutting knives (64) are fixedly arranged on one side, facing the propeller (6), of the fixing frame (62).
CN202010830225.5A 2020-08-18 2020-08-18 Underwater robot Active CN112061349B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010830225.5A CN112061349B (en) 2020-08-18 2020-08-18 Underwater robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010830225.5A CN112061349B (en) 2020-08-18 2020-08-18 Underwater robot

Publications (2)

Publication Number Publication Date
CN112061349A CN112061349A (en) 2020-12-11
CN112061349B true CN112061349B (en) 2023-05-09

Family

ID=73661976

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010830225.5A Active CN112061349B (en) 2020-08-18 2020-08-18 Underwater robot

Country Status (1)

Country Link
CN (1) CN112061349B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115122837B (en) * 2022-06-13 2023-04-07 安徽理工大学 Amphibious robot for underground reservoir constructed by abandoned mine
CN115214862A (en) * 2022-07-19 2022-10-21 广州大学 Modularized underwater robot and control method thereof
CN116135691B (en) * 2023-04-18 2023-06-30 广东智能无人系统研究院(南沙) Dual-mode underwater structure cleaning and detecting robot
CN117901146B (en) * 2024-03-20 2024-05-28 广东海洋大学 Salvaging mechanical arm

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5055529B2 (en) * 2008-06-20 2012-10-24 公益財団法人北九州産業学術推進機構 Underwater posture stabilization device and diving device equipped with the same
CN102012704B (en) * 2010-09-21 2012-05-02 上海大学 Inner controlling system for gestures of underwater robot
KR101681316B1 (en) * 2016-06-13 2016-12-02 한국해양과학기술원 A multi-joint underwater robot system for deep sea exploration
CN106043631B (en) * 2016-06-15 2017-11-14 青岛赶海机器人有限公司 A kind of manipulator backpack underwater robot
CN108116644A (en) * 2016-11-30 2018-06-05 中国科学院沈阳自动化研究所 A kind of high-precision buoyancy regulating device for autonomous underwater robot
CN207208415U (en) * 2017-04-21 2018-04-10 上海交通大学 Underwater glider
CN207496907U (en) * 2017-11-25 2018-06-15 无锡锡东电力电气安装工程有限公司 Underwater robot
CN207658021U (en) * 2018-01-03 2018-07-27 武汉海涵立科技有限公司 Underwater robot
CN108674613B (en) * 2018-04-16 2020-02-14 哈尔滨工程大学 Underwater robot gravity center auxiliary adjusting system and control method
CN209921585U (en) * 2019-05-31 2020-01-10 西安工业大学 Propulsion type diving equipment with execution arm
CN211193936U (en) * 2019-09-09 2020-08-07 张超 Adjustable grabbing device for underwater robot
CN210653597U (en) * 2019-10-23 2020-06-02 诸城市龙源学校 Mechanical balance self-stabilization underwater robot
CN110978038A (en) * 2019-12-05 2020-04-10 南京华研动密封科技有限公司 Two-degree-of-freedom underwater manipulator
CN110842898A (en) * 2019-12-16 2020-02-28 山东未来机器人有限公司 Underwater robot with manipulator
CN212290269U (en) * 2020-08-18 2021-01-05 柳州市神鹰科技有限公司 Underwater robot

Also Published As

Publication number Publication date
CN112061349A (en) 2020-12-11

Similar Documents

Publication Publication Date Title
CN112061349B (en) Underwater robot
CN212290269U (en) Underwater robot
CN114018643A (en) Water pollution environment monitoring sampling device
CN109367741B (en) Deformable unmanned submarine vehicle and application method thereof
CN110626473B (en) Metal product fishing equipment
CN114811187B (en) Dry-type work cabin is changed to sea pipe riser
CN112318006A (en) Dry welding and clamping equipment for underwater welding
CN112284189A (en) Intelligent patrol robot
CN205116134U (en) Navigation ware is collected to surface of water floater
CN114771180A (en) Water life-saving device
CN217018851U (en) Cable bridge cutting device
CN213637960U (en) Underwater camera of submersible with adjustable visual angle
CN213921440U (en) Electric lifting device for outboard engine
CN210240728U (en) Electric explosion-proof hard seal adjusting butterfly valve
CN211974780U (en) People's air-proof airtight door with movable doorsill
CN210483534U (en) Movable deep sea sampling drilling machine
CN211618117U (en) Unmanned aerial vehicle with function of making a video recording
CN110920834A (en) Be used for submarine rescue corpse to salvage robot
CN209774654U (en) General robot for land, water and air investigation
CN220473069U (en) Underwater robot
CN116674730B (en) Buoyancy adjusting device for underwater equipment
CN216194589U (en) Marine aquaculture is with dying fish fisher
CN221175223U (en) Underwater lens shooting device with waterproof structure
CN216597954U (en) Electric lodging device for antenna of amphibious vehicle in water immersion state
CN214477025U (en) High-voltage explosion-proof switch quick door opening device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant