CN114590380B - Underwater robot capable of carrying out ocean underwater hydrological detection - Google Patents
Underwater robot capable of carrying out ocean underwater hydrological detection Download PDFInfo
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- CN114590380B CN114590380B CN202210363477.0A CN202210363477A CN114590380B CN 114590380 B CN114590380 B CN 114590380B CN 202210363477 A CN202210363477 A CN 202210363477A CN 114590380 B CN114590380 B CN 114590380B
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- 238000001514 detection method Methods 0.000 title claims abstract description 53
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 90
- 238000009434 installation Methods 0.000 claims abstract description 26
- 238000007789 sealing Methods 0.000 claims description 53
- 230000002457 bidirectional effect Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 239000012535 impurity Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000010813 municipal solid waste Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
- B01D29/01—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor with flat filtering elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
- B01D29/96—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor in which the filtering elements are moved between filtering operations; Particular measures for removing or replacing the filtering elements; Transport systems for filters
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- 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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Aviation & Aerospace Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater robot capable of carrying out marine underwater hydrological detection, which comprises a robot body and is characterized in that: the invention uses the hydraulic telescopic rod to drive the piston plate to move in the water inlet cavity, when the underwater robot is sunk into water, water can be injected into the water inlet cavity from the water inlet pipe, so that one end of the underwater robot sinks downwards, the reverse installation direction of the thruster is positioned above, and the thruster can drive the underwater robot to reach a preset position, the piston plate pushes out water in the water inlet cavity, so that the water in the water inlet cavity is hollow, one end of the propeller sinks, the other end of the propeller floats upwards, the underwater robot can be pushed upwards from the water by the operation of the propeller, the underwater robot can be driven by the same power device to advance towards two directions, a power source is not needed to be arranged, and the size of the whole equipment is reduced.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to an underwater robot capable of carrying out marine underwater hydrological detection.
Background
An underwater robot is also called an unmanned remote control submersible, is an ultimate operation robot working underwater, has severe underwater environment danger and limited diving depth of people, so the underwater robot becomes an important tool for developing oceans, and the unmanned remote control submersible mainly comprises: the underwater robot can replace manpower to work underwater for a long time in a water area with high dangerous environment, polluted environment and zero visibility, and is generally provided with a sonar system, a camera, an illuminating lamp, a mechanical arm and the like, so that real-time video and sonar images can be provided, the mechanical arm can grab the objects, and the underwater robot is widely applied to the fields of oil development, marine law enforcement evidence obtaining, scientific research, military and the like;
however, the existing underwater robot needs a plurality of power devices to change the advancing direction, the size of the robot is greatly increased, the production cost is increased, and the operation steps are complex, so that the underwater robot capable of carrying out marine underwater hydrological detection is provided, and the requirements of people are met.
Disclosure of Invention
The invention provides an underwater robot capable of carrying out marine underwater hydrological detection, which can effectively solve the problems that the underwater robot provided in the background technology needs a plurality of power devices to change the advancing direction, the size of the robot is greatly increased, the production cost is increased, and the operation steps are complicated.
In order to achieve the purpose, the invention provides the following technical scheme: an underwater robot capable of carrying out marine underwater hydrological detection comprises a robot body, wherein a mounting seat is fixedly mounted at one end of the robot body, a propeller is fixedly mounted at one end of the mounting seat, a traveling direction adjusting mechanism is arranged in the robot body, a piston plate is driven by a hydraulic telescopic rod to travel, the water quantity in a water inlet cavity is changed, and the traveling direction of the underwater robot is adjusted by adjusting the density in the robot body;
the surface of the middle part of the robot body is fixedly provided with a buoyancy changing mechanism, the two moving blocks move towards two sides by utilizing the rotation of the bidirectional screw rod, so that the folding empty box is pulled, the buoyancy of the top of the robot body is changed by the folding empty box, and the underwater robot is kept stable in the detection process;
the one end mid-mounting of robot body has convenient steering mechanism, and the connection return bend makes the detection head orientation lean out, and driving motor can drive the connection return bend and detect the head rotation, changes the position of orientation, detects the equidirectional not.
Preferably, the advancing direction adjusting mechanism comprises a water inlet cavity, a hydraulic telescopic rod, a piston plate, a sealing gasket, a water inlet pipe, a connecting circular plate, a fixing stud, an installation circular plate, a filter screen and a locking knob;
the cavity of intaking has been seted up to the inside of robot body, the inside one end fixed mounting of cavity of intaking has hydraulic telescoping rod, hydraulic telescoping rod's tip fixedly connected with piston plate, the inner wall of the cavity of intaking is fixed to bond and is sealed the pad, the one end bottom fixed mounting of the cavity of intaking has the inlet tube, the tip fixedly connected with of inlet tube connects the plectane, the limit edge of connecting the plectane bottom has fixing stud along circumferencial direction equidistance fixed mounting, the installation plectane is installed to the tip of connecting the plectane, the middle part fixedly connected with filter screen of installation plectane, fixing stud's mid-mounting has locking knob.
Preferably, the limit portion of piston plate closely laminates with sealed the pad, the inlet tube runs through in the table wall of robot body, the through-hole has been seted up at the middle part of connection plectane, and the through-hole is corresponding with the middle part of inlet tube, the filter screen covers in the surface of through-hole.
Preferably, the fixing stud penetrates through the edge of the mounting circular plate, the locking knob and the fixing stud are connected through threads, and the locking knob is tightly attached to the surface of the mounting circular plate.
Preferably, the buoyancy changing mechanism comprises a bidirectional screw, a rotating gear, a base, an electric push rod, a driving rack, a connecting plate, a cross rod, a folding empty box, a moving block and a connecting frame;
the top fixed mounting at robot body middle part has two-way screw rod, the middle part fixed mounting of two-way screw rod has a rotating gear, the table wall fixed mounting at robot body middle part has the base, the one end top fixed mounting of base has electric putter, electric putter's tip fixedly connected with drives the rack, electric putter's top fixedly connected with links the board, the middle part fixed mounting on even board top has the horizontal pole, the folding empty case of both ends symmetry fixedly connected with of horizontal pole, the movable block is installed to the both ends symmetry of two-way screw rod, the top fixedly connected with link of movable block.
Preferably, the driving rack and the rotating gear are meshed with each other, the thread directions of the two ends of the bidirectional screw rod are opposite, and the moving block is connected with the bidirectional screw rod through threads.
Preferably, the folding empty box is formed by overlapping and combining five hollow sealing box bodies, the end part of one folding empty box can be embedded into the other folding empty box, the two adjacent folding empty boxes are connected in a sealing and sliding manner, and the connecting frame is fixedly connected with the bottom end of one folding empty box far away from the cross rod.
Preferably, the convenient steering mechanism comprises an end seat, an installation cavity, a driving motor, a connecting seat, a lower sealing groove, a lower sealing ring, a fixed seat, an upper sealing ring, an upper sealing groove, a fixed block, a fixed bolt, a connecting bent pipe and a detection head;
the one end fixedly connected with end socket of robot body, the installation cavity has been seted up at the middle part of end socket, the inside fixed mounting of installation cavity has driving motor, the tip fixed mounting of end socket has, the seal groove has been seted up down on the top of connecting seat, the top of connecting seat is located down seal groove one side position department fixedly connected with lower seal ring, the fixing base is installed at the top of connecting seat, the fixing base bottom corresponds position department fixedly connected with upper seal ring with lower seal groove, the bottom of fixing base is located upper seal ring one side position department and has seted up the seal groove, the both sides symmetry fixedly connected with fixed block of fixing base, the bottom fixed mounting of fixed block has fixing bolt, the middle part of fixing base is rotated and is installed the connecting elbow, the tip fixedly connected with detection head of connecting elbow.
Preferably, the round hole has all been seted up at the middle part of connecting seat and fixing base, driving motor's output shaft runs through the round hole to with the bottom fixed connection of connecting bend, go up sealed ring and lower sealed ring imbed the inside of seal groove and last seal groove respectively down.
Preferably, threaded holes are symmetrically formed in the end portion of the end seat, the end portion of the fixing bolt extends into the threaded holes, and the fixing seat and the fixing block are fixedly installed at the end portion of the end seat through the fixing bolt.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use:
1. the underwater robot is driven to reach a preset position by the propeller, and the underwater robot is driven to move to the preset position by the propeller;
and the piston board is released the inside water of cavity of intaking for the cavity of intaking is inside to become the cavity, and density has changed, and underwater robot's direction in aqueous can change promptly, makes the one end of propeller sink, and keeps away from the one end come-up of propeller, and the propeller operation can upwards promote underwater robot from under water, and same power ware can drive underwater robot and advance to two directions, need not to establish more the power supply, reduces the holistic volume of equipment, has reduced manufacturing cost.
2. Utilize the locking knob to install the plectane and fix the surface at the connection plectane for the filter screen can hug closely at the tip of inlet tube, filter quality of water, make the impurity of aquatic can not discharge into inside the intake cavity, prevent that impurity from piling up and discharging into inside the intake cavity and can't discharge along with water again, caused adverse effect to the operation of piston plate, and then need artifical clearance, the filter screen has played the effect of interception to rubbish and impurity.
3. The buoyancy changing mechanism is arranged, the electric push rod is used for driving the driving rack to move forwards and backwards, the rotating gear is driven to rotate, the rotating gear and the bidirectional screw rod can rotate, the two moving blocks are connected with the bidirectional screw rod through threads, when the bidirectional screw rod rotates, the two moving blocks can be driven to move towards two directions, and then the moving blocks can pull the folding empty boxes to move together, so that the adjacent folding empty boxes directly slide and unfold mutually, the inner cavity of the unfolded folding empty box is enlarged, the buoyancy borne by the top of the underwater robot is changed, and the underwater robot is kept stable;
after a certain height stops sinking underwater, the folding empty box is unfolded to increase the overall buoyancy of the underwater robot, so that the underwater robot can stably float at a certain position and stably keep the robot body horizontal, the underwater robot cannot shake and skew during underwater hydrological detection, and the influence of external factors on the detection process is reduced.
4. Be provided with convenient steering mechanism, utilize the connection return bend can change the orientation angle that detects the head, make to detect the head and incline to the outside slightly, and rotate between fixing base and the connection return bend and connect, driving motor can drive the connection return bend and rotate, it can rotate along with the connection return bend to detect the head, when under water, it can change the position of orientation to detect the head rotation, and then can change the position that detects under the motionless condition of robot body, the realization detects (detecting aquatic material, shoot the environment under water and know the object of seabed below to the different positions and direction, and is easy and simple to handle, for the staff knows the seabed and provides very big facility, and it is rotatory only to connect the elbow and detect the head, the sound when rotating under water is not big, prevent that the whole rotation amplitude of robot body from too big causing water on every side to be stirred and lead to the material of aquatic to flow along with rivers, and then normal testing result has been influenced.
5. Utilize fixing bolt with fixed block and end seat fixed connection, make the fixing base can cover the surface at the connecting seat, played the effect of installation location to connecting bend and detection head, make connecting bend's bottom can directly be connected with driving motor, inside lower seal ring and the last seal ring imbed seal groove and lower seal groove respectively this moment, realized double sealing, it has caused the damage to driving motor to prevent that there is water to get into inside the installation cavity, the service life of device has been improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the installation structure of the water inlet pipe of the present invention;
FIG. 3 is a schematic view of the mounting structure of the connection elbow of the present invention;
FIG. 4 is a schematic view of the structure of the travel direction adjustment mechanism of the present invention;
FIG. 5 is a schematic view of the mounting structure of the tie plate of the present invention;
FIG. 6 is a schematic view of the construction of the buoyancy altering mechanism of the present invention;
FIG. 7 is a schematic structural view of the easy steering mechanism of the present invention;
the reference numbers in the figures: 1. a robot body; 2. a mounting seat; 3. a propeller;
4. a traveling direction adjusting mechanism; 401. a water inlet cavity; 402. a hydraulic telescopic rod; 403. a piston plate; 404. a gasket; 405. a water inlet pipe; 406. connecting the circular plate; 407. fixing the stud; 408. mounting a circular plate; 409. a filter screen; 410. locking the knob;
5. a buoyancy changing mechanism; 501. a bidirectional screw; 502. a rotating gear; 503. a base; 504. an electric push rod; 505. a drive rack; 506. connecting plates; 507. a cross bar; 508. folding the empty box; 509. a moving block; 510. a connecting frame;
6. a convenient steering mechanism; 601. an end seat; 602. installing a cavity; 603. a drive motor; 604. a connecting seat; 605. a lower seal groove; 606. a lower sealing ring; 607. a fixed seat; 608. an upper sealing ring; 609. an upper seal groove; 610. a fixed block; 611. fixing the bolt; 612. connecting a bent pipe; 613. and a detection head.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
Example (b): as shown in fig. 1-7, the present invention provides a technical solution, an underwater robot capable of performing marine underwater hydrological detection, including a robot body 1, wherein one end of the robot body 1 is fixedly provided with an installation base 2, one end of the installation base 2 is fixedly provided with a propeller 3, the inside of the robot body 1 is provided with a traveling direction adjusting mechanism 4, a hydraulic telescopic rod 402 is used to drive a piston plate 403 to travel, so as to change the amount of water inside a water inlet cavity 401, and further adjust the traveling direction of the underwater robot by adjusting the density inside the robot body 1;
the advancing direction adjusting mechanism 4 comprises a water inlet cavity 401, a hydraulic telescopic rod 402, a piston plate 403, a sealing gasket 404, a water inlet pipe 405, a connecting circular plate 406, a fixing stud 407, an installation circular plate 408, a filter screen 409 and a locking knob 410;
a water inlet cavity 401 is formed in the robot body 1, a hydraulic telescopic rod 402 is fixedly installed at one end in the water inlet cavity 401, a piston plate 403 is fixedly connected to the end portion of the hydraulic telescopic rod 402, a sealing gasket 404 is fixedly bonded to the inner wall of the water inlet cavity 401, a water inlet pipe 405 is fixedly installed at the bottom of one end of the water inlet cavity 401, the hydraulic telescopic rod 402 is used for driving the piston plate 403 to advance in the water inlet cavity 401, when the underwater robot is immersed in water, water is injected into the water inlet cavity 401 from the water inlet pipe 405, one end of the underwater robot sinks downwards, the propeller 3 is arranged upside down, the underwater robot can be driven to a preset position by the propeller 3, the piston plate 403 pushes out the water in the water inlet cavity 401, the interior of the water inlet cavity 401 is hollow, the density is changed, the underwater robot sinks in the water in the direction, so that one end of the propeller 3 is changed, the end far away from the propeller 3 floats upwards, the propeller 3 runs, the same power device can drive the underwater robot to advance in two directions, no more power sources are needed, the overall volume of the production equipment is reduced, and the overall production cost is reduced;
a connecting circular plate 406 is fixedly connected to the end of the water inlet pipe 405, the edge of the piston plate 403 is tightly attached to a sealing gasket 404, the water inlet pipe 405 penetrates through the surface wall of the robot body 1, a through hole is formed in the middle of the connecting circular plate 406 and corresponds to the middle of the water inlet pipe 405, a filter screen 409 covers the surface of the through hole, fixing studs 407 are fixedly mounted on the edge of the bottom end of the connecting circular plate 406 at equal intervals along the circumferential direction, a mounting circular plate 408 is mounted at the end of the connecting circular plate 406, a filter screen 409 is fixedly connected to the middle of the mounting circular plate 408, a locking knob 410 is mounted in the middle of the fixing stud 407 and penetrates through the edge of the mounting circular plate 408, the locking knob 410 is in threaded connection with the fixing stud 407, the locking knob 410 is tightly attached to the surface of the mounting circular plate 408, the mounting circular plate 408 is fixed to the surface of the connecting circular plate 406 by the locking knob 410, the filter screen 409 can be tightly attached to the end of the water inlet pipe 405, water quality is filtered, impurities in water cannot be discharged into the water inlet cavity 401, the impurities are prevented from being accumulated into the water inlet cavity 401 and cannot be discharged with the water, thereby causing adverse effects on the operation of the piston plate 403, further requiring manual cleaning, and blocking the impurities of the filter screen 409;
the buoyancy changing mechanism 5 is fixedly installed on the surface of the middle of the robot body 1, the two moving blocks 509 are made to move towards two sides by utilizing the rotation of the bidirectional screw 501, the folding empty boxes 508 are further pulled, the buoyancy of the top of the robot body 1 is changed by the folding empty boxes 508, and the underwater robot is made to keep stable in the detection process;
the buoyancy changing mechanism 5 comprises a bidirectional screw 501, a rotating gear 502, a base 503, an electric push rod 504, a driving rack 505, a connecting plate 506, a cross rod 507, a folding empty box 508, a moving block 509 and a connecting frame 510;
the top end of the middle part of the robot body 1 is fixedly provided with a bidirectional screw 501, the middle part of the bidirectional screw 501 is fixedly provided with a rotating gear 502, the surface wall of the middle part of the robot body 1 is fixedly provided with a base 503, the top part of one end of the base 503 is fixedly provided with an electric push rod 504, the end part of the electric push rod 504 is fixedly connected with a driving rack 505, the driving rack 505 and the rotating gear 502 are mutually meshed, the thread directions of the two ends of the bidirectional screw 501 are opposite, a moving block 509 is connected with the bidirectional screw 501 through threads, the top end of the electric push rod 504 is fixedly connected with a connecting plate 506, the middle part of the top end of the connecting plate 506 is fixedly provided with a cross bar 507, the two ends of the cross bar 507 are symmetrically and fixedly connected with folding empty boxes 508, the two ends of the bidirectional screw 501 are symmetrically provided with moving blocks 509, the top end of the cross bar is fixedly connected with a connecting frame 510, and the folding empty boxes 508 are formed by overlapping five hollow sealed boxes, the end part of one folding empty box 508 can be embedded into the other folding empty box 508, two adjacent folding empty boxes 508 are in sealed sliding connection, the connecting frame 510 is fixedly connected with the bottom end of one folding empty box 508 far away from the cross rod 507, the electric push rod 504 is utilized to drive the driving rack 505 to move forwards and backwards, the rotating gear 502 is driven, the rotating gear 502 and the bidirectional screw 501 can rotate, the two moving blocks 509 are in threaded connection with the bidirectional screw 501, when the bidirectional screw 501 rotates, the two moving blocks 509 can be driven to move towards two directions, and further the moving blocks 509 can pull the folding empty boxes 508 to move together, so that the adjacent folding empty boxes 508 directly slide and unfold mutually, the cavity inside the unfolded folding empty boxes 508 is enlarged, the buoyancy borne by the top of the underwater robot is changed, and the underwater robot is kept stable;
after the underwater robot stops sinking at a certain height, the folding empty box 508 is unfolded to increase the overall buoyancy of the underwater robot, so that the underwater robot can stably float at a certain position, and the robot body 1 is stably kept horizontal, so that the underwater robot cannot shake or skew during underwater hydrological detection, and the influence of external factors on the detection process is reduced;
a convenient steering mechanism 6 is installed in the middle of one end of the robot body 1, the connecting bent pipe 612 enables the detection head 613 to tilt outwards, and the driving motor 603 can drive the connecting bent pipe 612 and the detection head 613 to rotate, so that the positions of the orientations can be changed, and different directions can be detected;
the convenient steering mechanism 6 comprises an end seat 601, an installation cavity 602, a driving motor 603, a connecting seat 604, a lower sealing groove 605, a lower sealing ring 606, a fixing seat 607, an upper sealing ring 608, an upper sealing groove 609, a fixing block 610, a fixing bolt 611, a connecting bent pipe 612 and a detection head 613;
an end seat 601 is fixedly connected to one end of the robot body 1, a mounting cavity 602 is formed in the middle of the end seat 601, a driving motor 603 is fixedly mounted inside the mounting cavity 602, 04 is fixedly mounted at the end of the end seat 601, a lower sealing groove 605 is formed in the top end of the connecting seat 604, a lower sealing ring 606 is fixedly connected to the top end of the connecting seat 604 at one side of the lower sealing groove 605, a fixing seat 607 is mounted at the top of the connecting seat 604, an upper sealing ring 608 is fixedly connected to the bottom of the fixing seat 607 at a position corresponding to the lower sealing groove 605, an upper sealing groove 609 is formed in the bottom end of the fixing seat 607 at one side of the upper sealing ring 608, fixing blocks 610 are symmetrically and fixedly connected to the two sides of the fixing seat 607, fixing bolts 611 are fixedly mounted at the bottom of the fixing blocks 610, threaded holes are symmetrically formed in the end of the end seat 601, and the ends of the fixing bolts 611 extend into the threaded holes, the fixed seat 607 and the fixed block 610 are fixedly installed at the end of the end seat 601 through a fixed bolt 611, the middle part of the fixed seat 607 is rotatably installed with a connecting bent pipe 612, the end part of the connecting bent pipe 612 is fixedly connected with a detection head 613, sonar equipment and camera equipment are arranged inside the detection head 613, round holes are arranged at the middle parts of the connecting seat 604 and the fixed seat 607, an output shaft of the driving motor 603 penetrates through the round holes and is fixedly connected with the bottom of the connecting bent pipe 612, the upper sealing ring 608 and the lower sealing ring 606 are respectively embedded into the lower sealing groove 605 and the upper sealing groove 609, the orientation angle of the detection head 613 can be changed by using the connecting bent pipe 612, so that the detection head 613 slightly inclines outwards, the fixed seat 607 is rotatably connected with the connecting bent pipe 612, the driving motor 603 can drive the connecting bent pipe 612 to rotate, the detection head 613 can rotate along with the connecting bent pipe 612, when underwater, the orientation position of the detection head 613 can be changed by rotating, the detection position can be changed under the condition that the robot body 1 is not moved, so that the detection of underwater substances, the shooting of underwater environment and the understanding of objects below the seabed can be realized at different positions and directions, the operation is simple and convenient, great convenience is provided for workers to know the seabed, the connecting elbow 612 and the detection head 613 rotate only, the movement is small when the robot rotates underwater, and the phenomenon that the substances in the water flow along with the water flow due to the fact that the surrounding water is stirred because the whole rotation amplitude of the robot body 1 is too large is prevented, so that the normal detection result is influenced;
the fixing block 610 and the end seat 601 are fixedly connected through the fixing bolt 611, the fixing seat 607 can cover the surface of the connecting seat 604, the connecting elbow 612 and the detecting head 613 are installed and positioned, the bottom of the connecting elbow 612 can be directly connected with the driving motor 603, the lower sealing ring 606 and the upper sealing ring 608 are embedded into the upper sealing groove 609 and the lower sealing groove 605 respectively, double sealing is achieved, water is prevented from entering the installation cavity 602 and damaging the driving motor 603, and the service life of the device is prolonged.
The working principle and the using process of the invention are as follows: firstly, when marine underwater hydrological detection is required, an underwater robot is placed in water, a hydraulic telescopic rod 402 is completely contracted to drive a piston plate 403 to move backwards, the edge of the piston plate 403 is always attached to a sealing gasket 404, marine water enters a water inlet pipe 405 through a filter screen 409 and a through hole in the middle of a connecting circular plate 406 and then is discharged into a water inlet cavity 401, the filter screen 409 filters and intercepts the entering water, impurities and garbage in the water cannot be discharged into the water inlet cavity 401, the water occupies the water in the water inlet cavity 401, the density in the robot body 1 is changed, the buoyancy balance of the whole underwater robot is changed, one end of an end seat 601 is vertically downward, a propeller 3 is started at the moment, the underwater robot can be pushed to reach a preset water level, the propeller 3 does not operate, the hydraulic telescopic rod 402 extends, the piston plate 403 is pushed forwards, the piston plate 403 extrudes part of the water in the water inlet cavity 401 outwards, and two ends of the underwater robot are kept balanced;
the electric push rod 504 is started to drive the driving rack 505 to advance forwards, the driving rack 505 and the rotating gear 502 are meshed with each other, so that the rotating gear 502 and the bidirectional screw 501 rotate, the two moving blocks 509 respectively advance towards two sides, the moving blocks 509 and the connecting frame 510 can pull the folding empty boxes 508 to slide towards two sides, the folding empty boxes 508 slide with each other, the total space in the folding empty boxes is enlarged, the volume between the folding empty boxes 508 is increased, the buoyancy is increased, the underwater robot is enabled to be stable as a whole, and the underwater robot cannot shake during detection;
the connecting bent pipe 612 enables the detection head 613 to slightly tilt outwards, the direction and the relative position of the orientation of the detection head 613 are shot and detected, the driving motor 603 can drive the connecting bent pipe 612 and the detection head 613 to rotate, the orientation of the connecting bent pipe 612 and the orientation of the detection head 613 are changed, the direction needing hydrological detection is aligned, the lower sealing ring 606 and the upper sealing ring 608 are respectively embedded into the upper sealing groove 609 and the lower sealing groove 605, the lower sealing ring 606 and the upper sealing ring 608 are respectively tightly attached to the fixed seat 607 and the connecting seat 604, double sealing is realized, and the phenomenon that water enters the mounting cavity 602 to influence the normal use of the driving motor 603 is prevented;
after hydrological detection is finished, an electric push rod 504 drives a driving rack 505 to move reversely, so that a rotating gear 502 and a bidirectional screw 501 reversely turn, a moving block 509 drives a folding empty box 508 to contract inwards, the folding empty box 508 is overlapped again, then, a hydraulic telescopic rod 402 extends to drive a piston plate 403 to move forwards, all the residual water in a water inlet cavity 401 is extruded out, one side of the piston plate 403 and the position where the hydraulic telescopic rod 402 is located form a large cavity, air is used for replacing water in the water inlet cavity 401, buoyancy force borne by the underwater robot is changed, one end of the underwater robot with a propeller 3 sinks, one end of an end seat 601 floats upwards, the propeller 3 is started, the underwater robot can be pushed upwards from the water by using power, the underwater robot returns to the water surface again, the underwater robot is fished up, a large amount of impurities and garbage are adhered to the filter screen 409, a locking knob 410 is screwed, the fixing of an installation edge 408 is loosened, the installation circular plate 408 and the filter screen 409 are taken down, the installation circular plate 408 is cleaned, the installation circular plate 408 is attached to the surface of the filter screen 409 again, the screw 408 is screwed up, the installation knob 410, and the installation circular plate 406 is fastened and the installation circular plate is fastened and locked.
Finally, it should be noted that: 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 changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An underwater robot capable of marine underwater hydrological detection, comprising a robot body (1), characterized in that: a mounting seat (2) is fixedly mounted at one end of the robot body (1), a propeller (3) is fixedly mounted at one end of the mounting seat (2), a traveling direction adjusting mechanism (4) is arranged inside the robot body (1), a piston plate (403) is driven to travel by a hydraulic telescopic rod (402), the water quantity inside the water inlet cavity (401) is changed, and the traveling direction of the underwater robot is adjusted by adjusting the density inside the robot body (1);
the surface of the middle part of the robot body (1) is fixedly provided with a buoyancy changing mechanism (5), the two moving blocks (509) move towards two sides by utilizing the rotation of the bidirectional screw (501), and then the folding empty boxes (508) are pulled, and the buoyancy of the top of the robot body (1) is changed by the folding empty boxes (508), so that the underwater robot is kept stable in the detection process;
a convenient steering mechanism (6) is installed in the middle of one end of the robot body (1), the detection head (613) is inclined outwards by the aid of the connecting bent pipe (612), the connecting bent pipe (612) and the detection head (613) are driven to rotate by the aid of the driving motor (603), positions of the orientations are changed, and different directions are detected;
the advancing direction adjusting mechanism (4) comprises a water inlet cavity (401), a hydraulic telescopic rod (402), a piston plate (403), a sealing gasket (404), a water inlet pipe (405), a connecting circular plate (406), a fixing stud (407), an installation circular plate (408), a filter screen (409) and a locking knob (410);
a water inlet cavity (401) is formed in the robot body (1), a hydraulic telescopic rod (402) is fixedly mounted at one end of the interior of the water inlet cavity (401), a piston plate (403) is fixedly connected to the end of the hydraulic telescopic rod (402), a sealing gasket (404) is fixedly bonded to the inner wall of the water inlet cavity (401), a water inlet pipe (405) is fixedly mounted at the bottom of one end of the water inlet cavity (401), a connecting circular plate (406) is fixedly connected to the end of the water inlet pipe (405), fixing studs (407) are fixedly mounted at the bottom end of the connecting circular plate (406) at equal intervals in the circumferential direction, an installing circular plate (408) is mounted at the end of the connecting circular plate (406), a filter screen (409) is fixedly connected to the middle of the installing circular plate (408), and a locking knob (410) is mounted at the middle of the fixing studs (407);
the buoyancy changing mechanism (5) comprises a bidirectional screw (501), a rotating gear (502), a base (503), an electric push rod (504), a driving rack (505), a connecting plate (506), a cross rod (507), a folding empty box (508), a moving block (509) and a connecting frame (510);
the robot comprises a robot body (1), a bidirectional screw (501) is fixedly mounted at the top end of the middle of the robot body (1), a rotating gear (502) is fixedly mounted in the middle of the bidirectional screw (501), a base (503) is fixedly mounted on the surface wall of the middle of the robot body (1), an electric push rod (504) is fixedly mounted at the top of one end of the base (503), a driving rack (505) is fixedly connected to the end of the electric push rod (504), a connecting plate (506) is fixedly connected to the top end of the electric push rod (504), a cross rod (507) is fixedly mounted in the middle of the top end of the connecting plate (506), folding empty boxes (508) are symmetrically and fixedly connected to two ends of the cross rod (507), moving blocks (509) are symmetrically mounted at two ends of the bidirectional screw (501), and a connecting frame (510) is fixedly connected to the top end of the moving blocks (509);
the convenient steering mechanism (6) comprises an end seat (601), an installation cavity (602), a driving motor (603), a connecting seat (604), a lower sealing groove (605), a lower sealing ring (606), a fixing seat (607), an upper sealing ring (608), an upper sealing groove (609), a fixing block (610), a fixing bolt (611), a connecting bent pipe (612) and a detection head (613);
the one end fixedly connected with end seat (601) of robot body (1), installation cavity (602) has been seted up at the middle part of end seat (601), the inside fixed mounting of installation cavity (602) has driving motor (603), the tip fixed mounting of end seat (601) has connecting seat (604), seal groove (605) down has been seted up on the top of connecting seat (604), the top of connecting seat (604) is located seal groove (605) one side position fixedly connected with down seals ring (606), fixing base (607) is installed at the top of connecting seat (604), fixing base (607) bottom and lower seal groove (605) correspond position department fixedly connected with upper seal ring (608), the bottom of fixing base (607) is located upper seal ring (608) one side position and has seted up seal groove (609), the both sides symmetry fixedly connected with fixed block (610) of fixing base (607), the bottom fixed mounting of fixed block (610) has fixing bolt (611), the middle part of fixing base (607) is rotated and is installed connection return bend (612), the tip fixed connection of return bend (612) is connected with detection head (613).
2. The underwater robot capable of performing marine underwater hydrological detection according to claim 1, wherein the edge of the piston plate (403) is tightly attached to the sealing gasket (404), the water inlet pipe (405) penetrates through the surface wall of the robot body (1), a through hole is formed in the middle of the connecting circular plate (406) and corresponds to the middle of the water inlet pipe (405), and the filter screen (409) covers the surface of the through hole.
3. The underwater robot capable of performing underwater marine hydrological detection according to claim 1, wherein the fixing stud (407) penetrates through an edge of the mounting circular plate (408), the locking knob (410) and the fixing stud (407) are connected through a screw thread, and the locking knob (410) is tightly attached to the surface of the mounting circular plate (408).
4. The underwater robot capable of carrying out marine underwater hydrological detection on the basis of claim 1, wherein the driving rack (505) and the rotating gear (502) are meshed with each other, the thread directions of two ends of the bidirectional screw rod (501) are opposite, and the moving block (509) is in threaded connection with the bidirectional screw rod (501).
5. The underwater robot capable of carrying out marine underwater hydrological detection on the basis of claim 1, characterized in that the folding empty boxes (508) are formed by combining five hollow sealed boxes in an overlapping manner, the end of one folding empty box (508) is embedded into the other folding empty box (508), the two adjacent folding empty boxes (508) are connected in a sealing and sliding manner, and the connecting frame (510) is fixedly connected with the bottom end of one folding empty box (508) far away from the cross rod (507).
6. The underwater robot capable of performing marine underwater hydrological detection according to claim 1, wherein circular holes are formed in the middle portions of the connecting seat (604) and the fixing seat (607), the output shaft of the driving motor (603) penetrates through the circular holes and is fixedly connected with the bottom of the connecting elbow (612), and the upper sealing ring (608) and the lower sealing ring (606) are embedded into the lower sealing groove (605) and the upper sealing groove (609), respectively.
7. The underwater robot capable of performing marine underwater hydrological detection according to claim 1, wherein threaded holes are symmetrically formed in the end portion of the end seat (601), the end portion of the fixing bolt (611) extends into the threaded holes, and the fixing seat (607) and the fixing block (610) are fixedly mounted at the end portion of the end seat (601) through the fixing bolt (611).
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| JP2010188865A (en) * | 2009-02-18 | 2010-09-02 | Viscas Corp | Buoyancy adjustment device for subaqueous use equipment and subaqueous use equipment with buoyancy adjustment device |
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| CN114590380A (en) | 2022-06-07 |
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