CN115924041A - Underwater robot capable of crossing obstacle - Google Patents

Abstract

The invention belongs to the technical field of robots, and particularly relates to an underwater robot capable of crossing obstacles, which aims at solving the problems that the conventional traditional equipment is lack of shielding, is difficult to clean attached crops and is lack of a structure capable of crossing obstacles in a separating manner. The invention has the advantages of shielding and cleaning sundries and conveniently crossing barriers.

Description

Underwater robot capable of crossing obstacle

Technical Field

The invention relates to the technical field of robots, in particular to an underwater robot capable of crossing obstacles.

Background

An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The abominable danger of environment under water, people's dive degree of depth is limited, just can survey the waters of several kilometers of depth with the help of more powerful underwater equipment mankind, goes the secret of further excavation ocean depths, so underwater robot has become the important instrument of development ocean, comes unmanned surveying through the robot, conveniently handles.

Present underwater robot structure is too simple, carries out the during operation at the waters bottom, can be close submarine silt and various barriers usually, and then leads to the robot very easily to collide with the barrier when carrying out the during operation easily, also lacks the device that can effectively shelter from simultaneously, appears debris when it removes easily and adheres to and sludge adsorption influences normal being suitable for on the track.

And when the underwater vehicle travels, the traditional equipment is usually driven by an impeller, so that the traditional equipment cannot be well and accurately adjusted, and when the traditional equipment is trapped in silt or is trapped, a method for effectively separating and moving the traditional equipment is usually lacked.

Disclosure of Invention

The invention provides an underwater robot capable of crossing obstacles, which solves the problems that the traditional equipment is lack of shielding, difficult to clean attached crops and is lack of a structure for crossing the obstacles.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a can cross underwater robot of barrier, the power distribution box comprises a box body, work module is installed to the bottom of box, the both sides of box all are provided with closed box, one side that closed box kept away from the box is provided with the edge bottom and is provided with the rotation cingulum, closed box lateral wall all installs the adjustment subassembly near the inside both ends of rotating the cingulum, the adjustment subassembly is connected with rotation cingulum rotation each other, the laminating of top center department of rotating the cingulum is provided with the cleaning roller, the inside both ends that are close to the cleaning roller of rotating the cingulum all rotate and are connected with the rotation cingulum, work module's internally mounted has drive assembly, drive assembly rotates with the cleaning roller respectively and rotates the cingulum and is connected, the bottom corner of box all is provided with the regulation frame, the bottom of box is to encircle and is provided with a plurality of strips that block.

Preferably, the adjustment subassembly includes telescopic link, transmitting gear and drive column, and the inside of telescopic link stretches out the end and is connected with transmitting gear's center department rotation, and transmitting gear's one end outside and drive column mutual fixed connection are kept away from to the telescopic link, and transmitting gear's outer wall is to encircle and is provided with the tooth.

Preferably, the one end of telescopic link is connected through the inside rotation of drive post with the box, and the inside of box is provided with the step motor with the mutual fixed connection of drive post, and the outer wall and the rotation cingulum intermeshing of running gear are connected, and the inside of rotating the cingulum is provided with the tooth that corresponds each other with running gear.

Preferably, the outer wall of cleaning roller is to encircle and be provided with the brush, and the outer wall that rotates the fluted roller passes through the inner wall intermeshing of tooth and rotation cingulum, and the cleaning roller passes through the inside and the box interconnect that the actuating lever runs through work module, and the inside that rotates the fluted roller runs through work module through the dwang is connected with the box rotation.

Preferably, the transmission assembly comprises a transmission gear, a driving wheel and a driven wheel, the bottoms of the two side edges of the driving wheel are mutually meshed with the transmission gear, one side, far away from the driving wheel, of the transmission gear is mutually meshed with the driven wheel, and the diameters of the driving wheel and the driven wheel are larger than those of the transmission gear.

Preferably, drive gear passes through the bearing and is connected with the lateral wall rotation each other of box, the outer wall mutual fixed connection of action wheel and actuating lever, and the actuating lever runs through the inside and driving motor interconnect of box.

Preferably, the inside of adjusting the frame is provided with driving turbine, and the corner bottom of box rotates and is connected with a plurality of swivel beckets, and the one end of swivel becket passes through the axis of rotation and is connected with the top rotation of adjusting the frame, and the inside of swivel becket is provided with the rotation motor and is connected with box rotation, and the inside bottom of axis of rotation is provided with driving motor, driving motor and adjusting the frame interconnect.

Preferably, the bottom that blocks the strip is the arc, and blocks the both sides that the both ends department of strip extrudes the box and correspond each other with the adjustment frame, blocks the both ends top of strip and to carry out totally and the both ends of a plurality of strips of blocking to the box and all fix through welding and block the strip.

Preferably, the bases are arranged at positions, close to the stop strips, of the bottoms of the two ends of the working module, the bases are fixedly connected with the stop strips respectively, and the centers of the bottoms of the stop strips are fixedly connected with the working module.

Compared with the prior art, the invention has the beneficial effects that:

1. when using, can be convenient place the aquatic with equipment, and then can drive rivers and remove through starting drive turbine, thereby make the device can be convenient remove in the aquatic, simultaneously can be convenient drive the regulation frame rotation through the axis of rotation, and then adjust the rivers direction that drive turbine rotation drove, simultaneously when using through the effect of a plurality of strips that block, can be fine the great debris of prevention be close to the regulation frame of bottom, and then the operation of aspect device, simultaneously when using, can also the reverse rotation drive turbine, the messenger that advances makes rivers to the position of keeping away from the box and moves, and then can be convenient make the outside debris of blocking the strip can convenient reverse movement, avoid blockking up, simultaneously can also convenient start-up drive assembly when using, and then make the motor drive the action wheel rotatory, make the bottom both sides of action wheel all drive from the driving wheel rotatory through drive gear, and then make the dwang drive the running gear rotatory, make the running cog rotatory, it is rotatory through the actuating lever has driven the cleaning roller rotation, can effectually clear up the rotating cog belt outer wall that has rotated, avoid it to adhere to debris, conveniently to use, can effectually block being close to, the debris that receive in avoiding.

2. Meanwhile, when the device is used underwater, a large-scale barrier is encountered, the adjusting assembly can be started, and further the driving column drives the telescopic rod to rotate, the telescopic rod drives the rotating gear, and further the rotating toothed belt is driven to move towards the bottom, the water body bottom can be contacted with the rotating toothed belt, and further the device is supported, and meanwhile the transmission assembly is started, and further the rotating toothed roller is driven to rotate, so that the closed box can be conveniently driven to move through the rotation of the rotating toothed belt, and further the box body is driven to move, and further the position of the adjusting device at the bottom of the water is adjusted, and meanwhile, the turning, retreating and other movements are realized through the differential rotation of the rotating toothed belt at the two sides of the box body, so that the adjusting frame is driven to the two sides of the box body, and further the driving turbine can be started again, and further the device can be driven to move up and down towards the top or the bottom, and therefore underwater barriers can be bypassed, and the device is very convenient to use.

Drawings

Fig. 1 is a schematic view of an underwater robot capable of crossing obstacles according to the present invention;

FIG. 2 is a side view of an underwater robot capable of crossing obstacles according to the present invention;

FIG. 3 is a top view of an underwater robot capable of crossing obstacles according to the present invention;

FIG. 4 is a schematic structural diagram of an underwater robot capable of crossing obstacles, which is provided by the invention, driving an impeller to rotate to the side;

FIG. 5 is a schematic diagram of the internal structure of a sealing box of an underwater robot capable of crossing obstacles according to the present invention;

FIG. 6 is a schematic structural diagram of a transmission assembly of an underwater robot capable of crossing obstacles according to the present invention;

fig. 7 is a schematic diagram of an internal structure of an underwater robot adjustment assembly capable of crossing an obstacle according to the present invention.

In the figure: 1. a box body; 2. a working module; 3. a closure box; 4. rotating the toothed belt; 5. an adjustment assembly; 501. a telescopic rod; 502. a rotating gear; 503. a drive column; 6. cleaning the roller; 601. a drive rod; 7. rotating the toothed roller; 701. rotating the rod; 8. a transmission assembly; 801. a transmission gear; 802. a driving wheel; 803. a driven wheel; 9. an adjusting frame; 10. driving a turbine; 11. a rotating ring; 12. a rotating shaft; 13. a barrier strip; 14. a base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-7, an underwater robot capable of crossing obstacles comprises a box body 1, a working module 2 is installed at the bottom of the box body 1, sealing boxes 3 are arranged on two sides of the box body 1, one side, far away from the box body 1, of each sealing box 3 is provided with a rotating toothed belt 4 at the edge bottom, adjusting assemblies 5 are installed at two ends, close to the rotating toothed belts 4, of the side wall of each sealing box 3, the adjusting assemblies 5 are rotatably connected with the rotating toothed belts 4, cleaning rollers 6 are attached to the centers of the tops of the rotating toothed belts 4, two ends, close to the bottoms of the cleaning rollers 6, of the interiors of the rotating toothed belts 4 are rotatably connected with the rotating toothed rollers 7, a transmission assembly 8 is installed inside the working module 2, the transmission assembly 8 is rotatably connected with the cleaning rollers 6 and the rotating toothed rollers 7 respectively, adjusting frames 9 are arranged at corners of the bottoms of the box body 1, and a plurality of blocking strips 13 are arranged around the bottoms of the box body 1.

Further, in the above technical scheme, adjustment subassembly 5 includes telescopic link 501, rotating gear 502 and drive post 503, the inside of telescopic link 501 stretches out the end and is connected with rotating gear 502's center department rotation, the outside and the drive post 503 mutual fixed connection of one end that rotating gear 502 was kept away from to telescopic link 501, rotating gear 502's outer wall is to be provided with the tooth around, driving post 503 is passed through to one end of telescopic link 501 and the inside mutual rotation of box 1 is connected, the inside of box 1 is provided with the step motor with drive post 503 mutual fixed connection, rotating gear 502's outer wall and rotation cingulum 4 intermeshing are connected, the inside of rotation cingulum 4 is provided with the tooth that corresponds each other with rotating gear 502, start adjustment subassembly 5, and then make drive post 503 drive the telescopic link 501 rotatory, telescopic link 501 has driven rotating gear 502, and then make rotation cingulum 4 be driven to the bottom removal, can make it and water bottom ground contact each other, and then realize supporting to the device.

Further, in last technical scheme, the outer wall of cleaning roller 6 is to encircle and is provided with the brush, the outer wall that rotates fluted roller 7 passes through the tooth and rotates the inner wall intermeshing of cingulum 4, cleaning roller 6 runs through the inside and box 1 interconnect of work module 2 through actuating lever 601, the inside that rotates fluted roller 7 runs through work module 2 through dwang 701 rotates with box 1 to be connected, dwang 701 drives the rotation gear 502 rotation, make to rotate cingulum 4 rotatory, it is rotatory to have driven cleaning roller 6 through actuating lever 601 simultaneously.

Further, in the above technical solution, the transmission assembly 8 includes a transmission gear 801, a driving wheel 802 and a driven wheel 803, bottoms of two side edges of the driving wheel 802 are engaged with the transmission gear 801, one side of the transmission gear 801 far from the driving wheel 802 is engaged with the driven wheel 803, and diameters of the driving wheel 802 and the driven wheel 803 are larger than those of the transmission gear 801, the transmission gear 801 is rotatably connected with a side wall of the box body 1 through a bearing, the driving wheel 802 is fixedly connected with an outer wall of the driving rod 601, and the driving rod 601 penetrates through the inside of the box body 1 to be connected with a driving motor, the transmission assembly 8 is started, so that the motor drives the driving wheel 802 to rotate, both sides of the bottom of the driving wheel 802 drive the driven wheel 803 through the transmission gear 801 to rotate, and then the rotating rod 701 drives the rotating gear 502 to rotate, so that the rotating toothed belt 4 rotates, and meanwhile, the driving rod 601 drives the cleaning roller 6 to rotate, thereby effectively cleaning outer wall of the rotating toothed belt 4 to prevent the outer wall from being attached with impurities.

Further, in the above technical scheme, the inside of adjusting frame 9 is provided with drive turbine 10, the corner bottom of box 1 is rotated and is connected with a plurality of swivel rings 11, and the one end of swivel ring 11 is passed through axis of rotation 12 and is connected with the top of adjusting frame 9 rotation each other, the inside of swivel ring 11 is provided with the rotation motor and is connected with box 1 rotation each other, and the inside bottom of axis of rotation 12 is provided with driving motor, driving motor and adjusting frame 9 interconnect, the position that the both ends bottom of work module 2 is close to blocking strip 13 all is provided with base 14, base 14 carries out fixed connection with a plurality of blocking strips 13 respectively, and the bottom center department that blocks strip 13 is with work module 2 mutual fixed connection, the bottom that blocks strip 13 is the arc, and the both sides that the both ends department of blocking strip 13 stands out box 1 correspond each other with adjusting frame 9, the both ends top that blocks strip 13 carries out totally and the both ends of a plurality of blocking strip 13 and all fix with blocking strip 13 through welding to box 1, it is rotatory to drive adjusting frame 9 to drive through axis of rotation 12, and then adjust the rivers direction that drive turbine 10 rotates when using, and then can make things convenient for the bottom that the box 13 to move when the bottom that the better backward movement of blocking strip that blocks out, make things convenient to move, the bottom that blocks up the bottom that the debris to move, the bottom that can also can be close to the bottom that blocks out the debris and can make things convenient to move, the debris to the bottom that the debris to the bottom that the device.

The working principle is as follows: when the device is used, the device can be conveniently placed in water, and then the water flow can be driven to move by starting the driving turbine 10, so that the device can conveniently move in water, the rotation of the rotating toothed belt 4 can drive the device to move at the bottom of the water, and simultaneously the adjusting frame 9 can be conveniently driven to rotate by the rotating shaft 12, and further the water flow direction driven by the rotation of the driving turbine 10 can be adjusted, and simultaneously, under the action of a plurality of blocking strips 13, the device can well prevent larger sundries from approaching the adjusting frame 9 at the bottom end, so that the device can conveniently operate, and simultaneously, when the device is used, when sundries are blocked, the driving turbine 10 can be reversely rotated, further, the water flows to a position far away from the box body 1, so that the sundries outside the blocking strips 13 can conveniently and reversely move, the blockage is avoided, and simultaneously, the transmission assembly 8 can be conveniently started when the device is used, so that the motor drives the driving wheel 802 to rotate, so that both sides of the bottom of the driving wheel 802 drive the rotating wheel to rotate by the transmission gear 803, so that the rotating gear 701 can drive the rotating toothed belt to effectively drive the rotating toothed belt to move towards the outer wall of the rotating rod 501, and further, and the rotating toothed belt 501 can be prevented from interfering with the rotating rod, and the rotating rod 501, when the rotating rod, the rotating gear 501, the rotating rod can be effectively driven by the rotating rod, and the rotating gear 501, and the rotating rod can be adjusted, and the rotating gear can be effectively adjusted, and the rotating rod 501, and the rotating rod can be used, and the rotating rod 501, and then realize supporting the device, start transmission assembly 8 simultaneously, and then it is rotatory to have driven rotation fluted roller 7, just can be convenient drive the closed box 3 through the rotation of rotating the cingulum 4 and remove, and then drive the box 1 and remove, and then the adjusting device is in the position of bottom of water, simultaneously rotate the differential rotation realization diversion of cingulum 4 through box 1 both sides and retreat the equal removal, the convenient barrier of walking around, and can also start swivel 11, and then swivel 11 is rotatory to drive axis of rotation 12, and then make the carriage 9 driven the both sides of box 1, and then can start driving turbine 10 once more, and then can drive the device and reciprocate to top or bottom, walk around submarine barrier, it is very convenient to use.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (9)

1. The utility model provides a can cross underwater robot of barrier, including box (1), a serial communication port, work module (2) are installed to the bottom of box (1), the both sides of box (1) all are provided with closed box (3), one side that closed box (3) kept away from box (1) is provided with edge bottom and is provided with rotation cingulum (4), adjustment subassembly (5) are all installed near the inside both ends of rotating cingulum (4) to closed box (3) lateral wall, adjustment subassembly (5) are connected with rotation cingulum (4) rotation, the laminating of top center department of rotating cingulum (4) is provided with cleaning roller (6), the inside bottom both ends that are close to cleaning roller (6) of rotating cingulum (4) all rotate and are connected with rotation cingulum (7), the internally mounted of work module (2) has drive assembly (8), drive assembly (8) rotate with cleaning roller (6) and rotation cingulum (7) respectively and are connected, the bottom of box (1) all is provided with regulation frame (9), the bottom of box (1) is that it is provided with a plurality of barrier strip (13) to encircle.

2. The underwater robot capable of crossing the obstacle as recited in claim 1, wherein the adjusting assembly (5) comprises a telescopic rod (501), a rotating gear (502) and a driving column (503), an inner extending end of the telescopic rod (501) is rotatably connected with the center of the rotating gear (502), an outer end of the telescopic rod (501) far away from the rotating gear (502) is fixedly connected with the driving column (503), and teeth are arranged around the outer wall of the rotating gear (502).

3. The underwater robot capable of crossing the obstacles according to claim 2, wherein one end of the telescopic rod (501) is rotatably connected with the inside of the box body (1) through a driving column (503), a stepping motor fixedly connected with the driving column (503) is arranged inside the box body (1), the outer wall of the rotating gear (502) is meshed with the rotating toothed belt (4), and teeth corresponding to the rotating gear (502) are arranged inside the rotating toothed belt (4).

4. The underwater robot capable of crossing the obstacle according to claim 1, wherein the outer wall of the cleaning roller (6) is provided with a brush in a surrounding manner, the outer wall of the rotating toothed roller (7) is engaged with the inner wall of the rotating toothed belt (4) through teeth, the cleaning roller (6) penetrates through the inside of the working module (2) through the driving rod (601) to be connected with the box body (1) in a rotating manner, and the inside of the rotating toothed roller (7) penetrates through the inside of the working module (2) through the rotating rod (701) to be connected with the box body (1) in a rotating manner.

5. An underwater robot capable of crossing obstacles according to claim 1, wherein the transmission assembly (8) comprises a transmission gear (801), a driving wheel (802) and a driven wheel (803), the bottoms of two side edges of the driving wheel (802) are meshed with the transmission gear (801), one side of the transmission gear (801) far away from the driving wheel (802) is meshed with the driven wheel (803), and the diameters of the driving wheel (802) and the driven wheel (803) are larger than that of the transmission gear (801).

6. Underwater robot capable of crossing obstacles according to claim 5, characterized in that the transmission gear (801) is connected with the side wall of the tank (1) through a bearing in a rotating way, the driving wheel (802) is fixedly connected with the outer wall of the driving rod (601), and the driving rod (601) penetrates through the inside of the tank (1) and is connected with the driving motor in an interconnecting way.

7. The underwater robot capable of crossing obstacles according to claim 1, wherein a driving turbine (10) is arranged inside the adjusting frame (9), a plurality of rotating rings (11) are rotatably connected to the bottoms of the corners of the box body (1), one ends of the rotating rings (11) are rotatably connected with the top of the adjusting frame (9) through rotating shafts (12), a rotating motor is arranged inside the rotating rings (11) and rotatably connected with the box body (1), a driving motor is arranged at the bottom end inside the rotating shafts (12), and the driving motor is connected with the adjusting frame (9).

8. The underwater robot capable of crossing obstacles according to claim 1, wherein the bottom of the barrier rib (13) is arc-shaped, and the two ends of the barrier rib (13) protrude out of the two sides of the tank body (1) and correspond to the adjusting frame (9), and the tops of the two ends of the barrier rib (13) are completely fixed with the two ends of the barrier rib (13) and the two ends of the plurality of barrier ribs (13) are fixed with the barrier rib (13) by welding.

9. The underwater robot capable of crossing obstacles according to claim 1, wherein bases (14) are respectively arranged at the bottom of both ends of the working module (2) near the barrier strips (13), the bases (14) are respectively fixedly connected with the barrier strips (13), and the centers of the bottom ends of the barrier strips (13) are fixedly connected with the working module (2).

Images