CN113071634A - Underwater mobile device and fishpond water environment monitoring robot - Google Patents
Underwater mobile device and fishpond water environment monitoring robot Download PDFInfo
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- CN113071634A CN113071634A CN202110332691.5A CN202110332691A CN113071634A CN 113071634 A CN113071634 A CN 113071634A CN 202110332691 A CN202110332691 A CN 202110332691A CN 113071634 A CN113071634 A CN 113071634A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The application discloses under water mobile device and pond water environment monitoring robot belongs to agricultural technical field, and the under water mobile device includes waterproof storehouse, rotates seat, two horizontal propellers and two at least perpendicular propellers. The rotating seat is rotatably connected with the waterproof bin, the two horizontal propellers are symmetrically arranged along the gravity center of the rotating seat, and the at least two vertical propellers are uniformly arranged around the gravity center of the rotating seat. The detection assembly of the underwater mobile device disclosed by the invention cannot swing to a large extent; in addition, the rotating seat is only a small structure on the underwater moving device, and the influence of the rotation of the rotating seat on the flowability of water is relatively small, so that the precision of the detection result of the detection assembly is improved. The underwater moving device disclosed by the invention is mainly used for monitoring the water quality in the pond, monitoring parameters such as oxygen content, PH value and temperature of pond water and the like so as to judge whether the water quality in the pond is grown by fishes.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to an underwater mobile device and a fishpond water environment monitoring robot.
Background
The growth conditions of the fish are different under different water quality conditions. When people breed fishes, a robot is generally used for detecting water quality so as to judge whether the water quality at the position is the time for the fishes to grow.
When the disclosed robot moves underwater and rotates, the swing amplitude is usually large, the detection device needs to be exposed outside the robot, when the swing amplitude of the robot is large, the detection device is easy to be damaged, and meanwhile, the robot with large swing amplitude can cause the increase of water flow mobility, so that the water quality of each water area is mixed, and the detection result is inaccurate.
Disclosure of Invention
The invention aims to solve the technical problem of disclosing an underwater mobile device and a fishpond water environment monitoring robot so as to improve the problems.
The technical scheme adopted by the invention for solving the technical problems is as follows:
based on the above object, the present invention discloses an underwater moving device, comprising:
a waterproof bin;
the rotating seat is rotatably connected with the waterproof bin;
the at least two vertical thrusters are arranged on the rotating seat and are uniformly distributed around the gravity center of the rotating seat; and
the two horizontal thrusters are arranged on the rotating seat, and the two horizontal thrusters are symmetrically arranged along the gravity center of the rotating seat.
Optionally: the rotary seat is provided with a propelling mounting hole and a lifting mounting hole, the axis of the propelling mounting hole is perpendicular to the axis of the rotary seat, the axis of the lifting mounting hole is parallel to the axis of the rotary seat, the horizontal propeller is mounted in the propelling mounting hole, and the vertical propeller is mounted in the lifting mounting hole.
Optionally: the rotary seat is provided with two propelling mounting holes, the rotary seat is of a symmetrical structure along two connecting lines of the propelling mounting holes, and the thickness of the rotary seat is gradually reduced towards two ends along the direction perpendicular to the two connecting lines of the propelling mounting holes.
Optionally: the rotating seat comprises a connecting portion and a water dividing portion, the connecting portion is located on the inner side of the water dividing portion, the thickness of the water dividing portion is perpendicular to the two portions, the direction of the connecting line of the propulsion mounting hole is gradually reduced towards the two ends, the propulsion mounting hole is located on the water dividing portion, the connecting portion is columnar, the lifting mounting hole is located on the connecting portion, and the connecting portion is connected with the waterproof bin in a rotating mode.
Optionally: the underwater moving device is characterized in that the rotating seat comprises a regulation and control cavity and an opening, the opening is communicated with the regulation and control cavity, the underwater moving device further comprises a buoyancy adjusting component, one end of the buoyancy adjusting component is communicated with the regulation and control cavity, the other end of the buoyancy adjusting component is connected with the vertical thruster, when the vertical thruster pushes the underwater moving device to move upwards, the buoyancy adjusting component enables the size of the underwater moving device to be increased, and when the vertical thruster pushes the underwater moving device to move downwards, the buoyancy adjusting component enables the size of the underwater moving device to be reduced.
Optionally: the vertical propeller comprises a rotating shaft and a spiral blade, the rotating shaft is rotatably connected with the rotating seat, and the spiral blade is arranged on the rotating shaft; the buoyancy adjusting assembly comprises a gear, a sliding strip and a sealing plate, the gear is installed on the rotating shaft, the sliding strip is connected with the rotating seat in a sliding mode, the sliding strip is provided with a rack and two buffer grooves, the rack is meshed with the gear, the rack is located between the two buffer grooves, the sealing plate is connected with the sliding strip, the sealing plate is connected with the rotating seat in a rotating mode, and the sealing plate is located in the adjusting and controlling cavity.
Optionally: the buoyancy adjusting assembly further comprises an elastic piece, the elastic piece is located in the adjusting and controlling cavity and installed between the sealing plate and the rotating seat, and the elastic direction of the elastic piece is consistent with the sliding direction of the sealing plate.
Optionally: the elastic piece is positioned on one side of the sealing plate, which is far away from the sliding strip.
Optionally: the buoyancy adjusting assembly further comprises a positioning block, the positioning block is mounted on the rotating seat and located in the adjusting and controlling cavity, the positioning block is located on one side, away from the sliding strip, of the sealing plate, and the width of the positioning block is larger than or equal to that of the opening.
The embodiment of the invention also discloses a fishpond water environment monitoring robot which comprises a detection assembly and the underwater moving device, wherein the detection assembly is arranged in the waterproof bin, and a collection unit of the detection assembly extends out of the waterproof bin.
Compared with the prior art, the invention has the following beneficial effects:
the underwater moving device disclosed by the invention utilizes the rotating seat to accommodate the horizontal propeller, when the horizontal propeller works to realize the direction change of the underwater moving device, only the rotating seat is required to rotate, the waterproof bin cannot rotate, and the detection assembly is usually arranged on the waterproof bin, so that the relatively stable waterproof bin can reduce the damage to the detection assembly, and the detection assembly cannot swing to a large extent; in addition, the rotating seat is only a small structure on the underwater moving device, and when the rotating seat rotates, the influence on the water flowability is relatively small, so that the accuracy of the detection result of the detection assembly is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 illustrates a schematic diagram of an underwater mobile device disclosed by an embodiment of the invention;
FIG. 2 illustrates a cross-sectional view of a rotatable mount at a first perspective in accordance with an embodiment of the present disclosure;
FIG. 3 illustrates a cross-sectional view of a disclosed underwater movement device in a natural state;
FIG. 4 illustrates a cross-sectional view of a disclosed underwater moving device in a raised state;
FIG. 5 illustrates a cross-sectional view of a disclosed underwater movement device in a lowered state;
FIG. 6 illustrates a cross-sectional view of a rotatable mount at a first perspective in accordance with an embodiment of the present disclosure;
FIG. 7 illustrates a schematic view of a buoyancy regulating assembly disclosed in an embodiment of the present invention;
FIG. 8 illustrates a top cross-sectional view of a vertical thruster coupled to a buoyancy regulating assembly as disclosed in an embodiment of the present invention.
In the figure:
100-a waterproof bin; 110-a dividing line; 200-a rotating seat; 210-pushing the mounting hole; 220-lifting mounting holes; 230-a connecting portion; 240-water cut; 250-a regulating cavity; 260-opening; 270-a chute; 300-vertical thruster; 310-a rotating shaft; 400-a horizontal thruster; 500-a buoyancy regulating assembly; 510-a slide bar; 511-a buffer tank; 512-rack; 520-a sealing plate; 530-an elastic member; 540-positioning block; 550-gears.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as disclosed in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example (b):
referring to fig. 1 to 8, an embodiment of the present invention discloses an underwater moving device, which includes a waterproof chamber 100, a rotating base 200, two horizontal thrusters 400, and at least two vertical thrusters 300.
The rotating seat 200 and the waterproof bin 100 are connected in a rotating mode, the two horizontal thrusters 400 are installed on the rotating seat 200, the two horizontal thrusters 400 are symmetrically arranged along the gravity center of the rotating seat 200, the two horizontal thrusters 400 are arranged in parallel, and the underwater moving device can move forwards, backwards or turn in the horizontal direction by means of the matching of the two horizontal thrusters 400. At least two vertical thrusters 300 are all installed at the rotating base 200, the at least two vertical thrusters 300 are uniformly arranged around the center of gravity of the rotating base 200, and the vertical thrusters 300 are all disposed in parallel.
Wherein, the horizontal thruster 400 and the vertical thruster 300 are both bidirectional thrusters, that is, both the horizontal thruster 400 and the vertical thruster 300 can work bidirectionally.
When the propelling forces of the two horizontal thrusters 400 are the same, the underwater moving device can advance or retreat, when the propelling forces of the two horizontal thrusters 400 are different, the two horizontal thrusters can drive the rotating seat 200 to rotate around the waterproof bin 100, and after the rotating seat 200 rotates to a proper angle, the propelling forces of the two horizontal thrusters 400 are consistent, so that the underwater moving device can advance in a reversing manner.
The plurality of vertical thrusters 300 are operated in synchronization and the thrusts thereof are always kept in agreement to ensure that the underwater moving device can be stably raised or lowered.
The underwater moving device disclosed in the embodiment utilizes the rotating seat 200 to accommodate the horizontal thruster 400, and when the horizontal thruster 400 works to change the direction of the underwater moving device, only the rotating seat 200 is required to rotate, the waterproof bin 100 cannot rotate, and the detection assembly is usually arranged on the waterproof bin 100, so that the relatively stable waterproof bin 100 can reduce the damage to the detection assembly, and the detection assembly cannot swing to a large extent; in addition, the rotating seat 200 is only a small structure on the underwater moving device, and when the rotating seat 200 rotates, the influence on the water mobility is relatively small, so that the accuracy of the detection result of the detection assembly is improved.
In this embodiment, the rotary base 200 may be provided with a push mounting hole 210 and a lift mounting hole 220, the axis of the push mounting hole 210 is perpendicular to the axis of the rotary base 200, the axis of the lift mounting hole 220 is parallel to the axis of the rotary base 200, the horizontal pusher 400 is mounted in the push mounting hole 210, and the vertical pusher 300 is mounted in the lift mounting hole 220.
The horizontal thruster 400 and the vertical thruster 300 can be protected by the propulsion mounting hole 210 and the lifting mounting hole 220, and the horizontal thruster 400 and the vertical thruster 300 are prevented from directly colliding with objects in water; further, the vertical thruster 300 is installed in the lifting installation hole 220, so that the subsequent buoyancy adjustment assembly 500 is more conveniently installed and controlled.
The propulsion installation hole 210 and the elevation installation hole 220 may be staggered so that the underwater moving device can be more stable when the horizontal thruster 400 and the vertical thruster 300 are simultaneously operated.
The push installation holes 210 and the lift installation holes 220 may be adjusted according to the number of the horizontal pushers 400 and the vertical pushers 300, the number of the lift installation holes 220 is identical to the number of the vertical pushers 300, and the number of the push installation holes 210 is identical to the water amount of the horizontal pushers 400, and thus, two push installation holes 210 may be provided on the rotary base 200. The two push-in mounting holes 210 are located on the same diameter of the rotating base 200, and the two push-in mounting holes 210 are symmetrically arranged along the axis of the rotating base 200. The rotating base 200 may be configured to be streamlined, a connecting line of the two pushing mounting holes 210 is used as the dividing line 110, two sides of the rotating base 200 are symmetrically disposed, and the thickness of the rotating base 200 is gradually reduced along a direction departing from the dividing line 110, so that the rotating base 200 has a shape with two thin sides and a thick middle part. Since the propulsion mounting hole 210 and the horizontal propeller 400 are both perpendicular to the dividing line 110, the thinnest position of the rotary base 200 is just used as the front end when the horizontal propeller 400 works, and the resistance of the underwater moving device during underwater movement can be effectively reduced.
Further, the rotating base 200 may include a connecting portion 230 and a water diversion portion 240, the connecting portion 230 is located inside the water diversion portion 240, a thickness of the water diversion portion 240 gradually decreases toward both ends along a direction perpendicular to a connecting line of the two propulsion mounting holes 210, the propulsion mounting holes 210 are located in the water diversion portion 240, the connecting portion 230 is columnar, the lifting mounting holes 220 are located in the connecting portion 230, the connecting portion 230 is sleeved outside the waterproof bin 100, and the connecting portion 230 is rotatably connected with the waterproof bin 100.
In some embodiments of the present embodiment, a regulating cavity 250 and an opening 260 may be provided on the rotating base 200, and both the regulating cavity 250 and the opening 260 are located at the connecting portion 230. One end of the opening 260 is communicated with the regulation and control cavity 250, and the other end of the opening 260 extends to the end surface of the connecting part 230, so that the regulation and control cavity 250 is communicated with the outside, and when the underwater mobile device is drained, water can enter or leave the regulation and control cavity 250 along the opening 260.
The underwater mobile device may further include a buoyancy adjustment assembly 500 for adjusting buoyancy of the underwater mobile device, one end of the buoyancy adjustment assembly 500 is communicated with the regulation and control cavity 250, the size of the regulation and control cavity 250 may be adjusted, and the other end of the buoyancy adjustment assembly 500 is connected with the vertical thruster 300, so that the buoyancy adjustment assembly 500 and the vertical thruster 300 form linkage.
When the vertical thruster 300 pushes the underwater mobile device to move upwards, the water in the regulation and control cavity 250 is reduced, and the whole volume of the underwater mobile device is increased, so that the buoyancy of the underwater mobile device is increased, and the underwater mobile device is lifted more easily; when the vertical thruster 300 pushes the underwater mobile device to move downwards, the water in the regulation and control cavity 250 is increased, and the overall size of the underwater mobile device is reduced, so that the buoyancy of the underwater mobile device is reduced, and the underwater mobile device is easy to descend.
Specifically, the vertical propeller 300 may include a rotating shaft 310 and a helical blade, the rotating shaft 310 is rotatably connected to the rotating base 200, the helical blade is mounted on the rotating shaft 310, and the rotating shaft 310 rotates to drive the rotating blade to rotate, thereby generating a propelling force. The ascending or descending of the underwater moving device can be achieved by the forward rotation and the reverse rotation of the rotation shaft 310.
The buoyancy adjusting assembly 500 may include a gear 550, a slider 510, and a sealing plate 520, the gear 550 being mounted to the rotating shaft 310, and the gear 550 being rotated in synchronization with the rotating shaft 310.
The slide bar 510 is slidably coupled to the rotary base 200, the slide bar 510 may slide in a direction perpendicular to the axis of the rotary shaft 310, the slide bar 510 is provided with two buffer grooves 511 and a rack 512 for engaging with the gear 550, the rack 512 is located between the two buffer grooves 511, and the sealing plate 520 is coupled to the slide bar 510. When the rotating shaft 310 rotates in the forward direction, the sliding strip 510 moves towards the waterproof bin 100, after the sliding strip 510 slides for a certain distance, the rack 512 leaves the range of the gear 550, so that the gear 550 is located in the range of the buffer groove 511, at this time, the sliding strip 510 cannot slide continuously when the rotating shaft 310 continues to rotate, and the position of the sliding strip 510 is fixed by the matching of the buffer groove 511 on the sliding strip 510 and the gear 550; similarly, when the rotating shaft 310 rotates reversely, the sliding strip 510 moves away from the waterproof bin 100, after the sliding strip 510 slides a distance, the rack 512 leaves the range of the gear 550, so that the gear 550 is located in the range of the other buffer slot 511, at this time, when the rotating shaft 310 continues to rotate, the sliding strip 510 does not continue to slide, and the buffer slot 511 on the sliding strip 510 is matched with the gear 550, so that the position of the sliding strip 510 is fixed.
The rotating seat 200 can also be provided with a sliding groove 270 for accommodating the sliding strip 510, one end of the sliding groove 270 is communicated with the regulation and control cavity 250, the other end of the sliding groove 270 extends to the water distributing part 240, the length of the sliding groove 270 is greater than that of the sliding strip 510, and the extending direction of the sliding groove 270 is parallel to the dividing line 110.
The sealing plate 520 is rotatably connected with the rotating base 200, the sealing plate 520 is located in the regulating cavity 250, and when the sealing strip slides, water in the regulating cavity 250 can be pushed out of the regulating cavity 250 or more water can enter the regulating cavity 250. Of course, a sealing strip may be disposed around the sealing plate 520 to enhance the sealing property.
Referring to fig. 2 and 3, when the rotating shaft 310 rotates in the forward direction, the rotating blades generate an upward thrust, and at the same time, the rotating shaft 310 rotating in the forward direction and the gear 550 drive the sliding strip 510 to move towards the waterproof bin 100, and at this time, the sealing plate 520 approaches towards the waterproof bin 100, so that almost all water in the regulating and controlling cavity 250 is discharged, and thus the volume occupied by the rotating seat 200 in water is increased, and the buoyancy applied to the underwater mobile device can be effectively increased.
Referring to fig. 2 and 4, when the rotating shaft 310 rotates in a reverse direction, the rotating blades generate a downward thrust, and meanwhile, the rotating shaft 310 and the gear 550 rotating in the reverse direction drive the sliding strip 510 to move in a direction away from the waterproof bin 100, and at this time, the sealing plate 520 moves in a direction away from the waterproof bin 100, so that the control cavity 250 is almost filled with water, and thus the volume occupied by the rotating seat 200 in water is reduced, and the buoyancy applied to the underwater mobile device can be effectively reduced.
Further, the buoyancy regulating assembly 500 may further include an elastic member 53, the elastic member 53 is located in the regulating cavity 250, the elastic member 53 is installed between the sealing plate 520 and the rotating seat 200, and an elastic direction of the elastic member 53 coincides with a sliding direction of the sealing plate 520. The elastic member 53 may be in a natural extension state when the rotation shaft 310 is not rotated, and the sealing plate 520 is located at a substantially middle position of the control chamber 250.
When the sealing plate 520 is located at the middle position of the control chamber 250, the buoyancy force applied to the underwater mobile device is substantially consistent with the gravity of the underwater mobile device, so that the underwater mobile device can be detected more comprehensively at a certain depth; when the sealing plate 520 approaches toward the waterproof chamber 100, the buoyancy applied to the underwater mobile device is greater than the gravity of the underwater mobile device, thereby facilitating the ascent; when the sealing plate 520 moves in a direction away from the waterproof chamber 100, the underwater mobile device receives a buoyancy smaller than the gravity of the underwater mobile device, thereby facilitating the descent.
In order to prevent the elastic member 53 from affecting the movement of the sealing plate 520, the elastic member 53 may be installed at a side of the sealing plate 520 facing the waterproof compartment 100.
Referring to fig. 3, when the rotating shaft 310 rotates in the forward direction, the sealing plate 520 approaches the waterproof chamber 100 and compresses the elastic member 53, and when the rotating shaft 310 loses power, the elastic member 53 pushes the sealing plate 520 and the slide bar 510, which pushes the slide bar 510 to move away from the waterproof chamber 100 and causes the rack 512 to engage with the gear 550 again, and when the elastic member 53 reaches the natural extension again, the slide bar 510 stops moving.
Referring to fig. 4, when the rotating shaft 310 rotates reversely, the sealing plate 520 moves away from the waterproof chamber 100 and the elastic member 53 is in a stretched state, when the rotating shaft 310 loses power, the elastic member 53 exerts a pulling force on the sealing plate 520 and the sliding strip 510, the pulling force causes the sliding strip 510 to move towards the waterproof chamber 100 and causes the rack 512 to form a snap connection with the gear 550 again, and when the elastic member 53 reaches a natural extension again, the sliding strip 510 stops moving.
As a preferred embodiment of this embodiment, a positioning block 540 may be further provided, the positioning block 540 is mounted on the rotating base 200, the positioning block 540 is located in the adjusting cavity 250, the positioning block 540 is located on a side of the sealing plate 520 away from the slide bar 510, and a width of the positioning block 540 is greater than or equal to a width of the opening 260.
When the sealing plate 520 moves toward the waterproof chamber 100, the maximum distance of movement of the sealing plate 520 is limited by the positioning block 540, and the positioning block 540 is arranged to prevent the sealing plate 520 from sliding out of the range of the adjustment cavity under the action of inertia.
The embodiment of the invention also discloses a fishpond water environment monitoring robot which comprises a detection assembly and the underwater mobile device, wherein the detection assembly is arranged in the waterproof bin 100, and the collection unit of the detection assembly extends out of the waterproof bin 100.
The fishpond water environment monitoring robot disclosed by the embodiment utilizes the rotating seat 200 to accommodate the horizontal thruster 400, when the horizontal thruster 400 works to realize the direction change of an underwater moving device, only the rotating seat 200 is required to rotate, the waterproof bin 100 cannot rotate, and the detection component positioned on the waterproof bin 100 cannot rotate, so that the relatively stable waterproof bin 100 can reduce the damage to the detection component, and the detection component cannot swing to a large extent; in addition, the rotating seat 200 is only a small structure on the underwater moving device, and when the rotating seat 200 rotates, the influence on the water mobility is relatively small, so that the accuracy of the detection result of the detection assembly is improved. The fishpond water environment monitoring robot disclosed by the invention is mainly used for monitoring the water quality in a pond, and monitoring parameters such as oxygen content, PH value and temperature of pond water so as to judge whether the water quality in the pond is grown by fish.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An underwater mobile device, comprising:
a waterproof bin;
the rotating seat is rotatably connected with the waterproof bin;
the at least two vertical thrusters are arranged on the rotating seat and are uniformly distributed around the gravity center of the rotating seat; and
the two horizontal thrusters are arranged on the rotating seat, and the two horizontal thrusters are symmetrically arranged along the gravity center of the rotating seat.
2. The underwater moving device as claimed in claim 1, wherein the rotary base is provided with a propulsion mounting hole having an axis perpendicular to an axis of the rotary base and a lifting mounting hole having an axis parallel to the axis of the rotary base, the horizontal thruster is installed in the propulsion mounting hole, and the vertical thruster is installed in the lifting mounting hole.
3. The underwater moving device as claimed in claim 2, wherein the rotary seat is provided with two pushing mounting holes, the rotary seat is symmetrical along a connecting line of the two pushing mounting holes, and the thickness of the rotary seat is gradually reduced toward both ends in a direction perpendicular to the connecting line of the two pushing mounting holes.
4. The underwater moving device as claimed in claim 3, wherein the rotating base includes a connecting portion and a water dividing portion, the connecting portion is located inside the water dividing portion, a thickness of the water dividing portion is gradually reduced toward both ends in a direction perpendicular to a connecting line of the two propulsion mounting holes, the propulsion mounting holes are located in the water dividing portion, the connecting portion is columnar, the lifting mounting holes are located in the connecting portion, and the connecting portion is rotatably connected to the waterproof chamber.
5. The underwater moving device as claimed in claim 1, wherein the rotary seat includes a control chamber and an opening, the opening is communicated with the control chamber, the underwater moving device further includes a buoyancy adjusting assembly, one end of the buoyancy adjusting assembly is communicated with the control chamber, the other end of the buoyancy adjusting assembly is connected with the vertical thruster, the buoyancy adjusting assembly increases the volume of the underwater moving device when the vertical thruster pushes the underwater moving device to move upward, and the buoyancy adjusting assembly decreases the volume of the underwater moving device when the vertical thruster pushes the underwater moving device to move downward.
6. The underwater moving device as claimed in claim 5, wherein the vertical propeller includes a rotating shaft rotatably connected to the rotating base and a spiral blade mounted to the rotating shaft; the buoyancy adjusting assembly comprises a gear, a sliding strip and a sealing plate, the gear is installed on the rotating shaft, the sliding strip is connected with the rotating seat in a sliding mode, the sliding strip is provided with a rack and two buffer grooves, the rack is meshed with the gear, the rack is located between the two buffer grooves, the sealing plate is connected with the sliding strip, the sealing plate is connected with the rotating seat in a rotating mode, and the sealing plate is located in the adjusting and controlling cavity.
7. The underwater moving device as claimed in claim 6, wherein the buoyancy adjusting assembly further comprises an elastic member, the elastic member is located in the regulation cavity, the elastic member is installed between the sealing plate and the rotating seat, and an elastic force direction of the elastic member is consistent with a sliding direction of the sealing plate.
8. Underwater displacement device according to claim 7, wherein the resilient member is located on a side of the sealing plate facing away from the slide.
9. The underwater movement device as claimed in claim 6, wherein the buoyancy adjusting assembly further comprises a positioning block, the positioning block is mounted on the rotating seat, the positioning block is located in the regulation cavity, the positioning block is located on a side of the sealing plate, which faces away from the slide bar, and the width of the positioning block is greater than or equal to the width of the opening.
10. A fishpond water environment monitoring robot, characterized by comprising a detection assembly and the underwater moving device as claimed in any one of claims 1 to 9, wherein the detection assembly is installed in the waterproof bin, and a collection unit of the detection assembly extends out of the waterproof bin.
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| CN202110332691.5A CN113071634B (en) | 2021-03-29 | 2021-03-29 | Underwater mobile device and fishpond water environment monitoring robot |
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| CN202110332691.5A CN113071634B (en) | 2021-03-29 | 2021-03-29 | Underwater mobile device and fishpond water environment monitoring robot |
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| CN113071634B CN113071634B (en) | 2022-04-01 |
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