CN113858222A - Reservoir intelligent inspection robot based on virtual reality technology - Google Patents
Reservoir intelligent inspection robot based on virtual reality technology Download PDFInfo
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- CN113858222A CN113858222A CN202111086903.2A CN202111086903A CN113858222A CN 113858222 A CN113858222 A CN 113858222A CN 202111086903 A CN202111086903 A CN 202111086903A CN 113858222 A CN113858222 A CN 113858222A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a reservoir intelligent inspection robot based on a virtual reality technology, which comprises a machine body and a control room, wherein the machine body is provided with a central control module and an image acquisition module, the image acquisition module acquires images and transmits the images to the central control module and then transmits the images to the control room, the control room remotely controls the operation of the machine body, the bottom of the machine body is provided with a supporting and protecting mechanism, the supporting and protecting mechanism comprises a supporting component and a protecting component, the supporting component is fixedly connected to the bottom of the machine body, and the protecting component is connected to the supporting component in a lifting mode. The invention increases the placing space of the rescued people by controlling the operation of the supporting and protecting component at the bottom of the machine body, strengthens the supporting component and improves the bearing capacity of the supporting component, thereby ensuring the stability of the machine body, and the machine body is arranged above the protecting component, thereby playing a limiting role for the rescued people and avoiding the rescued people from separating from the machine body in the transportation process.
Description
Technical Field
The invention belongs to the technical field of water conservancy, and particularly relates to a reservoir intelligent inspection robot based on a virtual reality technology.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.
With the continuous development of underwater technology in China and the application of advanced underwater surveying instruments. The demand for high performance underwater robots is increasing. The existing underwater robot has insufficient capability for dealing with sudden underwater rescue in the process of patrolling a reservoir, and cannot quickly bring the underwater divers trapped at the water bottom to the bank for rescue.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a reservoir intelligent patrol robot based on a virtual reality technology, an image acquisition module of a machine body acquires underwater real-time images and transmits the underwater real-time images to a central control module, the central control module transmits the underwater real-time images to a control room, the control room controls the machine body to patrol underwater according to the real-time images, when an emergent underwater rescue room is met, the control room can control the machine body to go to an underwater rescue point at the first time, meanwhile, a supporting and protecting component at the bottom of the machine body is controlled to operate, the machine body is supported at the bottom of the water by the supporting component, an area formed between the top of the protecting component and the bottom of the machine body is used for placing a rescued person, and the protecting component is controlled to descend, so that the space for placing the rescued person is increased, the supporting component is reinforced, the bearing performance of the supporting component is improved, and the stability of the machine body is ensured, and the machine body is arranged above the protective component, thereby playing a limiting role for the rescued people and avoiding the rescued people from separating from the machine body in the transportation process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a reservoir intelligence inspection robot based on virtual reality technique, includes organism and control room, and the organism is equipped with central control module and image acquisition module, and image acquisition module gathers the image and carries the control room after carrying central control module again, and the remote control of control room machine body operation, the bottom of organism are equipped with supports protection machanism, supports protection machanism and includes supporting component and protection component, and supporting component fixed connection is in the bottom of organism, and protection component goes up and down to connect on supporting component. The invention collects underwater real-time images through the image acquisition module of the machine body and transmits the images to the central control module, and then the images are transmitted into the control room by the central control module, the control room controls the machine body to carry out patrol under water according to the real-time images, when a sudden underwater rescue room is encountered, the control room can control the machine body to go to an underwater rescue point at the first time, meanwhile, by controlling the operation of the supporting and protecting component at the bottom of the machine body, the supporting component supports the machine body at the water bottom, the area formed between the top of the protecting component and the bottom of the machine body is used for placing rescued people, and by controlling the descending of the protecting component, thereby increasing the space for placing the rescued people, simultaneously reinforcing the supporting component, improving the bearing capacity of the supporting component, thereby guaranteed the stability of organism, and the organism setting is in the top of protective component to play a limiting displacement to the personnel of being helped, avoided the personnel of being helped to throw off with the organism in the transportation.
Further, the supporting component comprises a connecting rod and a supporting rod, one end of the connecting rod is fixedly connected to the four corners of the bottom of the machine body, the top of the supporting rod is connected to the bottom of the connecting rod in a rotating mode, a supporting block is arranged at the bottom of the supporting rod, and the protection component is connected to the connecting rod and the supporting rod in a lifting mode. When the machine moves underwater, the top end of the supporting rod rotates to one side of the center of the machine body around the bottom of the connecting rod, so that the supporting rod and the connecting rod are vertical, the size of the supporting and protecting assembly is reduced, and the resistance of the machine body in operation in water is reduced; when the organism need carry out rescue under water, at first the bracing piece swing for bracing piece and connecting rod are 180, and protective component descends to the junction of bracing piece and connecting rod along the connecting rod after that, thereby plays a limiting displacement to connecting rod and bracing piece, avoids the bracing piece swing, thereby has increased the stability of bracing piece.
Further, the protection component includes baffle and guardrail component, the both sides at the baffle are connected in guardrail component's rotation, the four corners department of baffle corresponds the supporting component and is equipped with the uide bushing, the uide bushing is equipped with the through-hole, the through-hole runs through the baffle, through-hole and connecting rod, the bracing piece phase-match, uide bushing lifting connection is on the supporting component, the four corners department of baffle all is equipped with the tight screw in top, the tight screw in top passes behind the baffle tightly on the supporting component in top, the upper portion of connecting rod corresponds the uide bushing and is equipped with spacing piece, the lower part of bracing piece corresponds the uide bushing and is equipped with spacing piece down. The baffle is used for placing by the rescue personnel, the setting of uide bushing plays a guide effect to the lift of baffle, the uide bushing back that moves down, the uide bushing is established in the outside of connecting rod with the bracing piece junction, thereby play a limiting displacement to the bracing piece, the baffle forms the region that is used for placing the rescue personnel with the bottom of organism, the setting of guardrail subassembly plays a limiting displacement to the both sides in this region, thereby avoided by the rescue personnel break away from this region in transportation process, the setting of top tight screw plays a fixed action to the baffle.
Further, the height of the support rod when being vertically arranged with the connecting rod is the same as the height of the guardrail component which is turned downwards. When the organism need not the succour and stops at submarine, guardrail subassembly supports at the submarine with the bracing piece to increased bottom of the body and submarine area of contact, thereby avoided the organism to be absorbed in submarine silt, thereby increased the stability that the organism stops at the submarine.
Further, the guardrail subassembly is including rotating seat, turning block and guardrail, and the one end fixedly connected with turning block of guardrail, and two of the equal fixedly connected with in both sides of baffle rotate the seat, and the turning block rotates to be connected between two rotation seats that are located one side, and baffle and guardrail are hollow out construction. When the rescue is not needed, the guardrail rotates downwards around the rotating seat through the rotating block, and the auxiliary supporting effect on the machine body can be realized when the machine body stays at the water bottom; when a rescue task needs to be carried out, the partition plate moves downwards, and the guardrail swings upwards at the same time, so that a limiting effect is achieved on the rescued people.
Further, the both sides of organism all are equipped with drive assembly, and drive assembly includes fin, parallel propeller and lift propeller, and the both sides of organism all are equipped with first mounting groove and second mounting groove, and in first mounting groove was located to parallel propeller, the second mounting groove internal rotation was connected with lift propeller, and the top surface of organism afterbody was located to the fin. The parallel propeller is used for presuming the organism is advancing and retreating under water, and the lift propeller is used for controlling the organism in the degree of depth of water droplet, and the setting of fin has reduced the resistance that the organism received in the bottom to increased the organism and moved in the bottom fast and stable.
Further, the front end of organism is equipped with first installation cavity and second installation cavity, and image acquisition module locates in the first installation cavity, and the second installation cavity is located the both sides of first installation cavity, is equipped with the light in the second installation cavity. The setting of light is used for the bottom to throw light on, has increased the definition that the image acquisition module collected the image, and the setting of first installation cavity plays a guard action to the image acquisition module.
Further, the top surface of organism is equipped with bearing mechanism, and bearing mechanism includes vertical slide rail, flank clamping components and front and back spacing subassembly, and vertical slide rail fixed connection is at the top surface of organism, and front and back spacing subassembly is sliding connection both ends around vertical slide rail respectively, and flank clamping components fixed connection is in the both sides of vertical slide rail. The supporting mechanism is arranged to place materials, so that the machine body has the function of transporting underwater materials, an auxiliary effect is achieved for underwater rescue, the side wing clamping assemblies play a role in fixing the two sides of the materials, and the front limiting assembly and the rear limiting assembly play a role in limiting the front end and the rear end of the materials, so that the stability of the machine body for transporting the materials is guaranteed.
Further, spacing subassembly includes the arc bracket around, the slider, rotate the otic placode, rotor arm and spacing round, the top fixed connection of slider is in the bottom of arc bracket, the bottom sliding connection of slider is on vertical slide rail, rotate the one side that organism center was kept away from to otic placode fixed connection at the arc bracket, rotate between the one end of rotor arm and the rotation otic placode and be connected with the pivot, the one end of pivot is equipped with screw thread portion, screw thread portion twists there is fastening nut, fastening nut screws up on rotating the otic placode, spacing round fixed connection is at the other end of rotor arm. The position of arc bracket can be adjusted according to the length of goods and materials to the setting of longitudinal slide rail and slider for the arc bracket can play a supporting role to the bottom of goods and materials, and spacing round of rethread rotor arm drive rotates around rotating the otic placode, makes spacing round can compress tightly both ends around the goods and materials, fixes spacing round through screwing up fastening nut, and the setting of spacing round can carry out spacing fixed to irregularly shaped goods and materials.
Further, flank clamping unit includes that base, horizontal slide rail, L type connecting rod, sliding block and arc press from both sides tight piece, and the bottom of base is equipped with joint portion, and joint portion chucking is on vertical slide rail, and horizontal slide rail fixed connection is on the top surface of base, and sliding block sliding connection is on horizontal slide rail, and the bottom fixed connection of L type connecting rod is at the top surface of sliding block, and the other end fixed connection of L type connecting rod presss from both sides the tight piece in arc and keeps away from one side at organism center. The position of the arc-shaped clamping block can be adjusted according to the width of the goods and materials by arranging the transverse sliding rail and the sliding block, the base is fixed on the longitudinal sliding rail by arranging the clamping portion, and the arc-shaped clamping block can be clamped and fixed aiming at the goods and materials with different shapes.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention collects underwater real-time images through the image acquisition module of the machine body and transmits the images to the central control module, and then the images are transmitted into the control room by the central control module, the control room controls the machine body to carry out patrol under water according to the real-time images, when a sudden underwater rescue room is encountered, the control room can control the machine body to go to an underwater rescue point at the first time, meanwhile, by controlling the operation of the supporting and protecting component at the bottom of the machine body, the supporting component supports the machine body at the water bottom, the area formed between the top of the protecting component and the bottom of the machine body is used for placing rescued people, and by controlling the descending of the protecting component, thereby increasing the space for placing the rescued people, simultaneously reinforcing the supporting component, improving the bearing capacity of the supporting component, thereby guaranteed the stability of organism, and the organism setting is in the top of protective component to play a limiting displacement to the personnel of being helped, avoided the personnel of being helped to throw off with the organism in the transportation.
The supporting component comprises a connecting rod and a supporting rod, one end of the connecting rod is fixedly connected to the four corners of the bottom of the machine body, the top of the supporting rod is rotatably connected to the bottom of the connecting rod, a supporting block is arranged at the bottom of the supporting rod, and the protecting component is connected to the connecting rod and the supporting rod in a lifting mode. When the machine moves underwater, the top end of the supporting rod rotates to one side of the center of the machine body around the bottom of the connecting rod, so that the supporting rod and the connecting rod are vertical, the size of the supporting and protecting assembly is reduced, and the resistance of the machine body in operation in water is reduced; when the organism need carry out rescue under water, at first the bracing piece swing for bracing piece and connecting rod are 180, and protective component descends to the junction of bracing piece and connecting rod along the connecting rod after that, thereby plays a limiting displacement to connecting rod and bracing piece, avoids the bracing piece swing, thereby has increased the stability of bracing piece. The protection component comprises a partition plate and a guardrail component, the guardrail component is connected to rotate in two sides of the partition plate, four corners of the partition plate correspond to the supporting component and are provided with guide sleeves, the guide sleeves are provided with through holes, the through holes penetrate through the partition plate, the through holes are connected with connecting rods and matched with the supporting rods, the guide sleeves are connected to the supporting component in a lifting mode, the four corners of the partition plate are provided with jacking screws, the jacking screws penetrate through the partition plate and then are tightly pressed on the supporting component, the upper portion of the connecting rods corresponds to the guide sleeves and are provided with upper limiting blocks, and the lower portions of the supporting rods correspond to the guide sleeves and are provided with lower limiting blocks. The baffle is used for placing by the rescue personnel, the setting of uide bushing plays a guide effect to the lift of baffle, the uide bushing back that moves down, the uide bushing is established in the outside of connecting rod with the bracing piece junction, thereby play a limiting displacement to the bracing piece, the baffle forms the region that is used for placing the rescue personnel with the bottom of organism, the setting of guardrail subassembly plays a limiting displacement to the both sides in this region, thereby avoided by the rescue personnel break away from this region in transportation process, the setting of top tight screw plays a fixed action to the baffle.
The top surface of the machine body is provided with a bearing mechanism, the bearing mechanism comprises a longitudinal slide rail, a side wing clamping assembly and a front limiting assembly and a rear limiting assembly, the longitudinal slide rail is fixedly connected to the top surface of the machine body, the front limiting assembly and the rear limiting assembly are respectively and slidably connected to the front end and the rear end of the longitudinal slide rail, and the side wing clamping assembly is fixedly connected to two sides of the longitudinal slide rail. The supporting mechanism is arranged to place materials, so that the machine body has the function of transporting underwater materials, an auxiliary effect is achieved for underwater rescue, the side wing clamping assemblies play a role in fixing the two sides of the materials, and the front limiting assembly and the rear limiting assembly play a role in limiting the front end and the rear end of the materials, so that the stability of the machine body for transporting the materials is guaranteed.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of a reservoir intelligent inspection robot based on a virtual reality technology;
FIG. 2 is a schematic view of the protective assembly of the present invention after it has been lowered;
FIG. 3 is a schematic structural view of the support guard mechanism of the present invention;
FIG. 4 is a schematic view of the construction of the support mechanism of the present invention;
fig. 5 is an enlarged schematic view of a portion a in fig. 4.
In the figure, 1-body; 2-an image acquisition module; 3-supporting a protection mechanism; 4-a support assembly; 5-a protective component; 6-connecting rod; 7-a support bar; 8-a support block; 9-a separator; 10-a guardrail assembly; 11-a guide sleeve; 12-tightening the screw; 13-an upper limit block; 14-a lower limit block; 15-a rotating seat; 16-a turning block; 17-a guardrail; 18-tail fin; 19-a parallel thruster; 20-a lifting propeller; 21-a first mounting groove; 22-a second mounting groove; 23-a first mounting cavity; 24-a second mounting cavity; 25-a lighting lamp; 26-a supporting mechanism; 27-longitudinal sliding rail; 28-a wing clamping assembly; 29-front and rear limit components; 30-arc shaped brackets; 31-a slide block; 32-rotating ear plate; 33-a swivel arm; 34-a limiting wheel; 35-a rotating shaft; 36-a threaded portion; 37-a fastening nut; 38-a base; 39-transverse slide rail; a 40-L shaped link; 41-a sliding block; 42-an arc-shaped clamping block; 43-snap-in part.
Detailed Description
As shown in fig. 1 to 5, the reservoir intelligent inspection robot based on the virtual reality technology comprises a machine body 1 and a control room, wherein the machine body 1 is provided with a central control module and an image acquisition module 2, the image acquisition module 2 acquires images and transmits the images to the central control module and then transmits the images to the control room, the control room remotely controls the machine body 1 to operate, a supporting and protecting mechanism 3 is arranged at the bottom of the machine body 1, the supporting and protecting mechanism 3 comprises a supporting component 4 and a protecting component 5, the supporting component 4 is fixedly connected to the bottom of the machine body 1, and the protecting component 5 is connected to the supporting component 4 in a lifting mode.
The supporting component 4 comprises a connecting rod 6 and a supporting rod 7, one end of the connecting rod 6 is fixedly connected to the four corners of the bottom of the machine body, the top of the supporting rod 7 is rotatably connected to the bottom of the connecting rod 6, a supporting block 8 is arranged at the bottom of the supporting rod 7, and the protective component 5 is connected to the connecting rod 6 and the supporting rod 7 in a lifting mode. When the machine moves underwater, the top end of the support rod 7 rotates to one side of the center of the machine body 1 around the bottom of the connecting rod 6, so that the support rod 7 and the connecting rod 6 are vertical, the size of the support protection component 5 is reduced, and the running resistance of the machine body 1 in water is reduced; when organism 1 need carry out rescue under water, at first bracing piece 7 swings for bracing piece 7 is 180 with connecting rod 6, and then protective component 5 descends to the junction of bracing piece 7 and connecting rod 6 along connecting rod 6, thereby plays a limiting displacement to connecting rod 6 and bracing piece 7, avoids the swing of bracing piece 7, thereby has increased the stability of bracing piece 7.
The height of the support rod 7 vertically arranged with the connecting rod 6 is the same as the height of the guardrail assembly 10 turned downwards. When organism 1 need not the succour and stops at submarine, guardrail subassembly 10 supports at the submarine with bracing piece 7 to increased 1 bottom of organism and submarine area of contact, thereby avoided organism 1 to be absorbed in submarine silt, thereby increased the stability that organism 1 stopped at the submarine.
Guardrail subassembly 10 is including rotating seat 15, turning block 16 and guardrail 17, and guardrail 17's one end fixedly connected with turning block 16, and two turning seats 15 of the equal fixedly connected with in both sides of baffle 9 rotate the block 16 and rotate and connect between two turning seats 15 that are located one side, and baffle 9 and guardrail 17 are hollow out construction. When the rescue is not needed, the guardrail 17 rotates downwards around the rotating seat 15 through the rotating block 16, and can play a role of auxiliary support for the machine body 1 when the machine body 1 stays at the water bottom; when a rescue task needs to be carried out, the partition plate 9 moves downwards, and meanwhile, the guardrail 17 swings upwards, so that a limiting effect is achieved on the rescued people.
The both sides of organism 1 all are equipped with drive assembly, and drive assembly includes fin 18, parallel propeller 19 and lift propeller 20, and the both sides of organism 1 all are equipped with first mounting groove 21 and second mounting groove 22, and in first mounting groove 21 was located to parallel propeller 19, the second mounting groove 22 internal rotation was connected with lift propeller 20, and the top surface of organism 1 afterbody was located to fin 18. The parallel propeller 19 is used for presuming that the body 1 advances and retreats under water, the lifting propeller 20 is used for controlling the depth of the body 1 in water drops, and the arrangement of the tail wing 18 reduces the resistance of the body 1 in the water bottom, thereby increasing the rapid and stable movement of the body 1 in the water bottom.
The front end of organism 1 is equipped with first installation cavity 23 and second installation cavity 24, and in first installation cavity 23 was located to image acquisition module 2, second installation cavity 24 was located the both sides of first installation cavity 23, was equipped with light 25 in the second installation cavity 24. The setting of light 25 is used for the bottom to throw light on, has increased the definition that image acquisition module 2 collected the image, and the setting of first installation cavity 23 plays a guard action to image acquisition module 2.
The top surface of organism 1 is equipped with supporting mechanism 26, and supporting mechanism 26 includes vertical slide rail 27, flank clamping component 28 and preceding back spacing subassembly 29, and vertical slide rail 27 fixed connection is at the top surface of organism 1, and preceding back spacing subassembly 29 is sliding connection respectively at the front and back both ends of vertical slide rail 27, and flank clamping component 28 fixed connection is in the both sides of vertical slide rail 27. Bearing mechanism 26 sets up and is used for placing the goods and materials to make organism 1 increase the effect of transporting goods and materials under water, play an additional act to rescue under water, flank clamping component 28 plays a fixed action to the both sides of goods and materials, and spacing subassembly 29 plays a limiting displacement to the front and back both ends of goods and materials around, thereby has guaranteed the stability of organism 1 transportation goods and materials.
Spacing subassembly 29 includes arc bracket 30 around, slider 31, rotate otic placode 32, rotor arm 33 and spacing wheel 34, slider 31's top fixed connection is in the bottom of arc bracket 30, slider 31's bottom sliding connection is on vertical slide rail 27, it keeps away from one side at organism 1 center at arc bracket 30 to rotate otic placode 32 fixed connection, the one end of rotor arm 33 and the rotation are rotated between otic placode 32 and are connected with pivot 35, the one end of pivot 35 is equipped with screw thread portion 36, screw thread portion 36 twists there is fastening nut 37, fastening nut 37 is screwed up on rotating otic placode 32, spacing wheel 34 fixed connection is at the other end of rotor arm 33. The position of the arc-shaped bracket 30 can be adjusted according to the length of the goods and materials by the arrangement of the longitudinal slide rail 27 and the slide block 31, so that the arc-shaped bracket 30 can support the bottom of the goods and materials, the limiting wheel 34 is driven by the rotating arm 33 to rotate around the rotating lug plate 32, the limiting wheel 34 can be tightly pressed at the front end and the rear end of the goods and materials, the limiting wheel 34 is fixed by tightening the fastening nut 37, and the arrangement of the limiting wheel 34 can be limited and fixed aiming at the goods and materials with irregular shapes.
The invention collects underwater real-time images through an image collecting module 2 of a machine body 1 and transmits the images to a central control module, then the images are transmitted into a control room through the central control module, the control room controls the machine body 1 to patrol underwater according to the real-time images, when an emergent underwater rescue room is encountered, the control room can control the machine body 1 to go to an underwater rescue point at the first time, meanwhile, a supporting and protecting component 5 at the bottom of the machine body 1 is controlled to operate, the supporting component 4 supports the machine body 1 at the water bottom, an area formed between the top of the protecting component 5 and the bottom of the machine body 1 is used for placing a rescued person, the protecting component 5 is controlled to descend, so that the space for placing the rescued person is increased, meanwhile, the supporting component 4 is reinforced, the bearing performance of the supporting component 4 is improved, the stability of the machine body 1 is ensured, and the machine body 1 is arranged above the protecting component 5, so that a limiting effect is achieved for the rescued person, the rescued person is prevented from being separated from the machine body 1 during transportation.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made based on the present invention to solve the same technical problems and achieve the same technical effects are within the scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to reservoir intelligence based on virtual reality technique, includes organism and control room, its characterized in that: the organism is equipped with central control module and image acquisition module, image acquisition module gathers in the control room is carried again behind the central control module to the image transmission, control room remote control the organism operation, the bottom of organism is equipped with supports protection machanism, it includes supporting component and protection component to support protection machanism, supporting component fixed connection is in the bottom of organism, protection component goes up and down to be connected on the supporting component.
2. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 1, characterized in that: the supporting component comprises a connecting rod and a supporting rod, one end of the connecting rod is fixedly connected to the four corners of the bottom of the machine body, the top of the supporting rod is rotatably connected to the bottom of the connecting rod, a supporting block is arranged at the bottom of the supporting rod, and the protection component is connected to the connecting rod and the supporting rod in a lifting mode.
3. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 2, characterized in that: the utility model discloses a safety guard for vehicle, including protection component, baffle, bracing piece, supporting component, guide sleeve, connecting rod, bracing piece phase-match, protection component includes baffle and guardrail component, guardrail component's rotation is connected the both sides of baffle, the four corners department of baffle corresponds the supporting component is equipped with the uide bushing, the uide bushing is equipped with the through-hole, the through-hole runs through the baffle, the through-hole with the connecting rod the bracing piece phase-match, the uide bushing goes up and down to be connected on the supporting component, the four corners department of baffle all is equipped with the tight screw in top, the tight screw in top passes the tight in top behind the baffle is in on the supporting component, the upper portion of connecting rod corresponds the uide bushing is equipped with spacing piece, the lower part of bracing piece corresponds the uide bushing is equipped with spacing piece down.
4. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 3, characterized in that: the height of the support rod when the support rod is vertically arranged with the connecting rod is the same as the height of the guardrail component which is turned downwards.
5. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 3, characterized in that: the guardrail component comprises a rotating seat, a rotating block and a guardrail, wherein one end of the guardrail is fixedly connected with the rotating block, two sides of the partition plate are fixedly connected with the rotating seat, the rotating block is connected between the two rotating seats located on one side in a rotating mode, and the partition plate and the guardrail are of hollow structures.
6. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 1, characterized in that: the both sides of organism all are equipped with drive assembly, drive assembly includes fin, parallel propeller and lift propeller, the both sides of organism all are equipped with first mounting groove and second mounting groove, parallel propeller locates in the first mounting groove, the second mounting groove internal rotation is connected with the lift propeller, the fin is located the top surface of organism afterbody.
7. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 1, characterized in that: the front end of organism is equipped with first installation cavity and second installation cavity, image acquisition module locates in the first installation cavity, the second installation cavity is located the both sides of first installation cavity, be equipped with the light in the second installation cavity.
8. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 1, characterized in that: the top surface of organism is equipped with bearing mechanism, bearing mechanism includes vertical slide rail, flank clamping components and front and back spacing subassembly, vertical slide rail fixed connection be in the top surface of organism, front and back spacing subassembly sliding connection respectively is in both ends around vertical slide rail, flank clamping components fixed connection be in the both sides of vertical slide rail.
9. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 8, characterized in that: the front and rear limiting assembly comprises an arc-shaped bracket, a sliding block, a rotating lug plate, a rotating arm and a limiting wheel, the top end of the sliding block is fixedly connected to the bottom of the arc-shaped bracket, the bottom of the sliding block is connected to the longitudinal sliding rail in a sliding mode, the rotating lug plate is fixedly connected to one side, away from the center of the machine body, of the arc-shaped bracket, a rotating shaft is rotatably connected between one end of the rotating arm and the rotating lug plate, a threaded portion is arranged at one end of the rotating shaft, a fastening nut is screwed into the threaded portion, the fastening nut is screwed onto the rotating lug plate, and the limiting wheel is fixedly connected to the other end of the rotating arm.
10. The intelligent reservoir inspection robot based on the virtual reality technology according to claim 8, characterized in that: flank clamping unit includes that base, horizontal slide rail, L type connecting rod, sliding block and arc press from both sides tight piece, the bottom of base is equipped with joint portion, joint portion chucking is in on the vertical slide rail, horizontal slide rail fixed connection be in the top surface of base, sliding block sliding connection be in on the horizontal slide rail, the bottom fixed connection of L type connecting rod is in the top surface of sliding block, the other end fixed connection of L type connecting rod is in arc presss from both sides tight piece and keeps away from one side at organism center.
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| CN202111086903.2A CN113858222B (en) | 2021-09-16 | 2021-09-16 | Intelligent reservoir inspection robot based on virtual reality technology |
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| CN110920842A (en) * | 2019-12-05 | 2020-03-27 | 武汉千音科技有限公司 | Ocean engineering drilling platform underwater structure overhauling robot |
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