CN112937806B - Shooting type underwater robot - Google Patents
Shooting type underwater robot Download PDFInfo
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- CN112937806B CN112937806B CN202110192290.4A CN202110192290A CN112937806B CN 112937806 B CN112937806 B CN 112937806B CN 202110192290 A CN202110192290 A CN 202110192290A CN 112937806 B CN112937806 B CN 112937806B
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- horizontal
- camera
- propeller
- controller
- vertical
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- 239000011257 shell material Substances 0.000 claims description 72
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 230000000694 effects Effects 0.000 claims description 20
- 230000006835 compression Effects 0.000 claims description 17
- 238000007906 compression Methods 0.000 claims description 17
- 238000003491 array Methods 0.000 claims description 14
- 241000251468 Actinopterygii Species 0.000 claims description 9
- 238000010008 shearing Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 239000012780 transparent material Substances 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 5
- 239000002775 capsule Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The invention discloses a shooting type underwater robot device which comprises an underwater high-definition camera device, a power propeller device and a tail balancing device, wherein the underwater high-definition camera device comprises a first flange connection device, a transparent waterproof shell, a camera and a controller device thereof, the power propeller device comprises a power propeller, a pressure-resistant waterproof shell and a controller device, the tail balancing device comprises a second flange connection device, a waterproof shell, a turbine propulsion and controller device, the tail of the underwater high-definition camera device is provided with a first connection bayonet, and the power propeller device is provided with a second connection bayonet, a third connection bayonet and a fourth connection bayonet.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater operation robot water bank capable of automatically cruising and shooting.
Background
Underwater Robots (ROVs) have long been produced, but rarely appear in daily life, and functional underwater robots are fewer. The design of underwater robots or craft involves different propulsion and mechanical structures than the ground steering tools, and the control is also different, its use being in the exploration and development stage.
Disclosure of Invention
The invention provides a shooting type underwater robot, which aims to adjust and optimize the structure of the underwater robot, adopts modularized assembly, can perform functional adjustment according to the requirements of users, and selects tools such as an underwater propeller, a sensor, an underwater camera and the like so that the operation of the underwater robot can realize the full-water-depth and multifunctional operation.
The invention is realized by the following technical scheme:
the utility model provides a shooting type underwater robot device, includes high definition digtal camera device, power propeller device, afterbody balancing unit, high definition digtal camera device includes first flange connecting device, transparent waterproof shell, camera and its controller device under water, power propeller device includes power propeller, resistance to compression waterproof shell, controller device, afterbody balancing unit includes second flange connecting device, waterproof shell, turbine propulsion and controller device, high definition digtal camera device afterbody is equipped with first connection bayonet socket, power propeller device is equipped with second connection bayonet, third connection bayonet, fourth connection bayonet, afterbody balancing unit is equipped with fifth connection bayonet, sixth connection bayonet, first connection bayonet is equipped with external screw thread structure, the second connection bayonet is equipped with the internal screw thread structure of identical size, plays the effect of conveying information after screwing up, first flange connecting device internal screw thread with the external screw thread structure that the third connection bayonet is equipped with identical size matches, plays the effect of fixing high definition digtal camera device and LED lamp body carrier part under water, fourth connection is equipped with first connection bayonet, third connection bayonet, the afterbody balancing unit is equipped with the external screw thread structure is equipped with to the external screw thread structure that the same, the high definition digtal camera device is equipped with to the external screw thread structure that the same, the LED lamp body has the effect of screwing down, the high definition digtal camera device is equipped with the same size, the power propeller device is provided with a second main controller, the tail balance device is provided with a third main controller, the first main controller and the third main controller are connected through an ROV cable, the transparent waterproof shell is provided with waterproof and pressure-resistant transparent materials, the camera performs measurement monitoring and exploration on underwater in real time through the waterproof and pressure-resistant transparent materials so as to realize shooting and information acquisition functions of the underwater robot, the ROV cable transmits information to the first main controller, the first flange connection device is provided with two LED lamp body bearing parts so as to realize lamplight replenishment of shooting of the underwater robot, the power propeller device comprises a power propeller, a pressure-resistant waterproof shell and a controller device, the power propeller is provided with two vertical screw propellers and two horizontal screw propellers, the horizontal power source and the vertical power source of the underwater robot are realized, the fixing device of the ROV cable is arranged in the compression-resistant waterproof shell, the controller device is positioned at the innermost layer of the water sample collecting device, the controller device is of a hollow shaft type structure, the second main controller is positioned in the controller device, the tail balancing device comprises the second flange connecting device, the waterproof shell, the turbine propeller device and the central controller device, the second flange connecting device is provided with two LED lamp body bearing parts so as to realize the function of attracting fish groups of the underwater robot, the turbine propeller device is the tail vertical power source of the underwater robot so as to realize the function of controlling and balancing the underwater robot, the tail balancing device is connected with the second main controller through the ROV cable, the center controller device is of a hollow shaft type structure, the third main controller is located in the center controller device and connected with the second main controller through an ROV cable, after the second main controller receives signals of an external cable, the second main controller starts to work, the power propeller device starts, and meanwhile signals are sent to control the first main controller and the third main controller, and the high-definition camera device and the tail balancing device start.
Preferably, the power propeller device comprises a power propeller, a compression-resistant waterproof shell and a controller device, wherein the power propeller is provided with two vertical spiral propellers, two horizontal spiral propellers and a fixed vertical spiral propeller device, so that a horizontal power source and a vertical power source of the underwater robot are realized, the vertical spiral propellers are composed of a vertical conical gear, a screw and a vertical cylindrical pinion device, the vertical cylindrical gear and the propeller structure device are formed, the horizontal spiral propellers comprise a horizontal propeller device, a horizontal cylindrical gear, a horizontal conical gear and a horizontal screw, the horizontal spiral propellers are of a T-shaped cylindrical structure and play a role of connecting the compression-resistant waterproof shell with the vertical spiral propellers, the compression-resistant waterproof shell is of a hollow cylindrical shape, a second connecting bayonet, a third connecting bayonet and a fourth connecting bayonet are arranged, the inside is provided with a fixing device of a ROV cable, the controller device is located in the innermost layer of the water sample collecting device, the controller device is of a hollow structure, the second controller is located in a shaft type controller, the main controller is located in the main controller is provided with a main controller, and the main controller is started up by the main controller receives a power signal, and the main controller is started up by the main controller.
Preferably, the vertical screw propeller is composed of a vertical conical gear, a screw, a vertical cylindrical pinion device, a vertical cylindrical large gear and a screw structure device, wherein the vertical conical gear is hollow cylindrical, one side of the vertical conical gear is provided with ten zigzag semicircle cones, the center of the vertical conical gear is provided with a cylindrical stretching shearing part and a shearing thread meshed with the screw thread, the vertical cylindrical pinion device comprises a vertical cylindrical pinion and a round screw fastener device, the vertical cylindrical pinion is in a hollow round cake shape, the side surfaces of the vertical cylindrical pinion are arranged by ten trapezoid zigzag circumferential arrays at the same distance, the round screw fastener device comprises cylindrical bolts and nuts, the vertical cylindrical large gear is in a hollow round cake shape, the side surfaces of the vertical cylindrical pinion are arranged by twenty-four trapezoid zigzag circumferential arrays at the same distance; the propeller structure device comprises a hollow cylinder and a hollow round table on the side face of the hollow cylinder, wherein the hollow cylinder is internally provided with a hub and paddles, the paddles are four petal-shaped pieces and are arranged in a circumferential array, the vertical propeller converts power into thrust through a power source and transfers the thrust to the vertical conical gear, the thrust is transferred to the vertical cylindrical pinion, and finally the thrust is transferred to the vertical cylindrical large gear through meshing so as to realize a vertical power source of the underwater robot.
Preferably, the underwater high-definition camera device comprises a first flange connection device, a transparent waterproof shell, a camera and a controller device thereof, wherein the first flange connection device consists of a spiral flange plate, a lamp body bearing part device and a connecting piece; six small mounting holes and one large mounting hole are formed in the spiral flange plate, the large mounting hole and the third connecting bayonet are screwed up and then play a role of fixing the first flange connecting device, the small mounting hole and the connecting piece are screwed up and then play a role of fixing the connecting piece, the flange plate is in a circular sheet shape and plays a role of fixing the lamp body bearing part device, the lamp body bearing part device comprises an LED lamp and the lamp body bearing part, so that light supply of underwater robot shooting is realized, the connecting piece is provided with only one external thread at one end, the external thread is identical to the internal thread of the six small mounting holes of the spiral flange plate, the other parts of the connecting piece are screwed up and then play a role of connecting and fixing the flange plate and the lamp body bearing part, a transparent waterproof shell is in a hollow semi-capsule shape and is provided with waterproof pressure-resistant transparent material, the camera is convenient to measure and monitor in real time, the opening is provided with an external thread, the first bayonet is also provided with a second main control cable, a second main control device is also provided with a second main control device, a second main control device is connected with an underwater control cable, a second main control device is provided with an underwater control device, a real-time information acquisition device is provided with a main control device, and a signal acquisition device is provided with the second main control device is provided with an underwater control device, so as to realize the shooting and information acquisition functions of the underwater robot.
Preferably, the first flange connection device is composed of a spiral flange, four flange plates, two lamp body bearing parts, twelve LED lamp bodies and six connecting pieces; the flange plate is hollow circular sheet-shaped, the flange plates are oppositely placed and spaced at the same distance, the connecting piece is in a slender hollow straight rod shape, the front end of the flange plate is provided with external threads, six mounting holes are reserved on the first flange plate, the second flange plate, the third flange plate and the fourth flange plate, the caliber of each mounting hole is identical to that of the connecting piece, the connecting piece is connected with the four flange plates through the mounting holes and welded, the spiral flange plate is in an internal thread hollow circular sheet shape, the six mounting holes are formed in the spiral flange plate and are distributed in an internal thread shape in a circular array manner, the spiral flange plate is identical to the diameter of the connecting piece, the connecting piece is screwed and fixed through the mounting holes, the hollow circular sheet-shaped lamp body bearing part is provided with six elliptical LED lamp body mounting grooves, the elliptical LED lamp body mounting grooves are in a capsule shape, the rear curved surface is provided with the mounting holes are identical to the diameters of the connecting piece, the connecting piece penetrates through the mounting holes and is welded, and the LED lamp body is in a semi-elliptical shape and is arranged on the LED lamp body mounting groove.
Preferably, the camera and the controller device thereof comprise a camera lens, a camera box, a camera base device, a controller device and a sealing device, wherein the controller device comprises an outer controller shell and an inner camera shell, the camera lens is transparent round, the diameter is the same as the size of a rubber groove in the camera box, the camera lens has the functions of protecting the camera and preventing water, the camera is a digital camera and is in a semicircle shape, the digital camera can convert an analog video signal generated by video acquisition equipment into a digital signal, the signal is further transmitted to the first main controller, the camera box is hollow semicircle, the inner front end is provided with a rubber groove clamping seat, the size is the same as the camera lens, the inner part is tangent to the camera, the camera is used for protecting the camera, the shape of the camera base is provided with a U-shaped space, the distance between two arms of the U-shaped space is approximately equal to the length of the camera box, so that the camera box is just clamped into the U-shaped space, and the positions where the two arms of the U-shaped space of the base are clamped and contacted with the two ends of the camera box are respectively provided with a pivot and a bearing structure for enabling the camera box to rotate at an elevation angle or a depression angle relative to the camera base, the controller comprises a controller shell and a first main controller, the controller shell is provided with an inner part and an outer part, the outer shell is connected with the camera base through the bearing structure, the inner shell is connected with the camera base through the bearing structure, the closed position is provided with internal threads, the function of fixing the closed device is achieved, the circuit connecting wire is deposited in space between inside shell and the outside shell, first main control unit is through receiving second main control unit's signal, control the start-up of camera, simultaneously first main control unit also can receive the shooting of camera and the information of gathering, gives second main control unit with information transfer, closing means is a disc, and this disc passes through a bolt fastening and is in on the inside shell of camera, play the effect of the first main control unit of seal protection, disc center department has the opening, and opening part internal thread is unanimous with screw thread size, the screw simultaneously with inside shell internal thread size is the same, plays the fixed after jointly tightening inside shell and confined effect.
Preferably, the horizontal screw propeller comprises a horizontal screw propeller device, a horizontal cylindrical large gear, a horizontal conical gear and a horizontal screw, wherein the screw propeller device is of an external structure formed by a hollow cylinder and a hollow cylinder on the side surface of the hollow cylinder, the hollow cylinder is internally formed by a propeller hub and paddles, the paddles are in a petal shape, four paddles are arranged in a circumferential array, the paddles rotate in water and convert power source rotation power into propelling force, the horizontal cylindrical large gear is in a hollow cake shape, the side surface of the horizontal cylindrical large gear is arranged by twenty-four trapezoid sawtooth circumferential arrays at the same distance, the horizontal cylindrical large gear is meshed with the horizontal conical gear and is responsible for transmitting force to the horizontal screw propeller device for propelling, the horizontal conical gear is hollow cylinder, ten zigzag semicircle cones are arranged at the center, the cylindrical stretching shearing part is meshed with the external threads of the horizontal screw, the horizontal screw propeller has the same external threads as the size of the internal threads of the horizontal conical gear, the horizontal screw propeller has the functions of fixing and transmitting rotation power after screwing, and the horizontal screw propeller transmits the rotation power to the horizontal conical gear through the power source, and the horizontal screw propeller transmits the horizontal conical gear to the horizontal screw propeller through the horizontal conical gear in the horizontal conical gear.
Preferably, the tail balancing device comprises a second flange connection device, a waterproof shell, a turbine propulsion and controller device, the internal threads of the second flange connection device are matched with the external threads of the sixth connection bayonet, the tail balancing device and the LED lamp body bearing part are fixed after screwing, the second flange connection device is provided with two LED lamp body bearing parts so as to achieve the function of attracting fish schools of the underwater robot, the waterproof shell is provided with a compression-resistant waterproof shell material, meanwhile, the external threads of the sixth connection bayonet are identical in size with the internal threads of the second flange connection device, the tail balancing device and the LED lamp body bearing part are fixed after screwing, the fifth connection bayonet and the fourth connection bayonet play a role of fixing the tail balancing device after screwing, the turbine propulsion and controller device comprises the turbine propulsion and controller device and the center controller device, the turbine propulsion device is connected with a second main controller through a ROV cable to achieve the function of a second main controller through a shaft type water controller, the center controller is connected with the second main controller through a ROV cable, and the center controller is connected with the main controller through a third main controller through a vertical shaft type ROV.
Preferably, the turbine propulsion and control device comprises a turbine propeller device and a central control device, wherein the turbine propeller device comprises two vertical cylindrical gears, two vertical fixing devices, two horizontal cylindrical gears, two horizontal fixing devices, two connecting rod opening gears, one vertical conical gear, one turbine propeller device and one gasket, the connecting rod opening gears comprise a first connecting rod opening gear and a second connecting rod opening gear, the vertical cylindrical gears are in a shape of a circular cake with a central opening, the side surfaces of the vertical cylindrical gears are arrayed by ten trapezoid sawtooth circumferential arrays with the same distance, the vertical fixing devices are meshed with the second connecting rod opening gears and are responsible for transmitting force to the turbine propeller device to propel and keep balance, the vertical fixing devices are cylindrical and are used for fixing the vertical cylindrical gears, the horizontal cylindrical gear is in a shape of a circular cake with a central opening, the side surfaces of the horizontal cylindrical gear are arrayed by ten trapezoid sawtooth circumferential arrays, the circular cake is spaced at the same distance, the circular cake is meshed with the first connecting rod opening gear and is responsible for transmitting force to the second connecting rod opening gear for pushing, the horizontal fixer is in a cylinder shape and is used for fixing the horizontal cylindrical gear, the connecting rod opening gear comprises the first connecting rod opening gear and the second connecting rod opening gear, the connecting rod opening gear is in a shape of a circular cake, the connecting rod opening is arranged at the center, the first connecting rod opening gear pushes after transmitting rotation power to the two horizontal cylindrical gears through a connecting rod, the vertical conical gear is in a hollow cylinder shape, the connecting rod opening is arranged at the center, one side of the vertical conical gear is provided with eight zigzag semicircle cone shapes, the turbine propeller device comprises a propeller device and a propeller cap, wherein a hollow cylinder of the propeller device forms an external structure, the inside of the hollow cylinder is formed by a hub, paddles and external threads at one end of the center, one end of the hollow cylinder is a connecting rod, the paddles are petal-shaped, ten two paddles are arranged in a circumferential array, the paddles rotate in water to convert the rotation power of a power source into the propulsion force, the propeller cap is semicircular, the inside of the center is not penetrated by the internal threads, the size of the hollow cylinder is the same as that of the external threads of the propeller device, and the hollow cylinder plays a role in protection after being screwed.
The underwater camera and the LED lamp are carried, underwater work photo collection is realized by the underwater camera, the LED lamp is used for attracting underwater fish and gathering fish shoals and compensating light, and a detection shooting system is formed by combining the unique work advantages of the underwater camera and the LED lamp, so that the functions of underwater geological exploration, fish shoals shooting and the like are realized. In particular, the method has the following beneficial effects:
(1) The capsule-shaped appearance and the bracket can lead the capsule-shaped appearance and the bracket to be pressed in water identically, and is suitable for full water depth operation.
(2) The carried underwater camera can be used for underwater work photo acquisition geological exploration.
(3) The LED lamp can be used for attracting underwater fish and compensating light.
(4) The modularized structure of the device can be used for carrying a plurality of modules of different types, such as various sensors, self-movement gesture modules and other functional modules according to different requirements.
(5) The device can realize autonomous cruising according to a set route.
(6) The ultrasonic sensor and the infrared sensor are carried, and the automatic obstacle avoidance function can be realized.
(7) The underwater robot is connected by the cable, the connection mode is economical and practical, the real-time data transmission and energy supplement can be realized, the cruising ability and the service life are improved, and most importantly, the release and the recovery of the underwater robot are realized by the cable, so that the safety is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the power propeller device in the present invention.
Fig. 3 is a schematic view of the structure of the vertical screw propeller of the present invention.
Fig. 4 is a schematic structural diagram of an underwater high-definition camera device in the present invention.
Fig. 5 is a schematic structural view of a first flange connection device according to the present invention.
Fig. 6 is a schematic structural diagram of a camera and a controller device thereof according to the present invention.
Fig. 7 is a schematic view of the structure of the horizontal screw propeller in the present invention.
FIG. 8 is a schematic diagram of a tail balance device according to the present invention.
FIG. 9 is a schematic view of the turbine propulsion and control apparatus of the present invention.
Symbols in the drawings: an underwater high-definition camera device 1; a transparent waterproof case 10; a first connection buckle 100; a first flange connection 11; first flange connection means internal threads 110; a camera and a controller device 12 thereof; a camera lens 120; a camera 121; a camera box 122; camera base means 123; a camera base 1230; a controller external housing 1240; a camera inner housing 1241; a closing device 125; a power propeller device 2; a pressure-resistant waterproof case 20; a second connection buckle 200; a third connecting buckle 201; a fourth connection clasp 202; a controller device 21; a horizontal auger 220; a vertical auger 221; a vertical conical gear 2210, a screw 22100, a vertical cylindrical pinion 2212, a vertical cylindrical large gear 2211, and a propeller structure device 2213; a stationary vertical auger device 222; tail balancing device 3; a waterproof case 30; a fifth connection bayonet 300, a sixth connection bayonet 301; a second flange connection 31; second flange connection means internal threads 310; turbine propulsion and controller means 32; a turbine propeller device 320; a central controller device 321; a vertical holder 3210; a vertical cylindrical gear 3211; a horizontal holder 3212; a first link split gear 3213; horizontal cylindrical gears 3214; a second link split gear 3215; a washer 3216; an LED lamp body 4.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the attached drawings: the present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are provided, but the protection scope of the present invention is not limited to the following examples.
As shown in fig. 1, 4, 5 and 6, the device comprises an underwater high-definition camera device 1, a power propeller device 2 and a tail balance device 3, wherein the underwater high-definition camera device 1 comprises a first flange connection device 11, a transparent waterproof shell 10, a camera and a controller device 12 thereof,
the power propeller device 2 comprises a power propeller, a pressure-resistant waterproof housing 20 and a controller device 21,
the tail balancing device comprises a second flange connecting device 31, a waterproof housing 30 and a turbine pushing and controlling device 32, wherein the tail 1 of the underwater high-definition camera device is provided with a first connecting bayonet 100, the power propeller device 2 is provided with a second connecting bayonet 200, a third connecting bayonet 201 and a fourth connecting bayonet 202, the tail balancing device 3 is provided with a fifth connecting bayonet 300 and a sixth connecting bayonet 301, the first connecting bayonet 100 is provided with an external thread structure, the second connecting bayonet 200 is provided with an internal thread structure with the same size, the effect of conveying information is achieved after tightening, the first flange connecting device is internally threaded 110 and the effect of fixing the bearing parts of the underwater high-definition camera device 1 and the LED lamp body 4 are achieved after tightening, the fourth connecting bayonet 202 is provided with an external thread structure and the effect of fixing the tail is achieved after tightening, the second flange connecting device is internally threaded 310 and the sixth connecting bayonet 301 are provided with external thread structures with the same size, the effect of fixing the tail balancing device 3 and the LED lamp body 4 are achieved after tightening, the underwater high-definition camera device is provided with a waterproof cable 2 and a main controller, the main controller is provided with a main controller for capturing and a transparent pressure-proof device, the main controller is provided with a main controller, the waterproof device is provided with a transparent pressure-proof and pressure-proof device, the main controller is provided with a main controller, the main controller is provided with a transparent controller, and a pressure-proof device is provided with a main controller, and a transparent controller is provided with a main controller, and a pressure-proof device is provided with a transparent controller, and a pressure-proof device is provided with a pressure-proof device, the information is transmitted to the first main controller through the ROV cable, the first flange connection device 11 is provided with two LED lamp body 4 bearing parts so as to realize the lamplight replenishment shot by the underwater robot, the power propeller device 2 comprises three parts of a power propeller, a compression-resistant waterproof shell 20 and a controller device 21, the power propeller is provided with two vertical screw propellers 221 and two horizontal screw propellers 220 so as to realize the horizontal power source and the vertical power source of the underwater robot, the compression-resistant waterproof shell 20 is internally provided with a fixing device of the ROV cable, the controller device 21 is positioned at the innermost layer of the water sample collection device, the controller device 21 is in a hollow shaft type structure, the second main controller is positioned in the controller device 21, the tail balance device 3 comprises the second flange connection device 31 and a waterproof shell 30, the turbine propeller device 320, the central controller device 321, the second flange joint device 31 is equipped with two LED lamp body 4 carrier parts, in order to realize the function of underwater robot lures the crowd, the turbine propeller device 320 is the afterbody vertical power source of underwater robot, in order to realize the balanced effect of underwater robot control, link to each other with the second main control through the ROV cable, 321 central controller device is hollow shaft type structure, the third main control unit is located central controller device 321, link to each other with the second main control unit through the ROV cable, after the signal of outside cable is received to the second main control unit, the second main control unit starts work, power propeller device 2 starts, send signal control first main control unit and third main control unit simultaneously, high definition digtal camera device 1 under water and afterbody balancing unit 3 start.
The underwater high-definition camera device 1 comprises a first flange connecting device 11, a transparent waterproof outer shell 10, a camera and a controller device 12 of the camera, wherein the first flange connecting device 11 consists of a spiral flange, a lamp body bearing part device and a connecting piece; the inside of spiral ring flange is opened there are six little mounting holes and a big mounting hole that run through, plays the effect of fixed first flange junction device 11 after big mounting hole and third connection bayonet socket screw up, and little mounting hole plays the effect of fixed connection spare with the connecting piece screw up the back, and the ring flange disc is circular slice, plays fixed lamp body and bears the weight of the portion device effect, and the lamp body bears the weight of the portion device to LED lamp with lamp body bears the weight of the portion, so as to realize the light supply that underwater robot shooed, the connecting piece only has the external screw thread of one end, with six little mounting holes of spiral ring flange internal screw thread size the same, screw up the back and play the fixing the effect of spiral ring flange, play after the welding of connecting piece other positions connect and fix ring flange, lamp body bears the portion effect, transparent waterproof shell 10 is hollow semi-glue, and is equipped with waterproof compressive transparent material, make things convenient for the camera is measured the control, is surveyed in real time, and is equipped with the first bayonet socket 100 of external screw thread, with the second bayonet socket that has the internal screw thread after screwing up, plays fixed high definition digtal camera device 1 and its controller 12 and its controller, can also be equipped with first controller 12, main control signal acquisition device and main control device, can be passed through the camera, and main control device are realized.
The first flange connection device 11 is composed of a spiral flange 112, four flanges 110, two lamp body bearing parts 111, twelve LED lamp bodies 4 and six connecting pieces 113; the flange plate 110 is in a hollow circular plate shape, is oppositely placed and spaced at the same distance, the connecting piece 113 is in a long and thin hollow straight rod shape, the front end of the connecting piece is provided with external threads, six mounting holes are reserved on the first flange plate, the second flange plate, the third flange plate and the fourth flange plate, the caliber of each mounting hole is the same as that of the connecting piece, the connecting piece 113 is connected with the four flange plates through the mounting holes and welded, the spiral flange plate 112 is in an internal thread hollow circular plate shape, six mounting holes are formed in the connecting piece 112 and are distributed in an internal thread shape in a circumferential array, the diameters of the spiral flange plate 112 and the connecting piece 113 are the same, the connecting piece 113 is screwed and fixed with the spiral flange plate 112 in a spiral mode, the lamp body bearing part 111 is in a hollow circular plate shape, six oval LED lamp body mounting grooves are formed in the front, the mounting holes are formed in the rear curved surface, the diameters of the mounting holes are the same as the connecting piece 113, the connecting piece 113 penetrates through the mounting holes and is welded, and the LED lamp body is in a semi-oval shape and is mounted on the LED lamp body mounting groove.
The camera and the controller device 12 thereof comprise a camera lens 120, a camera 121, a camera box 122, a camera base device 123, a controller device and a closing device 125, wherein the controller device comprises a controller outer shell 1240 and a camera inner shell 1241, the camera lens 120 is transparent round, the diameter is the same as the size of a rubber groove in the camera box 122, the camera lens has the functions of protecting the camera and preventing water, the camera 121 is a digital camera, is in a semicircle shape, the digital camera can convert an analog video signal generated by video acquisition equipment into a digital signal, and then transmits the signal to the first main controller, the camera box 122 is hollow semicircle, the inner front end is provided with a rubber groove clamping seat, the size is the same as the camera lens 120, the inner part is tangent to the camera lens 121 for protecting the camera, the camera base 1230 has a U-shaped space with a distance between two arms approximately equal to the length of the camera case 122, so that the camera case 122 is just clamped into the U-shaped space, and the parts of the two arms of the U-shaped space of the base, which are clamped and contacted with two ends of the camera case 122, are respectively provided with a pivot and a bearing structure for rotating the camera case 122 by an elevation angle or a depression angle relative to the camera base 1230, the controller device comprises a controller shell and a first main controller, the controller shell has an inner part and an outer part, the outer shell is connected with the camera base 1230 through the bearing structure, the inner shell is connected with the camera base 1230 through the bearing structure, the sealing part is provided with an internal thread to fix the sealing device 125, and the inner shell and the outer shell are respectively the controller outer shell 1240 The circuit connecting wire is deposited in the space between the inside shell 1241 of camera, the outside shell 1240 of controller, the inside shell 1241 of camera, and first main control unit is through receiving the signal of second main control unit, and the start-up of control camera 121 also can receive the information of shooting and gathering of camera 121 simultaneously, gives second main control unit with information transfer, and closing device 125 is a disc, and this disc is fixed through a screw on the inside shell 1241 of camera plays the effect of sealed protection first main control unit, and disc center department has the opening, and opening part internal thread is unanimous with screw thread size, and screw and inside shell internal thread size are the same simultaneously, play together after tightening and fix inside shell and confined effect.
As shown in fig. 2, 3 and 7, the power propeller device 2 includes a power propeller, a pressure-resistant waterproof housing 20 and a controller device 21, the power propeller is provided with two vertical spiral propellers 221, two horizontal spiral propellers 220 and a fixed vertical spiral propeller device 222, so as to realize a horizontal power source and a vertical power source of the underwater robot, the vertical spiral propeller 221 is composed of a vertical conical gear 2210, a screw 22142 and a vertical cylindrical pinion device 2212, the vertical cylindrical gear 2211 and a propeller structure device 2213, the horizontal spiral propeller 220 includes a horizontal propeller device, a horizontal cylindrical gear, a horizontal conical gear and a horizontal screw, the horizontal spiral propeller 220 is of a T-shaped cylindrical structure and plays a role of connecting the pressure-resistant waterproof housing 20 and the vertical spiral propeller 221, the pressure-resistant waterproof housing 20 is of a hollow cylindrical shape, a fixed device of a ROV cable is arranged at the parts of a second connecting bayonet 200 and a third connecting bayonet 201, the fourth connecting bayonet 202 is positioned at the innermost layer of the water sample collecting device, the controller device is of a hollow shaft type, the controller device is positioned in the second controller, the main controller device is positioned in the main controller and the main controller is started after the main controller receives a power signal, and the main controller is started.
The vertical screw propeller 221 is composed of a vertical conical gear 2210, a screw 22100, a vertical cylindrical pinion 2212, a vertical cylindrical large gear 2211 and a screw structure device 2213, wherein the vertical conical gear 2210 is hollow cylindrical, one side of the vertical conical gear 2210 is provided with ten zigzag semicircle cones, the center of the vertical conical gear 2210 is provided with a cylindrical stretching shearing part and shearing screw threads meshed with screw threads, the vertical cylindrical pinion 2212 comprises a vertical cylindrical pinion and a round screw fastener device, the vertical cylindrical pinion 2212 is in a hollow cake shape, the side surfaces of the vertical cylindrical pinion 2212 are arranged by ten trapezoid zigzag circumferential arrays at the same distance, the round screw fastener device 2214 comprises cylindrical bolts 22141 and cylindrical nuts 22140, the vertical cylindrical large gear 2211 is in a hollow cake shape, the side surfaces of the vertical cylindrical large gear 2211 are arranged by twenty-four trapezoid zigzag circumferential arrays at the same distance; the propeller structure device 2213 is composed of a hollow cylinder and a hollow round table on the side face of the hollow cylinder to form an outer structure, the inside of the hollow cylinder is composed of a hub and paddles, the paddles are four petal-shaped pieces and are arranged in a circumferential array, the vertical propeller converts power into thrust through a power source and transfers the thrust to a vertical conical gear 2210, then the thrust is transferred to a vertical cylindrical pinion 2212, and finally the thrust is transferred to a vertical cylindrical large gear 2211 through meshing so as to realize a vertical power source of the underwater robot.
The horizontal propeller 220 comprises a horizontal propeller device, a horizontal cylindrical large gear, a horizontal conical gear and a horizontal screw, wherein the horizontal propeller device is of an external structure formed by a hollow cylinder and a hollow cylinder on the side surface of the hollow cylinder, the inside of the horizontal propeller device is formed by a propeller hub and paddles, the paddles are petal-shaped, the four paddles are arranged in a circumferential array, the paddles rotate in water to convert the rotation power of a power source into propelling power, the horizontal cylindrical large gear is in a hollow cake shape, the side surface of the horizontal cylindrical large gear is arranged in a circumferential array of twenty-four trapezoid sawtooth, the horizontal conical gear is in a hollow cylindrical shape, the horizontal conical gear is meshed with ten sawtooth-shaped conical gears, the center of the horizontal conical gear is provided with internal threads meshed with external threads of the horizontal screw, the cylindrical stretching shearing part plays a role in fixing and transmitting the rotation power after the horizontal conical gear is screwed, the horizontal screw has external threads with the same size as the internal threads of the horizontal conical gear, the horizontal conical gear plays a role in fixing and transmitting the rotation power after the horizontal screw is screwed, the horizontal propeller transmits the rotation power to the horizontal conical gear through the power, and the horizontal propeller transmits the rotation power to the horizontal conical gear through the power source, and the horizontal propeller drives the horizontal propeller to perform horizontal propeller to rotate in the horizontal direction.
As shown in fig. 8 and 9, the tail balancing device 3 includes a second flange connection device 31, a waterproof housing 30, a turbine propulsion and controller device 32, an internal thread 310 of the second flange connection device is matched with an external thread structure with the same size as that of the sixth connection bayonet 301, the screwed connection bayonet is provided with an external thread structure for fixing the tail balancing device 3 and a bearing part of the LED lamp body 4, the second flange connection device 31 is provided with two bearing parts of the LED lamp body 4 so as to realize the function of attracting fish shoals by the underwater robot, the waterproof housing 30 is provided with a compression-resistant waterproof housing material, the external thread structure of the sixth connection bayonet 301 is the same as that of the internal thread 310 of the second flange connection device, the screwed connection bayonet 300 and the fourth connection bayonet 202 are screwed up and then play a role of fixing the tail balancing device 3, the turbine propulsion and controller device 32 includes a turbine propulsion device 320 and a central controller device 321, the turbine propulsion and the second main controller 320 are connected with a tail vertical power source of the underwater robot through a ROV cable so as to realize the function of the underwater robot, the underwater main controller device is connected with the central controller 321 through a ROV cable, and the central controller 321 is connected with the central controller through the ROV cable, and the central controller is positioned in the central controller device.
The turbine propulsion and controller device 32 comprises a turbine propulsion device 320 and a central controller device 321, wherein the turbine propulsion device 320 comprises two vertical cylindrical gears 3211, two vertical fixing devices 3210, two horizontal cylindrical gears 3214, two horizontal fixing devices 3212, a connecting rod opening gear, a vertical conical gear and a gasket 3217, the connecting rod opening gear is in a round cake shape, a connecting rod opening is arranged at the center, and a first connecting rod opening gear 3213, a second connecting rod opening gear 3215,
The vertical cylindrical gear 3211 is in a shape of a cake with a central opening, the side faces are arranged by ten trapezoid sawtooth circumferential arrays and are spaced at the same distance, the vertical cylindrical gear 3210 is cylindrical and is used for fixing the vertical cylindrical gear 3211, the horizontal cylindrical gear 3214 is in a shape of a cake with a central opening, the side faces are arranged by ten trapezoid sawtooth circumferential arrays and are spaced at the same distance, the horizontal cylindrical gear 3212 is cylindrical and is used for transmitting force to the second connecting rod opening gear 3215 for propulsion after being meshed with the second connecting rod opening gear 3215, the horizontal cylindrical gear 3213 is used for transmitting rotation power to the two horizontal cylindrical gears 3214 through a connecting rod, the vertical conical gear is hollow cylindrical, the center is provided with a connecting rod opening, eight zigzag semicircle-shaped bodies are arranged on one side, the propulsion power is transferred from the second horizontal cylindrical gear to the turbine propeller device through being meshed with the horizontal cylindrical gear 3214, the turbine propeller device 320 is formed by screwing a screw cap inside the screw cap 3201, the screw cap is formed by screwing the screw cap inside the screw cap is formed by the screw cap inside the screw cap of the screw cap, the screw cap is formed by screwing the screw cap inside the screw cap of the screw cap is formed by the screw cap of the screw cap.
The foregoing has shown and described the basic principles and main features of the present invention and its advantages. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a shooting type underwater robot device, its characterized in that includes high definition digtal camera device, power propeller device, afterbody balancing unit, high definition digtal camera device includes first flange joint device, transparent waterproof shell, camera and its controller device under water, power propeller device includes power propeller, resistance to compression waterproof shell, controller device, afterbody balancing unit includes second flange joint device, waterproof shell, turbine propulsion and controller device, high definition digtal camera device afterbody is equipped with first connection bayonet socket, power propeller device is equipped with second connection bayonet socket, third connection bayonet socket, fourth connection bayonet socket, afterbody balancing unit is equipped with fifth connection bayonet socket, sixth connection bayonet socket, first connection bayonet socket is equipped with external screw thread structure, the second connection bayonet socket is equipped with the internal screw thread structure of identical size, plays the effect of conveying information after screwing up, first flange joint device internal screw thread with the external screw thread structure that the third connection bayonet socket is equipped with identical size matches, plays the effect of fixing high definition digtal camera device and LED lamp body bearing portion under water, fourth connection bayonet socket is equipped with, the high definition digtal camera balancing unit is equipped with to the external screw thread structure that the same size is equipped with to the fifth connection bayonet socket, the high definition digtal camera device is equipped with, the effect of the external screw thread structure is equipped with the external screw thread structure that the same after screwing up, the high definition digtal camera device is equipped with, the external screw thread structure is equipped with the external screw thread structure that has the identical size of size and the same, and the external screw thread structure is equipped with the same size and has the external screw thread structure, the power propeller device is provided with a second main controller, the tail balancing device is provided with a third main controller, the first main controller and the third main controller are connected through an ROV cable, the underwater high-definition camera device comprises a first flange connection device, a transparent waterproof shell, a camera and a controller device thereof, the transparent waterproof shell is provided with a waterproof pressure-resistant transparent material, the camera measures, monitors and surveys underwater in real time through the waterproof pressure-resistant transparent material so as to realize shooting and information acquisition functions of the underwater robot, the ROV cable is used for transmitting information to the first main controller, the first flange connection device is provided with two LED lamp body bearing parts so as to realize lamplight supply of shooting of the underwater robot, the power propeller device comprises three parts of the power propeller, a pressure-resistant waterproof shell and the controller device, the power propeller is provided with two vertical spiral propellers and two horizontal spiral propellers so as to realize a horizontal power source and a vertical power source of the underwater robot, the compression-resistant waterproof shell is internally provided with a fixing device of the ROV cable, the controller device is positioned at the innermost layer of the water sample collecting device, the controller device is of a hollow shaft type structure, the second main controller is positioned in the controller device, the tail balancing device comprises a second flange connecting device, a waterproof shell, a turbine propeller device and a central controller device, the second flange connecting device is provided with two LED lamp body bearing parts so as to realize the function of attracting fish groups of the underwater robot, the turbine propeller device is the tail vertical power source of the underwater robot so as to realize the function of controlling and balancing of the underwater robot, the device is characterized in that the device is connected with a second main controller through an ROV cable, the central controller is of a hollow shaft type structure, a third main controller is located in the central controller and connected with the second main controller through the ROV cable, after the second main controller receives signals of an external cable, the second main controller starts to work, the power propeller device starts, and simultaneously sends signals to control the first main controller and the third main controller, and the high-definition camera device starts with the tail balancing device.
2. The shooting type underwater robot device according to claim 1, wherein the power propeller device comprises a power propeller, a compression-resistant waterproof shell and a controller device, the power propeller is provided with two vertical spiral propellers, two horizontal spiral propellers and a fixed vertical spiral propeller device so as to realize a horizontal power source and a vertical power source of the underwater robot, the vertical spiral propellers are composed of a vertical conical gear, a screw and a vertical cylindrical pinion device, the vertical cylindrical gear and the screw structure device, the horizontal spiral propellers comprise a horizontal screw device, a horizontal cylindrical gear, a horizontal conical gear and a horizontal screw, the horizontal spiral propellers are of a T-shaped cylindrical structure and play a role of connecting the compression-resistant waterproof shell with the vertical spiral propellers, the compression-resistant waterproof shell is of a hollow cylinder shape and is made of compression-resistant waterproof materials, a second connection bayonet, a third connection bayonet and a fourth connection bayonet are formed in the fixed device of an ROV cable, the controller device is located in the innermost layer of the water sample collecting device, the controller device is of a hollow shaft type controller, the controller is located in the main controller is a main controller, the main controller is located in the main controller is a main controller, and the main controller is started up by the main controller is located in the main controller, and the main controller is started up by the main controller.
3. The shooting type underwater robot device according to claim 1, wherein the vertical screw propeller is composed of a vertical conical gear, a screw, a vertical cylindrical pinion device, a vertical cylindrical large gear and a screw structure device, wherein the vertical conical gear is hollow cylindrical, one side of the vertical conical gear is provided with ten saw-tooth semicircle cones, a cylindrical stretching shearing part is arranged at the center of the vertical conical gear and is meshed with a shearing thread meshed with the screw thread, the vertical cylindrical pinion device comprises a vertical cylindrical pinion and a round screw fastener device, the vertical cylindrical pinion is in a hollow cake shape, the side surface of the vertical cylindrical pinion is arranged by ten trapezoid saw-tooth circumference arrays at the same distance, the round screw fastener device comprises a cylindrical bolt and a nut, the vertical cylindrical large gear is in a hollow cake shape, the side surface of the vertical cylindrical pinion is arranged by twenty four trapezoid saw-tooth circumference arrays at the same distance; the propeller structure device comprises a hollow cylinder and a hollow round table on the side face of the hollow cylinder, wherein the hollow cylinder is internally provided with a hub and blades, the blades are four petal-shaped blades and are arranged in a circumferential array, the vertical propeller converts power into thrust through a power source and transfers the thrust to the vertical conical gear, the thrust is transferred to the vertical cylindrical pinion, and finally the thrust is transferred to the vertical cylindrical large gear through meshing so as to realize the vertical power source of the underwater robot.
4. The shooting type underwater robot device according to claim 1, wherein the underwater high-definition camera device comprises a first flange connection device, a transparent waterproof shell, a camera and a controller device thereof, wherein the first flange connection device is composed of a spiral flange plate, a lamp body bearing part device and a connecting piece; six small mounting holes and one large mounting hole are formed in the spiral flange plate, the large mounting hole and the third connecting bayonet are screwed up to fix the first flange connecting device, the small mounting hole and the connecting piece are screwed up to fix the connecting piece, the flange plate is in a circular sheet shape and plays a role of fixing the lamp body bearing part device, the lamp body bearing part device comprises an LED lamp and the lamp body bearing part so as to realize light replenishment of underwater robot shooting, the connecting piece is provided with external threads at one end only, the external threads are the same as the internal threads of the six small mounting holes of the spiral flange plate, the connecting piece is screwed up to fix the flange plate after being welded at other parts, the lamp body bearing part is in a hollow semi-capsule shape, and is provided with waterproof compression-resistant transparent materials, the underwater is conveniently monitored and prospected in real time, the opening is provided with external threads, the first connecting bayonet is provided with an internal thread, the first main control device is also provided with a second main control cable, the first main control device is screwed up to the second main control device, the second main control device is screwed up to the second main control device is provided with a second main control device, the main control device is screwed up to the second main control device, so as to realize the shooting and information acquisition functions of the underwater robot.
5. The shooting type underwater robot device according to claim 1, wherein the first flange connection device is composed of a spiral flange, four flanges, two lamp body bearing parts, twelve LED lamp bodies and six connecting pieces; the flange plates are hollow round plates and are oppositely placed at the same distance, the connecting pieces are long and thin hollow straight rods, external threads are arranged at the front ends of the connecting pieces, six mounting holes are reserved on the first flange plate, the second flange plate, the third flange plate and the fourth flange plate, the caliber of each mounting hole is identical to that of the connecting piece, the connecting pieces are connected with the four flange plates through the mounting holes and welded, the spiral flange plates are hollow round plates with internal threads, the six mounting holes are formed in the spiral flange plates and are distributed in an internal thread circumferential array, the diameters of the spiral flange plates are identical to that of the connecting pieces, the connecting pieces are screwed tightly and fixed with the spiral flange plates in a spiral mode through the mounting holes, six oval LED lamp mounting grooves are formed in the hollow round plates of the lamp body, the oval LED lamp mounting grooves are in a capsule shape, the mounting holes are formed in the back curved surfaces, the mounting holes are identical to the diameters of the connecting pieces, the connecting pieces penetrate through the mounting holes and are welded, and the LED lamps are arranged on the LED lamp mounting grooves in a semi-oval shape.
6. The shooting type underwater robot device according to claim 1, wherein the camera and the controller device thereof comprise a camera lens, a camera box, a camera base device, a controller device and a closing device, wherein the camera lens is in a transparent round plate shape, the diameter is the same as the size of a rubber groove in the camera box, the camera is used for protecting the camera and preventing water, the camera is a digital camera and is in a semicircle shape, the digital camera can convert an analog video signal generated by video acquisition equipment into a digital signal so as to transmit the signal to the first main controller, the camera box is in a hollow semicircle shape, the inner front end is provided with a rubber groove clamping seat, the size is the same as the camera lens, the inner part is tangent to the camera for protecting the camera, the appearance of the camera base is provided with a U-shaped space, the distance between two arms of the U-shaped space is approximately equal to the length of the camera box, so that the camera box is just clamped into the U-shaped space, and the parts of the two arms of the U-shaped space of the base, which are clamped and contacted with the two ends of the camera box, are respectively provided with a pivot and a bearing structure for enabling the camera box to rotate at an elevation angle or a depression angle relative to the camera base, the controller device comprises a controller shell and a first main controller, the controller shell is provided with an inner part and an outer part, the outer shell is connected with the camera base through the bearing structure, the inner shell is connected with the camera base through the bearing structure, the closed part is provided with internal threads, the function of fixing the closed device is achieved, a circuit connecting wire is stored in a gap between the inner shell and the outer shell, the first main controller controls the starting of the camera by receiving signals of the second main controller, meanwhile, the first main controller can also receive information of shooting and collecting of the camera, the information is transmitted to the second main controller, the sealing device is a disc, the disc is fixed on the inner shell of the camera through a bolt to play a role of sealing and protecting the first main controller, an opening is formed in the center of the disc, the size of an internal thread of the opening is consistent with that of a screw thread, meanwhile, the size of the screw thread of the opening is the same as that of the internal thread of the inner shell, and the inner shell and the sealing function are fixed after the inner shell and the sealing function are screwed together.
7. The shooting type underwater robot device according to claim 1, wherein the horizontal propeller comprises a horizontal propeller device, a horizontal cylindrical large gear, a horizontal conical gear and a horizontal screw, the horizontal propeller device is of an external structure formed by a hollow cylinder and a hollow cylinder on the side face of the hollow cylinder, the inside of the horizontal propeller device is composed of a propeller hub and paddles, the paddles are petal-shaped, the four paddles are arranged in a circumferential array, the paddles rotate in water to convert the rotation power of a power source into the propelling power, the horizontal cylindrical large gear is in a hollow circular cake shape, the side faces of the horizontal propeller device are arranged in a circumferential array of twenty-four trapezoid saw teeth at the same distance, the horizontal propeller device is meshed with the horizontal conical gear and is responsible for transmitting the force to the horizontal propeller device for propelling, the horizontal conical gear is of a hollow cylinder shape, one side of the horizontal propeller device is provided with ten saw tooth semicircle cones, a cylindrical stretching shear part is meshed with an external thread of the horizontal screw, the horizontal screw has the same external thread as the internal thread of the horizontal conical gear in size after the horizontal screw is screwed, the horizontal screw has the function of fixing and transmitting the rotation power, the horizontal propeller is transmitted to the horizontal propeller device through the horizontal conical gear in the horizontal propeller device in the horizontal direction after the horizontal propeller device is meshed with the horizontal propeller device.
8. The shooting type underwater robot device according to claim 1, wherein the tail balancing device comprises a second flange connection device, a waterproof shell, a turbine propulsion and controller device, the internal threads of the second flange connection device are matched with external threads of the same size, which are arranged on a sixth connection bayonet, the tail balancing device and the LED lamp body bearing part are fixed after tightening, the second flange connection device is provided with two LED lamp body bearing parts to achieve the function of attracting fish schools by the underwater robot, the waterproof shell is provided with a compression-resistant waterproof shell material, meanwhile, the external threads of the sixth connection bayonet are identical to the internal threads of the second flange connection device in size, the tail balancing device and the LED lamp body bearing part are fixed after tightening, the turbine propulsion and controller device comprises the turbine propulsion device and the center controller device, the turbine propulsion device is connected with a third main controller through a ROV cable, and the center controller is connected with the center controller through a main controller, and the center controller is vertical to achieve the function of the center controller.
9. The shooting type underwater robot device according to claim 1, wherein the turbine propulsion and control device comprises a turbine propulsion device and a central control device, the turbine propulsion device comprises two vertical cylindrical gears, two vertical fixing devices, two horizontal cylindrical gears, two horizontal fixing devices, two connecting rod opening gears, one vertical conical gear, one turbine propulsion device and one gasket, the connecting rod opening gears are in a round cake shape, the connecting rod opening gears are arranged at the center, the connecting rod opening gears comprise a first connecting rod opening gear and a second connecting rod opening gear, the vertical cylindrical gears are round cake shapes with the center openings, the side surfaces of the vertical cylindrical gears are arranged by ten trapezoid sawtooth circumferential arrays, the ten trapezoid sawtooth circumferential arrays are spaced at the same distance, and are in charge of transmitting force to the turbine propulsion device after being meshed with the second connecting rod opening gears to perform propulsion and balance, the vertical fixer is cylindrical and is used for fixing the vertical cylindrical gears, the horizontal cylindrical gears are cylindrical with a circular cake shape with a central opening, the side surfaces of the vertical cylindrical gears are arrayed by ten trapezoid sawtooth circumferential arrays, the vertical cylindrical gears are spaced at the same distance, the vertical cylindrical gears are meshed with the first connecting rod opening gears and are responsible for transmitting force to the second connecting rod opening gears for propelling, the horizontal fixer is cylindrical and is used for fixing the horizontal cylindrical gears, the first connecting rod opening gears transmit rotary power to the two horizontal cylindrical gears for propelling through the connecting rods, the vertical conical gears are hollow cylindrical, the connecting rod opening is arranged at the center, one side of the vertical conical gears is provided with eight sawtooth semicircle shapes, and propelling force is transferred from the second horizontal cylindrical gears to the turbine propeller device through meshing with the horizontal cylindrical gears, the turbine propeller device consists of a propeller device and a propeller cap, wherein a hollow cylinder of the propeller device forms an external structure, one end of the hollow cylinder, which is internally formed by a propeller hub, paddles and external threads, is a connecting rod, the paddles are petal-shaped, twelve paddles are arranged in a circumferential array, the paddles rotate in water to convert the rotation power of a power source into propelling force, the propeller cap is semicircular, the internal of the center is provided with internal threads which are not penetrated, the size of the hollow cylinder is the same as that of the external threads of the propeller device, and the hollow cylinder plays a role in protection after being screwed.
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| CN113866164A (en) * | 2021-11-24 | 2021-12-31 | 河南水润建设工程有限公司 | Bridge underwater foundation disease detection device |
| CN114877200B (en) * | 2022-05-24 | 2023-05-30 | 郑州航空工业管理学院 | Sight distance adjusting device of underwater video monitoring system |
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| 三推进器式便携ROV设计;付梦阳;;中国战略新兴产业(第12期);全文 * |
| 用于水产养殖的水下机器人设计与制作;黎柱坤;王慧;林冰胜;张宇航;吴华宇;黄光炜;陈春雷;王骥;;电子世界(第15期);全文 * |
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