CN113120198A - Underwater detection robot - Google Patents
Underwater detection robot Download PDFInfo
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- CN113120198A CN113120198A CN202110417160.6A CN202110417160A CN113120198A CN 113120198 A CN113120198 A CN 113120198A CN 202110417160 A CN202110417160 A CN 202110417160A CN 113120198 A CN113120198 A CN 113120198A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater detection robot which comprises an integral frame module, a camera module, a submerging and surfacing module, a driving module, a direction adjusting module and a battery module. The submersible vehicle type piston water barrel pump drainage device adopts the submersible vehicle type piston water barrel pump drainage to submerge and submerge, and compared with a plurality of robots which utilize propellers to maintain a submerging state on the market, the submersible vehicle type piston water barrel pump drainage device is more energy-saving, and the cruising ability is greatly improved. The propellers on two sides are used for turning in a differential mode, the propellers are connected with the steering engine through the switching mechanism, the angle of the propellers can be freely adjusted by 360 degrees, and the robot can perform various actions such as pitching and yawing. The design adopts the magnetic conductance formula switch, uses the normally open tongue tube, simple structure, and the leakproofness is better. The design leaves the multistage headspace between shell and dry storehouse, installs other sensor equipment when the robot additional, can install the buoyancy material additional in the space department when the total weight increases and increase robot buoyancy.
Description
Technical Field
The invention relates to the field of underwater motion, detection and scientific research, in particular to an underwater remote control robot.
Background
Oceans occupy 70% of the earth's area, while mankind has little exploration of oceans, and there are countless resources, species and fields in the sea that mankind has never been involved. To go deep blue, the water is driven from shallow water, fresh water, reservoirs, lakes, and rivers. Except for the exploration of the underwater field, the salvage, search and rescue in water and the cleaning and maintenance of ships and underwater instruments are also crisis four volts, great life and property loss can be caused by slight carelessness, the traditional manual work efficiency is not very high, and the economic cost is also high.
With the development of the times, the application of the robot is wider and wider, the work task of the underwater robot in water is also infinite, and meanwhile, the requirements of people on safety and quality are higher and higher, so that the robot capable of replacing human beings to perform motion search in a position water area is produced.
Disclosure of Invention
In order to solve the problems, the invention provides an underwater detection robot, which aims to solve the problem of human exploration of position water areas and dangerous water areas and meet the detection of different underwater environments.
The technical scheme adopted by the invention is as follows:
an underwater detection robot comprises an integral frame module, a camera module, a submerging and surfacing module, a driving module, a direction adjusting module and a battery module. The whole frame module penetrates through the dry bin through two m5 threaded rods, two ends of the whole frame module are fixed by nuts, electrical components and a submerging and surfacing module in the dry bin are fixed on the threaded rods, the camera module is divided into a shooting part and a transmission part, the shooting part mainly comprises a camera and a lighting lamp ring, the shooting part is fixed on a front support, a circular cover plate for 3d printing is arranged in the middle of the front support, a camera hole is reserved in the center of the cover plate, the camera is fixed in the circular hole by screws, and an LED lamp ring is adhered to the periphery of the cover plate; the transmission part mainly comprises a raspberry group and a power carrier module, and pictures shot by the camera and videos are transmitted back to the raspberry group and then transmitted back to an operator through the power carrier module. The submerging and surfacing module is the main source of submerging and surfacing power of the robot, and the submerging and surfacing module is hung on a threaded rod through two flange pieces. The driving module is a main power source of the robot, the propeller blades are connected with a motor in the dry cabin through a propeller shaft and a coupler, and the whole body is fixed on the rear support cover plate through screws. The direction adjusting module is a power source for adjusting course of the robot, and is connected with a steering engine in the dry cabin through a bearing sleeve, the outermost side of the outer ring sleeve is fixed outside the dry cabin through screws, and a propeller is installed at the tail part of the inner rotating shaft. The power module comprises a lithium battery and a battery charging circuit, and the lithium battery is hung on the threaded rod through a battery clamping piece. The whole frame is of a cylindrical structure and is used for bearing the main body part of the robot, and a pressure-resistant dry bin is arranged inside the whole frame and contains all components which cannot meet water in the robot; the camera module is fixed on the head of the robot and transmits underwater pictures in real time; the submerging and surfacing module is a piston type bucket, a motor drives a gear to rotate, the gear drives a lead screw to move back and forth to pump water and drain water, and the gravity of the robot is changed so that the robot floats upwards or submerges downwards; the driving module comprises propeller blades, a transmission mechanism, a driving motor and a motor electric regulator, the tail propeller is connected with the propeller and the driving motor through a connecting rod transmission device, the motor is a waterproof structure and cannot be directly connected with the propeller, and the whole driving module provides main advancing power and braking power for the robot; the direction adjusting module is two independent motor driving systems on the left side and the right side, and respectively comprises a waterproof motor, an electric speed regulator and a propeller blade, the left motor and the right motor are used for steering in a differential mode during movement, the whole body is connected to a steering engine in the pressure-resistant dry bin through a connecting rod and can rotate 360 degrees, and the reasoning direction can be changed in the process of floating and submerging so as to improve the speed of floating and submerging; the battery module is positioned at the front part of the dry bin to keep the overall balance of the robot, and the battery module is the only energy source of the robot.
Furthermore, in order to reduce the running resistance of the robot in water, a torpedo type and streamline appearance design is adopted.
Further, left propeller and right propeller are vector propeller, including steering wheel, waterproof motor, electricity accent, the screw blade is constituteed, and the motor electricity is transferred as an organic whole, all can be waterproof, and integral connection can carry out 360 degrees rotations on the steering wheel, changes thrust direction, utilizes the sparrow formula fighter principle of taking off and land, and propeller thrust direction promotes the speed that the come-up dives about changing to differential turns about utilizing.
Furthermore, a balance weight hole is reserved on the front side supporting table to keep the robot balance, a robot main switch is arranged on the lower portion of the supporting table and is a magnetic type switch, the bilateral symmetry structure is adopted, one side of the magnetic type switch is provided with a magnet, the other side of the magnetic type switch does not comprise the magnet, the magnet is connected with the other side of the magnetic type switch through a spring connecting rod, the lower switch is pulled to rotate, the magnet attracts each other to be powered on, and the magnet is powered off in a rotating.
Furthermore, a support table is fixed on a screw rod in the pressure-resistant dry bin through a nut, a camera hole is reserved in the middle of the support table, an O-ring seal is arranged at the joint between the support table and the pressure-resistant dry bin, and the front transparent glass cover is fixed on the front support table through screws.
Furthermore, the front part in the pressure-resistant dry bin is a battery position and is fixed by a battery baffle sheet. The rear of the battery is provided with a piston motor and the positions of steering engines of propellers at two sides, and the steering engines and the propellers are connected through a middle bearing seat (inside the dry cabin) and a side propeller shaft (outside the dry cabin) and are connected through a pressure-resistant dry cabin wall by screws. The lower part of the pressure-resistant dry bin is provided with a counterweight rod for increasing the counterweight to keep the robot in a normal posture.
Furthermore, the upper side of the rear part of the pressure-resistant dry bin is provided with two waterproof wiring holes, the lower side of the pressure-resistant dry bin is provided with a piston water outlet, the middle of the pressure-resistant dry bin is provided with a rear propeller motor, the motor is fixed on a rear supporting platform through a motor base, an O ring is arranged between the supporting platform and the pressure-resistant dry bin for sealing, and a buoyancy material is arranged at the rear connecting rod of the supporting. The tail propeller blades are protected by blade guard rings, and the blade guard rings are fixed on the shell through tail wing upper and lower swing supporting seats.
The invention has the advantages and beneficial effects that:
1. the submersible vehicle type piston water barrel pump drainage is adopted for submerging and surfacing, and compared with a plurality of robots which utilize propellers to maintain a submerging state on the market, the submersible vehicle type piston water barrel pump drainage is more energy-saving, and the cruising ability is greatly improved.
2. According to the invention, the propellers on two sides are used for turning at different speeds, and the propellers are connected with the steering engine through the adapter mechanism, so that the angle of the propellers can be freely adjusted by 360 degrees, and the robot can perform various actions such as pitching and yawing.
3. The magnetic conductance formula switch that the patent of this invention designs and adopts, use the dry reed pipe of the open type, simple in construction, the leakproofness is better.
4. According to the design of the invention, a multi-section reserved space is reserved between the shell and the dry bin, when the robot is additionally provided with other sensor equipment, a buoyancy material can be additionally arranged at the gap to increase the buoyancy of the robot when the total weight is increased.
Drawings
Fig. 1 is an overall view of the present invention.
Fig. 2 is a side view of fig. 1.
Fig. 3 is an internal structural view of the present invention.
Fig. 4 is a rear view of fig. 1.
Fig. 5 is a front view of fig. 1.
Fig. 6 is a perspective view of a flux switch.
Fig. 7 is a perspective structural view of a piston water cylinder.
Fig. 8 is a side paddle fixed shaft.
Fig. 9 shows the intermediate bearing block.
Fig. 10 is a rudder shaft adapter.
FIG. 11 is a cross-sectional view of the propeller drive system arrangement.
In figure 3, the device comprises a front support 1, a front support 2, a battery box 3, a counterweight rod 4, a submerging and surfacing cabin 5, a rear support 6, a propeller connecting rod 7, a blade cover ring 8, a lifting handle 9, an integral frame 10, a propeller motor 11, a motor electric regulator 12, a side propeller 13, a steering engine 14, a submerging and surfacing cabin motor 15, a motor electric regulator 16, a propeller blade 17, a glass cover 18, a tail shell 19, a main body shell 20, a wire outlet 21, a magnetic flux switch 22 and a water drainage hole.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the robot shell is made by 3D printing, and the printed material has better survivability by adopting the more striking-resistant ABS consumable. The head transparent cover is tightly buckled on the front supporting platform 1, and a screw hole is reserved on the cover and is fixed on the front supporting platform 1. And a counterweight hole is reserved on the front support platform 1, so that the counterweight can be increased to keep the overall balance of the robot. The front supporting platform 1 is additionally provided with a screw hole to enable a threaded screw rod 9 in the integral frame structure to penetrate through, so that the front supporting platform 1 is tightly connected with the pressure-resistant dry bin, and a butyronitrile rubber ring is arranged at the joint for waterproof sealing. The pressure-resistant dry bin is made of 7075 aluminum alloy materials, the front part of the pressure-resistant dry bin is provided with a battery box 2, a battery baffle plate is fixed on a supporting screw rod 9, the middle part of the pressure-resistant dry bin is provided with side propeller steering engines 13 which are distributed up and down, and a piston bucket motor 14 is arranged below the pressure-resistant dry bin, so that the space utilization is maximized due to the compact distribution. The middle rear part is a piston bucket 4, and the water inlet and the water outlet are arranged at the lower part of a rear support 5 and submerged and floated by water absorption and drainage. The dry cabin is finally provided with a propeller motor 10, and the propeller motor is electrically adjusted with a motor of a submerged cabin motor. Two wiring holes are reserved on the upper part of the rear support, so that the robot can conveniently wire out; the lower part is a water inlet and a water outlet. A deep groove ball bearing is arranged at the center of the rear support and connected with a propeller connecting rod, the connecting rod is connected with propeller blades, and buoyancy materials are filled between the connecting rod and the shell to increase the buoyancy of the robot.
As shown in fig. 6, the main power switch of the robot is a waterproof magnetic switch. The middle of the switch is provided with a fixed rod which can be pulled out and freely rotate for 360 degrees, and the fixed rod is provided with a spring, so that the released switch can automatically rebound to the original position; the lower part of the fixed rod is provided with a switch handle, two ends of the handle are provided with two circular bosses with the same size and size, and the circular bosses respectively correspond to the grooves on the two sides, except that one side is provided with a magnet and the other side is not provided with the magnet, and one side in the grooves on the two sides is provided with the magnet and the other side is not provided with the magnet; when the magnet of the boss attracts the magnet in the groove, the power supply is switched on, otherwise, the power supply is switched off.
As shown in fig. 7, the main power source for the robot to maintain the suspension state is to pump water through a piston water cylinder, the gravity of the robot is increased after the water cylinder is filled with water, the state of the robot is equal to the buoyancy, and the robot can submerge to any depth through the propulsion of the side propellers in the up-and-down two directions. The piston water cylinder is roughly divided into a water cylinder and a piston, the water cylinder consists of a front end cover, a rear end cover and a water cylinder main body, and the lower part of the rear end cover is provided with a water outlet hole for pumping water and draining water by the piston; the front end cover is provided with a big hole and a small hole, the big hole enables a screw rod to pass in and out, the small hole enables a piston guide rod to pass in and out, and the guide rod mainly plays a role in preventing the piston from slipping in the cylinder. The gap between the front and back end covers and the piston cylinder is sealed by 85 x 1.8 static sealing O-rings, the periphery of the end cover is provided with 4 round small holes with 90 degrees, and a threaded rod is inserted into the small holes and pressed by a screw cap. The piston is a flat cylinder with the diameter almost equal to the inner diameter of the piston cylinder, the outer ring of the cylinder is provided with a groove, the TK651-85 sealing ring is arranged in the groove, the piston needs to move repeatedly to wear the sealing ring, and a more wear-resistant plastic shell is sleeved outside the piston to protect the sealing ring. Four threaded holes are reserved in the middle of the piston to install a piston rod fixing flange, and the piston rod is a double-side D-shaped rod and is inserted into the flange to be fixed through jackscrews. The sealing performance of the piston cylinder pumping and draining is guaranteed to be particularly good, so that the sealing ring is always in a pressing state and is not beneficial to installation, and a lead angle is formed at the end of the piston cylinder in advance so as to facilitate installation.
The front end of the piston cylinder is covered with a small hole, an LM4UU4 mm auxiliary slide way is arranged in the small hole, a 4 mm polished rod penetrates through the small hole, one end of the polished rod thread is twisted into a threaded hole of the piston, a slide way cover plate is arranged on the auxiliary slide way, and two ends of the auxiliary slide way are fixed by screws. The middle screw hole is internally provided with a 61804-2Z deep groove ball bearing, the outer bearing cover plate is fixed by 4 screws at intervals of 90 degrees, one side of the inner side is sealed by a piston sealing block, a 28 × 1.8 sealing O ring is arranged at a connecting gap, and the hole is internally provided with a TGX313-20 rotary sealing ring for sealing. After the assembly, a 36-tooth T-shaped cylindrical gear is arranged in the hole and is fixed by a GB894.2-86 shaft through an elastic retainer ring, the gear is connected with a screw rod through a screw, the gear rotates to drive the screw rod, and the screw rod drives a piston.
A driving motor for piston movement is fixed on the front end cover through a three-foot motor base, a 24-tooth gear is fixed at the front end of a motor shaft through a jackscrew and is meshed with the T-shaped gear, the motor rotates to drive the gear, the gear drives a lead screw, the lead screw drives a piston, the piston moves to perform pumping and drainage actions, and the robot floats upwards and dives downwards.
The steering module is two independent adjustable screw propellers of side, and this screw propeller selects for use ROVMAKER's underwater propulsor, and this propeller motor and regulator are all integrated inside, and water-proof effects is better. The propeller is connected with a steering engine in the dry cabin, the thrust direction can be changed at will, adjusting torque with rapid pitching and rolling dimensions can be provided under an Euler angle coordinate system, and stable pitching angle and rolling angle can be maintained under strong water flow interference; the moment is adjusted to the driftage dimension is gentler, can adjust the driftage moment of torsion accurately, reduces the driftage and shakes. The propeller is fixed on the side surface paddle fixing shaft in the figure 8, the fixing shaft is connected with the steering engine shaft switching device in the figure 10 and is fixed by a jackscrew, and the switching device is connected with the steering engine in multiple discs, so that the thrust direction of the propeller can be adjusted by the steering engine. Fig. 9 shows the intermediate bearing block, which is fixed on the wall of the dry bin, and the gap between the intermediate bearing block and the dry bin is provided with 20 × 1.8O-ring seals to prevent the dry bin from water inlet, and a hole in the middle of the bearing block is internally provided with a TGX313-8 rotary sealing ring and an NSK687 bearing.
The propeller transmission combination is the main power source of the robot, and the combination takes the rear cover plate of the dry bin of the robot as a main body. The cover plate is internally provided with four threaded holes for mounting a motor base, and the motor is connected with the propeller shaft through a coupler for transmitting the torque of the motor. A hole is formed in the center of the cover plate, a GB/T276-94 deep groove ball bearing is arranged in the hole, a propeller shaft supporting cover seat is arranged on the outer side of the cover plate, and a TGX313-8 rotary sealing ring is arranged at the gap between the supporting seat and the propeller shaft for sealing. Since the propeller shaft is long to prevent the propeller shaft from being deformed, a bearing housing is installed at an outlet of the tail housing to fix a position of the propeller shaft. The bearing shell is divided into a supporting seat and a cover plate, an NSK deep groove ball bearing is arranged in the bearing shell, a VA-5 water seal is used for sealing a gap between the NSK deep groove ball bearing and a propeller shaft, and a propeller fork and a propeller blade are arranged at the tail end of the bearing shell.
It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. An underwater detection robot, characterized in that: the device comprises an integral frame module, a camera module, a submerging and surfacing module, a driving module, a direction adjusting module and a battery module; the whole frame module penetrates through the dry bin through two threaded rods, two ends of the whole frame module are fixed by nuts, electrical components and a submerging and surfacing module in the dry bin are fixed on the threaded rods, the camera module is divided into a shooting part and a transmission part, the shooting part comprises a camera and a lighting lamp ring, the shooting part is fixed on a front support, a 3D printed circular cover plate is arranged in the middle of the front support, a camera hole is reserved in the center of the cover plate, the camera is fixed in the circular hole by screws, and an LED lamp ring is adhered to the periphery of the cover plate; the transmission part comprises a raspberry group and a power carrier module, and pictures and videos shot by the camera are transmitted back to the raspberry group and then transmitted back to an operator through the power carrier module; the submerging and surfacing module is a main source of submerging and surfacing power of the robot and is hung on the threaded rod by two flange pieces; the driving module is a main power source of the robot, propeller blades are connected with a motor in the dry cabin through a propeller shaft and a coupler, and the whole body is fixed on a rear support cover plate through screws; the direction adjusting module is a power source for adjusting course of the robot and is connected with a steering engine in the dry cabin through a bearing sleeve, the outermost side of the outer ring sleeve is fixed outside the dry cabin through screws, and a propeller is installed at the tail part of the inner rotating shaft; the power module comprises a lithium battery and a battery charging circuit, and the lithium battery is hung on the threaded rod by a battery clamping piece; the whole frame is of a cylindrical structure, and the pressure-resistant dry bin is arranged inside the whole frame and comprises all components which cannot meet water in the robot; the camera module is fixed on the head of the robot and transmits underwater pictures in real time; the submerging and surfacing module is a piston type bucket, a motor drives a gear to rotate, the gear drives a lead screw to move back and forth to pump water and drain water, and the gravity of the robot is changed so that the robot floats upwards or submerges downwards; the driving module comprises propeller blades, a transmission mechanism, a driving motor and a motor electric regulator, the tail propeller is connected with the propeller and the driving motor through a connecting rod transmission device, the motor is a waterproof structure and cannot be directly connected with the propeller, and the whole driving module provides advancing power and braking power for the robot; the direction adjusting module is two independent motor driving systems on the left side and the right side, and respectively comprises a waterproof motor, an electric speed regulator and a propeller blade, the left motor and the right motor are used for steering in a differential mode during movement, the whole body is connected to a steering engine in a pressure-resistant dry bin through a connecting rod and rotates 360 degrees, and the reasoning direction is changed in the process of floating and submerging so as to improve the speed of floating and submerging; the battery module is positioned at the front part of the dry bin to keep the whole balance of the robot.
2. An underwater exploration robot as claimed in claim 1, wherein: adopts a streamline shape.
3. An underwater exploration robot as claimed in claim 1, wherein: left propeller and right propeller are vector propeller, including steering wheel, waterproof motor, electricity accent, the screw blade is constituteed, and the formula as an organic whole is transferred to the motor electricity, all can be waterproof, and integral connection carries out 360 degrees rotations on the steering wheel, changes thrust direction, utilizes the sparrow formula fighter principle of taking off and land, and propeller thrust direction promotes the speed that the come-up dives about the change to differential turns about the utilization.
4. An underwater exploration robot as claimed in claim 1, wherein: the front side supporting platform is provided with a weight hole for keeping the balance of the robot, the lower part of the supporting platform is provided with a robot main switch which is a magnetic suction type switch, the left and right symmetrical structure is provided with a magnet on one side, the other side does not contain the magnet, the middle part is connected by a spring connecting rod, the pull-down switch rotates, the magnet attracts each other to be switched on, and the magnet is disconnected when the magnet walks away the power.
5. An underwater exploration robot as claimed in claim 1, wherein: the supporting table is fixed on a screw rod in the pressure-resistant dry bin through a nut, a camera hole is reserved in the middle of the supporting table, an O ring is arranged at the joint between the supporting table and the pressure-resistant dry bin for sealing, and the front transparent glass cover is fixed on the supporting table on the front side through a screw.
6. An underwater exploration robot as claimed in claim 1, wherein: the front part in the pressure-resistant dry bin is a battery position and is fixed by a battery baffle sheet; the rear of the battery is provided with a piston motor and the positions of steering engines of propellers at two sides, and the steering engines and the propellers are connected through a middle bearing seat and a side propeller fixed shaft and are connected through screws to penetrate through the wall of the pressure-resistant dry bin; the lower part of the pressure-resistant dry bin is provided with a counterweight rod for increasing the counterweight to keep the robot in a normal posture.
7. An underwater exploration robot as claimed in claim 1, wherein: the upper side of the rear part of the pressure-resistant dry bin is provided with two waterproof wiring holes, the lower side of the rear part of the pressure-resistant dry bin is provided with a piston water outlet, the middle of the pressure-resistant dry bin is provided with a rear propeller motor, the motor is fixed on a rear supporting platform through a motor base, an O ring is arranged between the supporting platform and a gap of the pressure-resistant dry bin for sealing, and a buoyancy material is arranged; the tail propeller blades are protected by blade guard rings, and the blade guard rings are fixed on the shell through tail wing upper and lower swing supporting seats.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417160.6A CN113120198A (en) | 2021-04-19 | 2021-04-19 | Underwater detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417160.6A CN113120198A (en) | 2021-04-19 | 2021-04-19 | Underwater detection robot |
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| CN113120198A true CN113120198A (en) | 2021-07-16 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697078A (en) * | 2021-09-26 | 2021-11-26 | 河北科技师范学院 | Underwater robot |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
| CN113928517A (en) * | 2021-11-10 | 2022-01-14 | 东华理工大学 | Underwater patrol robot fish |
| CN114013613A (en) * | 2021-10-15 | 2022-02-08 | 九江海天设备制造有限公司 | Unmanned underwater vehicle device with various loads and using method thereof |
| CN114046777A (en) * | 2021-10-22 | 2022-02-15 | 自然资源部第一海洋研究所 | Underwater optical imaging system and method suitable for large-range shallow sea coral reef drawing |
| CN114313177A (en) * | 2021-12-21 | 2022-04-12 | 深圳潜行创新科技有限公司 | Underwater autonomous robot |
| CN114590380A (en) * | 2022-04-08 | 2022-06-07 | 深圳市自然资源和不动产评估发展研究中心(深圳市地质环境监测中心) | Underwater robot capable of carrying out marine underwater hydrological detection |
| CN114658081A (en) * | 2021-11-08 | 2022-06-24 | 郑州大学 | Modularized pipeline detection and repair equipment |
| CN114744741A (en) * | 2022-05-18 | 2022-07-12 | 中国船舶科学研究中心 | Channel energy recovery system of submersible with double motor modules and operation method |
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| CN114590380B (en) * | 2022-04-08 | 2022-12-16 | 深圳市自然资源和不动产评估发展研究中心(深圳市地质环境监测中心) | Underwater robot capable of carrying out ocean underwater hydrological detection |
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| CN116873129A (en) * | 2023-07-21 | 2023-10-13 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
| CN116873129B (en) * | 2023-07-21 | 2023-12-19 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
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| CN118025458A (en) * | 2024-04-12 | 2024-05-14 | 中国海洋大学 | Ray-ray bionic fish and underwater communication method thereof |
| CN118025458B (en) * | 2024-04-12 | 2024-06-11 | 中国海洋大学 | Underwater communication method applied to ray-type bionic fish |
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