CN113104185B - Underwater intelligent robot based on marine environment monitoring - Google Patents
Underwater intelligent robot based on marine environment monitoring Download PDFInfo
- Publication number
- CN113104185B CN113104185B CN202110226846.7A CN202110226846A CN113104185B CN 113104185 B CN113104185 B CN 113104185B CN 202110226846 A CN202110226846 A CN 202110226846A CN 113104185 B CN113104185 B CN 113104185B
- Authority
- CN
- China
- Prior art keywords
- robot
- sides
- fixed
- fixing
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 238000005286 illumination Methods 0.000 claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000001681 protective effect Effects 0.000 claims description 19
- 238000011084 recovery Methods 0.000 claims description 11
- 239000010813 municipal solid waste Substances 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000012535 impurity Substances 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000004804 winding Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 abstract 1
- 230000001771 impaired effect Effects 0.000 abstract 1
- 230000009711 regulatory function Effects 0.000 abstract 1
- 239000007787 solid Substances 0.000 description 10
- 241001233242 Lontra Species 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S8/00—Lighting devices intended for fixed installation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V14/00—Controlling the distribution of the light emitted by adjustment of elements
- F21V14/02—Controlling the distribution of the light emitted by adjustment of elements by movement of light sources
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater intelligent robot based on marine environment monitoring, which comprises a robot main body, wherein connecting plates are fixedly arranged at the top end and two sides of the robot main body, rotating motors are fixedly arranged at one ends of one sides of the two connecting plates, the output ends of the two rotating motors are respectively and fixedly connected with one sides of the two connecting sleeves, the inner walls of the two connecting sleeves are respectively and fixedly connected with the middle parts of the outer walls of two illuminating lamps, pin shafts are respectively and fixedly arranged at the bottom ends of one sides of the two illuminating lamps, one sides of the outer walls of the two pin shafts are respectively and alternately connected with pin holes formed at the bottom ends of one sides of two connecting rods, and rotating shafts are respectively and fixedly arranged at one ends of the other sides of the two connecting rods. This kind of intelligent robot under water based on marine environment monitoring has illumination angle regulatory function, guarantees that the robot illuminating effect is better, has safeguard function moreover, can avoid the winding of robot screw impaired, and the protection personal property is retrieved more conveniently simultaneously to the robot.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater intelligent robot based on marine environment monitoring.
Background
The underwater robot is an unmanned remote control diving machine and can carry out underwater operation. Because personnel's dive degree of depth is limited, and the ocean is the environment abominable under water, it is very necessary to be replaced personnel dive monitoring by underwater robot, and underwater robot divide into has cable underwater robot and no cable underwater robot, when the marine environment monitoring, need use underwater intelligent robot to monitor marine environment.
The underwater intelligent robot in the current market:
(1) When the underwater intelligent robot is used for monitoring the marine environment, the robot needs to perform illumination monitoring due to dark light in the deep sea, the illumination angle of the robot is different, the existing underwater intelligent robot does not have an illumination angle adjusting function, personnel cannot adjust the angle of an illumination lamp according to the use requirement, the illumination effect of the robot is poor, and the monitoring effect of the underwater intelligent robot is influenced;
(2) When intelligent robot moves under water, it needs the screw drive, because marine pollution is more and more serious, contains a large amount of rubbish in the ocean, and intelligent robot is easy winding rubbish of its screw when moving under water, and current intelligent robot does not have safeguard function under water, leads to screw winding rubbish to be unable to rotate, can lead to underwater robot to damage, influences personnel's use, causes loss of property.
(3) When using intelligent robot under water, intelligent robot need retrieve after underwater operation under water, and current intelligent robot under water is not convenient for personnel to retrieve, and personnel are not convenient for will retrieve the rope and fix on underwater robot, and it is comparatively inconvenient when leading to personnel to use, is unfavorable for personnel to retrieve.
We propose an underwater intelligent robot based on marine environment monitoring in order to solve the problems set forth above.
Disclosure of Invention
The invention aims to provide an underwater intelligent robot based on marine environment monitoring, and aims to solve the problems that the underwater intelligent robot in the current market does not have a function of adjusting an illumination angle, so that the robot is poor in illumination effect, does not have a protection function, is easy to cause the winding damage of a propeller of the robot, and is inconvenient for personnel to recover.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligent robot under water based on marine environment monitoring, includes the robot main part, the top and the both sides of robot main part are all fixed and are equipped with the connecting plate, two wherein the equal fixed mounting in one end of connecting plate one side has the rotation motor, two the output of rotating the motor respectively with one side fixed connection of two adapter sleeves, two the inner wall of adapter sleeve respectively with the middle part fixed connection of two light outer walls, two the bottom of light one side is all fixed and is equipped with the round pin axle, two the pinhole that one side of round pin axle outer wall was seted up with the bottom of two connecting rod one sides respectively alternates to be connected, two the one end of connecting rod opposite side is all fixed and is equipped with the pivot, two one side of pivot outer wall rotates with two rolling bearing's inner wall respectively to be connected, two rolling bearing's outer wall respectively with the inner wall fixed connection of two bearing frames, two one side of bearing frame is connected with the fixed surface of two connecting plates respectively.
Preferably, another one side on connecting plate top is fixed and is equipped with the wire seat, and the fixed handle that is equipped with of opposite side on connecting plate top, four edges of robot main part bottom all fix and are equipped with the support column, every two the bottom of support column respectively with the both sides fixed connection who corresponds the sill pillar top.
Preferably, the middle part of connecting plate one side and the other end of one side all fixedly are equipped with the connecting block, every the equal fixed mounting of one side of connecting block has driving motor, every driving motor's output all with the one end fixed connection who corresponds the screw, every the equal fixed mounting of outer wall of screw has solid fixed ring.
Preferably, every one side of solid fixed ring is all fixed and is equipped with the fixed block, every the hinge groove that one side of fixed block was all seted up, every the both sides of hinge inslot wall all through the connecting pin respectively with the both sides that correspond the movable block articulated, every the one end of movable block all with the one end fixed connection who corresponds the guard ring, every the inner wall of guard ring is all fixed and is equipped with a plurality of bumping posts, every the fixed surface that is connected one side of the guard ring all through a plurality of fixing bolt and the solid fixed surface that corresponds solid fixed ring one side.
Preferably, every the both ends of solid fixed ring opposite side all are fixed and are equipped with the connection piece, two one side of connection piece all is fixed and is equipped with the fixed column, two the outer wall of fixed column alternates with the fixed orifices that one side of two fixed plates was seted up respectively and is connected, two equal threaded connection has fixed knob in the fixed screw that the middle part of fixed column one end was seted up, two the one end of fixed plate respectively with the both ends fixed connection of protection otter board, the outer wall that the interlude hole of seting up of protection otter board one side evenly corresponds the driving motor drive shaft alternates and is connected.
Preferably, another the middle part on connecting plate top is fixed and is equipped with connecting screw, connecting screw's outer wall and the inner wall threaded connection of rope cap, the rope hole has been seted up at the middle part on rope cap top, and the middle part of rope cap both sides all is fixed and is equipped with dismantlement piece, two the dismantlement hole has all been seted up to the one end of dismantling the piece.
Preferably, a threaded rack is fixedly arranged on one side of the inner wall of the rope cap, the inner wall of the threaded rack is in threaded connection with one side of the outer wall of the clamping bolt, and the middle part of the outer wall of the clamping bolt is in threaded connection with a clamping screw hole formed in the middle of one end of the rope cap.
Preferably, the two rotating motors, the two illuminating lamps and the four driving motors are electrically connected with the storage battery in the robot main body through rotating the motor remote control switch, the illuminating lamp remote control switch and the driving motor remote control switch respectively.
Compared with the prior art, the invention has the beneficial effects that: this intelligent robot under water based on marine environment monitoring:
(1) The underwater intelligent robot is convenient to adjust the illumination angle, when the underwater intelligent robot works, personnel can adjust the angle of the illuminating lamp according to the use requirement, so that the underwater intelligent robot is ensured to have a better illumination effect, and the monitoring effect of the robot is ensured to be better;
(2) The fixed block connected through the fixed ring is hinged with the movable block connected with the protection ring, the protection ring is connected with the retaining column, the fixed plate connected with the protection net plate is fixed on the fixed column on the connecting sheet through the fixed knob, the propeller of the underwater intelligent robot can be protected, the propeller is prevented from winding garbage due to the fact that the underwater intelligent robot is tightly pulled during underwater work, the underwater intelligent robot is prevented from being damaged, the use of personnel is guaranteed, and the property of the personnel is protected;
(3) Through connecting stud and rope cap threaded connection, the thread rack and the chucking bolt threaded connection that the rope cap is connected, the rope hole has been seted up to the rope cap, and personnel are more convenient when will retrieving the rope and being connected with intelligent robot under water, and the personnel's of being convenient for use, robot recovery are more convenient.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an illumination structure according to the present invention;
FIG. 3 is a schematic view of the driving motor of the present invention;
FIG. 4 is a schematic view of a guard ring according to the present invention;
FIG. 5 is a schematic side view of the retaining ring of the present invention;
FIG. 6 is a schematic view of the structure of FIG. 1 at A according to the present invention;
fig. 7 is an internal schematic view of a cord cap of the present invention.
In the figure: 1. a robot main body; 2. a connecting plate; 3. connecting a stud; 4. a cord cap; 5. a wire holder; 6. a handle; 7. rotating the motor; 8. an illuminating lamp; 9. a support pillar; 10. a bottom pillar; 11. connecting blocks; 12. a drive motor; 13. a fixing ring; 14. connecting sleeves; 15. a pin shaft; 16. a connecting rod; 17. a rotating shaft; 18. a rotating bearing; 19. a bearing seat; 20. a propeller; 21. a fixed block; 22. a movable block; 23. a guard ring; 24. a bumping post; 25. connecting sheets; 26. a fixing plate; 27. a protective mesh plate; 28. fixing a column; 29. fixing the knob; 30. a cord hole; 31. a threaded rack; 32. and (4) clamping the bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: an underwater intelligent robot based on marine environment monitoring comprises a robot main body 1, connecting plates 2, connecting studs 3, rope caps 4, a wire guide seat 5, a lifting handle 6, a rotating motor 7, a lighting lamp 8, a supporting column 9, a bottom column 10, a connecting block 11, a driving motor 12, a fixing ring 13, connecting sleeves 14, a pin shaft 15, a connecting rod 16, a rotating shaft 17, a rotating bearing 18, a bearing seat 19, a propeller 20, a fixing block 21, a movable block 22, a protective ring 23, a blocking column 24, a connecting sheet 25, a fixing plate 26, a protective net plate 27, a fixing column 28, a fixing knob 29, a rope hole 30, a threaded rack 31 and a clamping bolt 32, wherein the connecting plates 2 are fixedly arranged at the top end and two sides of the robot main body 1, the rotating motor 7 is fixedly arranged at one end of one side of each of the two connecting plates 2, the output ends of the two rotating motors 7 are fixedly connected with one side of the two connecting sleeves 14 respectively, the inner walls of the two connecting sleeves 14 are respectively fixedly connected with the middle parts of the outer walls of the two illuminating lamps 8, the bottom end of one side of each illuminating lamp 8 is fixedly provided with a pin shaft 15, one side of the outer wall of each pin shaft 15 is respectively and alternately connected with a pin hole arranged at the bottom end of one side of each connecting rod 16, one end of the other side of each connecting rod 16 is fixedly provided with a rotating shaft 17, one side of the outer wall of each rotating shaft 17 is respectively and rotatably connected with the inner walls of the two rotating bearings 18, the outer walls of the two rotating bearings 18 are respectively and fixedly connected with the inner walls of the two bearing seats 19, one side of each bearing seat 19 is respectively and fixedly connected with the surface of each connecting plate 2, when the rotating motor 7 drives the illuminating lamp 8 through the connecting sleeves 14, the pin shafts 15 connected with the illuminating lamps 8 are alternately connected with the pin holes arranged on the connecting rods 16 to drive the connecting rods 16 to rotate, and the rotating shafts 17 connected with the connecting rods 16 rotate in the rotating bearings 18, the support of the illuminating lamp 8 can be ensured to be stable and fixed, and the illumination is ensured to be more stable.
The fixed wire seat 5 that is equipped with in one side on 2 tops of another connecting plate, personnel can be connected signal wire and wire seat 5, and the fixed handle 6 that is equipped with of opposite side on 2 tops of connecting plate, and the personnel transfer robot of being convenient for of handle 6 all fixedly is equipped with support column 9 in four edges of 1 bottom of robot main part, the bottom of every two support columns 9 respectively with the both sides fixed connection who corresponds sill pillar 10 top.
Wherein the middle part of two connecting plates 2 one side and the other end of one side all fixedly are equipped with connecting block 11, the equal fixed mounting in one side of every connecting block 11 has driving motor 12, every driving motor 12's output all with the one end fixed connection who corresponds screw 20, the equal fixed mounting of outer wall of every screw 20 has solid fixed ring 13, gu fixed ring 13 can protect the screw 20 outside.
Every one side of solid fixed ring 13 is all fixed and is equipped with fixed block 21, the hinge groove that one side of every fixed block 21 was all seted up, the both sides of every articulated inslot wall all are articulated with the both sides that correspond movable block 22 respectively through the connecting pin, every movable block 22's one end all with the one end fixed connection who corresponds retaining ring 23, the inner wall of every retaining ring 23 is all fixed and is equipped with a plurality of bumping posts 24, the surface of every retaining ring 23 one side all is connected with the fixed surface that corresponds solid fixed ring 13 one side through a plurality of fixing bolt, fixing bolt can be dismantled to personnel, rotate the retaining ring 23 afterwards, movable block 22 that the retaining ring 23 is connected is articulated with fixed block 21 on the solid fixed ring 13, the personnel of being convenient for open retaining ring 23.
The both ends of every solid fixed ring 13 opposite side are all fixed and are equipped with connection piece 25, one side of two connection pieces 25 is all fixed and is equipped with fixed column 28, the outer wall of two fixed column 28 alternates with the fixed orifices that one side of two fixed plates 26 was seted up respectively and is connected, equal threaded connection has fixed knob 29 in the fixed screw that the middle part of two fixed column 28 one ends was seted up, personnel twist move fixed knob 29, make things convenient for personnel to the dismantlement and the fixing of protection otter board 27, the one end of two fixed plates 26 respectively with the both ends fixed connection of protection otter board 27, the outer wall that the interlude hole of seting up of protection otter board 27 one side evenly corresponds the driving motor 12 drive shaft alternates and is connected, the drive shaft that interlude hole and driving motor 12 that protection otter board 27 was seted up alternates and is connected, can guarantee driving motor 12's normal work.
The fixed connecting stud 3 that is equipped with in middle part on 2 tops of another connecting plate, the outer wall of connecting stud 3 and the inner wall threaded connection of rope cap 4, rope hole 30 has been seted up at the middle part on 4 tops of rope cap, and the middle part on 4 both sides of rope cap all fixes being equipped with dismantles the piece, and the dismantlement hole has all been seted up to the one end of two dismantlement pieces, and the dismantlement hole that the dismantlement piece was seted up is convenient for personnel to twist rope cap 4.
The fixed screw thread frame 31 that is equipped with in one side of 4 inner walls of rope cap, the inner wall of screw thread frame 31 and one side threaded connection of chucking bolt 32 outer wall, the chucking screw threaded connection that the middle part of chucking bolt 32 outer wall and the middle part of 4 one ends of rope cap were seted up, screw thread frame 31 can alternate with the recovery rope, is connected with screw thread frame 31 through chucking bolt 32, can be to retrieving flexible fixed.
Two rotating motor 7, two light 8 and four driving motor 12 are respectively through rotating motor remote switch, light remote switch and driving motor remote switch and the interior battery electric connection of robot main part 1, make things convenient for personnel's remote control to the robot.
The working principle of the embodiment is as follows: when the underwater intelligent robot is used for monitoring the marine environment, the robot needs to be connected with a recovery rope, as shown in fig. 1 and 7, a person connects a wire base 5 with a signal wire, the person twists a rope cap 4 through a detaching block and a detaching hole formed in the detaching block, holds the recovery rope and penetrates through a rope hole 30 formed in the rope cap 4, then the person penetrates the recovery rope through a threaded frame 31, the person twists a clamping bolt 32 on the rope cap 4, the clamping bolt 32 rotates in a clamping screw hole formed in the rope cap 4, meanwhile, the clamping bolt 32 rotates in the threaded frame 31, the recovery rope can be clamped, then the person connects the rope cap 4 with a connecting stud 3 connected with a connecting plate 2, after connection, the person lifts the robot body 1 through a handle 6 connected with the connecting plate 2 and puts the robot body into water, a driving motor 12 is opened through a control device in a remote control mode, the driving motor 12 drives a propeller 20, and the robot can move underwater;
when the robot works, the illumination angle of the robot needs to be adjusted to achieve a better illumination effect, as shown in fig. 1-2, a person remotely controls the rotating motor 7 through the control device, the rotating motor 7 rotates to drive the connecting sleeve 14, and then the illuminating lamp 8 in the connecting sleeve 14 can be driven, so that the effect of adjusting the illumination angle of the illuminating lamp 8 is achieved, when the illuminating lamp 8 rotates, the pin shaft 15 connected with the illuminating lamp 8 is inserted and connected with the pin hole formed in the connecting rod 16, so that the connecting rod 16 is driven to rotate, the rotating shaft 17 connected with the connecting rod 16 rotates in the rotating bearing 18, the rotating bearing 18 is connected with the bearing seat 19, when the illuminating lamp 8 rotates and is adjusted, the connecting rod 16 is matched with the rotating shaft 17, so that the support of the illuminating lamp 8 can be guaranteed, and the use of the illuminating lamp is more stable;
when the underwater intelligent robot moves, in order to prevent the robot from being affected by marine garbage, as shown in fig. 1 and fig. 3-6, a fixed block 21 connected with a fixed ring 13 is hinged with a movable block 22 connected with a protective ring 23, the protective ring 23 is provided with a plurality of retaining posts 24, the protective ring 23 is connected with the fixed ring 13 through a plurality of fixing bolts, the propeller 20 in the fixed ring 13 can be protected, a connecting sheet 25 connected with the fixed ring 13 is provided with a fixed post 28, a fixed plate 26 connected with a protective mesh plate 27 is provided with a fixed hole, the fixed hole is in penetrating connection with the fixed post 28, a fixed knob 29 on the fixed post 28 can be matched with the fixed post 28 to fix the fixed plate 26, the protective mesh plate 27 can also protect the propeller 20 in the fixed ring 13, a penetrating hole formed in the protective mesh plate 27 is in penetrating connection with a driving shaft of a driving motor 12 to ensure the operation of the driving motor 12, the propeller 20 is prevented from being wound and tensioned by the ocean when the robot works, the property of a protective person is protected, meanwhile, the movable block 22 connected with the fixed ring 23 is hinged with the fixed block 21 on the fixed ring 13, the fixed ring 23, the fixed block is convenient for the workers to clean the fixed ring 23 and maintain the propeller 20, the fixed mesh plate, the fixed plate 27, the fixed mesh plate can be separated from impurities, and the fixed plate 27, and the fixed mesh plate can be taken by the workers in the special manual works.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (1)
1. The utility model provides an intelligent robot under water based on marine environment monitoring, includes robot main part (1), its characterized in that: the robot comprises a robot main body (1) and is characterized in that connecting plates (2) are fixedly arranged at the top end and two sides of the robot main body (1), rotary motors (7) are fixedly arranged at one ends of one sides of the two connecting plates (2), the output ends of the two rotary motors (7) are fixedly connected with one sides of two connecting sleeves (14) respectively, the inner walls of the two connecting sleeves (14) are fixedly connected with the middle parts of the outer walls of two illuminating lamps (8) respectively, pin shafts (15) are fixedly arranged at the bottom ends of one sides of the two illuminating lamps (8), one sides of the outer walls of the two pin shafts (15) are connected with pin holes formed in the bottom ends of one sides of two connecting rods (16) in an inserting mode respectively, rotating shafts (17) are fixedly arranged at one ends of the other sides of the two connecting rods (16), one sides of the outer walls of the two rotating shafts (17) are rotatably connected with the inner walls of two rotating bearings (18) respectively, the outer walls of the two rotating bearings (18) are fixedly connected with the inner walls of two bearing seats (19) respectively, and one sides of the two bearing seats (19) are fixedly connected with the surfaces of the two connecting plates (2) respectively;
a wire seat (5) is fixedly arranged on one side of the top end of the other connecting plate (2), a handle (6) is fixedly arranged on the other side of the top end of the connecting plate (2), supporting columns (9) are fixedly arranged at four corners of the bottom end of the robot main body (1), and the bottom end of each supporting column (9) is fixedly connected with two sides of the top end of the corresponding bottom column (10) respectively;
the middle part of one side and the other end of one side of each of the two connecting plates (2) are fixedly provided with a connecting block (11), one side of each connecting block (11) is fixedly provided with a driving motor (12), the output end of each driving motor (12) is fixedly connected with one end of a corresponding propeller (20), and the outer wall of each propeller (20) is fixedly provided with a fixing ring (13);
one side of each fixing ring (13) is fixedly provided with a fixing block (21), one side of each fixing block (21) is provided with a hinge groove, two sides of the inner wall of each hinge groove are respectively hinged with two sides of the corresponding movable block (22) through connecting pins, one end of each movable block (22) is fixedly connected with one end of the corresponding protection ring (23), the inner wall of each protection ring (23) is fixedly provided with a plurality of retaining columns (24), and the surface of one side of each protection ring (23) is fixedly connected with the surface of one side of the corresponding fixing ring (13) through a plurality of fixing bolts;
connecting pieces (25) are fixedly arranged at two ends of the other side of each fixing ring (13), fixing columns (28) are fixedly arranged at one sides of the two connecting pieces (25), the outer walls of the two fixing columns (28) are respectively and alternately connected with fixing holes formed in one sides of the two fixing plates (26), fixing knobs (29) are respectively and threadedly connected in fixing screw holes formed in the middle of one ends of the two fixing columns (28), one ends of the two fixing plates (26) are respectively and fixedly connected with two ends of a protection screen plate (27), penetrating holes are formed in one side of the protection screen plate (27), and driving shafts of driving motors (12) are inserted into the penetrating holes;
a connecting stud (3) is fixedly arranged in the middle of the top end of the other connecting plate (2), the outer wall of the connecting stud (3) is in threaded connection with the inner wall of the rope cap (4), a rope hole (30) is formed in the middle of the top end of the rope cap (4), dismounting blocks are fixedly arranged in the middle of two sides of the rope cap (4), and dismounting holes are formed in one ends of the two dismounting blocks;
a threaded rack (31) is fixedly arranged on one side of the inner wall of the rope cap (4), the inner wall of the threaded rack (31) is in threaded connection with one side of the outer wall of the clamping bolt (32), and the middle part of the outer wall of the clamping bolt (32) is in threaded connection with a clamping screw hole formed in the middle of one end of the rope cap (4);
the two rotating motors (7), the two illuminating lamps (8) and the four driving motors (12) are respectively and electrically connected with a storage battery in the robot main body (1) through a rotating motor remote control switch, an illuminating lamp remote control switch and a driving motor remote control switch;
when the robot is used, a robot is required to be connected with a recovery rope, a person connects a wire seat (5) with a signal wire, the person twists a rope cap (4) through a disassembly block and a disassembly hole formed in the disassembly block, holds the recovery rope and enables the recovery rope to penetrate through a rope hole (30) formed in the rope cap (4), then the person enables the recovery rope to penetrate through a threaded frame (31), the person twists a clamping bolt (32) on the rope cap (4), the clamping bolt (32) rotates in the clamping screw hole formed in the rope cap (4), meanwhile, the clamping bolt (32) rotates in the threaded frame (31) to clamp the recovery rope, then the person connects the rope cap (4) with a connecting stud (3) connected with a connecting plate (2), after connection is completed, the person lifts a robot main body (1) through a handle (6) connected with the connecting plate (2) and puts the robot into water, a driving motor (12) is turned on through a control device in a remote control mode, the driving motor (12) drives a propeller (20), and the robot moves underwater;
when the robot works, the illumination angle of the robot needs to be adjusted to achieve a better illumination effect, a person remotely controls the rotating motor (7) through the control device, the rotating motor (7) rotates to drive the connecting sleeve (14), and the illumination lamp (8) in the connecting sleeve (14) is driven to achieve the effect of adjusting the illumination angle of the illumination lamp (8), when the illumination lamp (8) rotates, a pin shaft (15) connected with the illumination lamp (8) is connected with a pin hole formed in the connecting rod (16) in an inserting mode, so that the connecting rod (16) is driven to rotate, a rotating shaft (17) connected with the connecting rod (16) rotates in the rotating bearing (18), the rotating bearing (18) is connected with a bearing seat (19), and when the illumination lamp (8) rotates and is adjusted, the connecting rod (16) is matched with the rotating shaft (17) to achieve support of the illumination lamp (8) and ensure that the illumination lamp (8) is used more stably;
when the underwater intelligent robot moves, in order to avoid the robot being influenced by ocean garbage, a fixed block (21) connected with a fixed ring (13) is hinged with a movable block (22) connected with a protective ring (23), the protective ring (23) is provided with a plurality of baffle columns (24), the protective ring (23) is connected with the fixed ring (13) through a plurality of fixing bolts, a propeller (20) in the fixed ring (13) is protected, a fixed column (28) is arranged on a connecting sheet (25) connected with the fixed ring (13), a fixed hole is arranged on the fixed plate (26) connected with a protective screen plate (27), the fixed hole is alternately connected with the fixed column (28), a fixed knob (29) on the fixed column (28) is matched with the fixed column (28) to fix the fixed plate (26), the protective screen plate (27) also protects the propeller (20) in the fixed ring (13), an insertion hole arranged on the protective screen plate (27) is alternately connected with a driving shaft of the driving motor (12), the running of the driving motor (12) is ensured, the propeller (20) is prevented from being wound by the ocean garbage when the robot works, damage is caused by the protective personnel, the protective ring (23), the movable block (23) and the protective ring (23) is convenient for cleaning the movable block (13), the fixing knob (29) is screwed, and then the protection screen plate (27) is pulled, so that the fixing holes formed in the fixing plate (26) are separated from the fixing columns (28), and the protection screen plate (27) is taken down to clean impurities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110226846.7A CN113104185B (en) | 2021-03-01 | 2021-03-01 | Underwater intelligent robot based on marine environment monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110226846.7A CN113104185B (en) | 2021-03-01 | 2021-03-01 | Underwater intelligent robot based on marine environment monitoring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113104185A CN113104185A (en) | 2021-07-13 |
| CN113104185B true CN113104185B (en) | 2022-11-11 |
Family
ID=76709630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110226846.7A Active CN113104185B (en) | 2021-03-01 | 2021-03-01 | Underwater intelligent robot based on marine environment monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113104185B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114001290B (en) * | 2021-10-11 | 2022-09-09 | 深圳市金宝贝科技有限公司 | Lighting device for underwater detection |
| CN114475981B (en) * | 2022-03-21 | 2023-04-18 | 山东辰升科技有限公司 | Underwater robot with high flexibility based on cultivation environment monitoring and operation method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2359049A (en) * | 2000-02-10 | 2001-08-15 | H2Eye | Remote operated vehicle |
| TWM497210U (en) * | 2014-10-14 | 2015-03-11 | Cherng Tuoh Entpr Co Ltd | Binding clasp for steel cable terminal |
| CN207374622U (en) * | 2017-09-06 | 2018-05-18 | 林小锦 | One kind repairs sized underwater observation robot based on environmental ecology |
| CN112478110A (en) * | 2018-07-21 | 2021-03-12 | 东莞市奇趣机器人科技有限公司 | Underwater robot capable of ultrasonic monitoring and emergency rescue |
| CN109342677B (en) * | 2018-10-08 | 2021-01-26 | 南京师范大学 | Accurate river course water quality monitoring equipment |
| CN210822704U (en) * | 2019-10-23 | 2020-06-23 | 万力达船用动力系统(苏州)有限公司 | Detachable screw convenient to later maintenance |
| CN211032974U (en) * | 2019-11-27 | 2020-07-17 | 杭州爱易特智能技术有限公司 | Wide visual angle observation type underwater robot |
-
2021
- 2021-03-01 CN CN202110226846.7A patent/CN113104185B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113104185A (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113104185B (en) | Underwater intelligent robot based on marine environment monitoring | |
| CN209029805U (en) | A kind of power transmission cable apparatus for examination and repair | |
| CN113804703A (en) | Extra-high voltage transmission line safety inspection equipment | |
| CN218272264U (en) | Online water quality monitoring equipment probe | |
| CN113301302A (en) | Explosion-proof monitor with automatic cleaning function | |
| CN111697913A (en) | Solar photovoltaic panel supporting device used on sea | |
| CN218330666U (en) | Novel sampling equipment for building concrete detection | |
| CN215592644U (en) | Equipment is salvaged to sewage debris for environmental engineering | |
| CN215862479U (en) | Project supervision video acquisition device | |
| CN215797583U (en) | Cable coiling mechanism is used in installation of building water and electricity | |
| CN221612847U (en) | Water monitoring and treating device | |
| CN212059098U (en) | Novel portable illuminance tester | |
| CN212335958U (en) | Park environmental protection is with artifical lake surface impurity removal device | |
| CN115547079A (en) | Cabinet type movable intelligent traffic signal lamp device | |
| CN210578827U (en) | A protection device for camera | |
| CN113294288A (en) | Lifting device for water lifting based on energy conservation and environmental protection | |
| CN210551600U (en) | Clamping device of PVC drain bar | |
| CN217007541U (en) | Digital quantity interface detection device for ABB robot | |
| CN216674043U (en) | Frame type shrinkage sun-shading device for glass greenhouse | |
| CN219999478U (en) | Image acquisition equipment | |
| CN209930403U (en) | Monitoring device convenient to remove and carry | |
| CN221585682U (en) | Detachable water environment monitoring buoy | |
| CN115307980B (en) | Multi-depth water body sampler | |
| CN221367401U (en) | Photovoltaic operation and maintenance ship | |
| CN218232612U (en) | Metal material surface coloring treatment device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221025 Address after: No. 8, Qiangye Road, Sheshan Industrial Zone, Songjiang District, Shanghai, 201600 Applicant after: SHANGHAI MULTIWEAL AUTOMATIC CONTROL EQUIPMENT & ENGINEERING Corp.,Ltd. Address before: 200000 Shanghai Robotics Industry Technology Research Institute Co., Ltd., building 9, 505 Wuning Road, Putuo District, Shanghai Applicant before: Xu Ren |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Qiangye Road, Sheshan Industrial Zone, Songjiang District, Shanghai, 201600 Patentee after: Shanghai Mortwell Environmental Technology Co.,Ltd. Country or region after: China Address before: No. 8, Qiangye Road, Sheshan Industrial Zone, Songjiang District, Shanghai, 201600 Patentee before: SHANGHAI MULTIWEAL AUTOMATIC CONTROL EQUIPMENT & ENGINEERING Corp.,Ltd. Country or region before: China |