CN117141684A - Cabled underwater robot positioning device and positioning method thereof - Google Patents
Cabled underwater robot positioning device and positioning method thereof Download PDFInfo
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- CN117141684A CN117141684A CN202311437676.2A CN202311437676A CN117141684A CN 117141684 A CN117141684 A CN 117141684A CN 202311437676 A CN202311437676 A CN 202311437676A CN 117141684 A CN117141684 A CN 117141684A
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- underwater robot
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- fixedly connected
- motion
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims description 58
- 230000000087 stabilizing effect Effects 0.000 claims description 57
- 239000000725 suspension Substances 0.000 claims description 32
- 241000196324 Embryophyta Species 0.000 claims description 8
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 6
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 6
- 241001330002 Bambuseae Species 0.000 claims description 6
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 6
- 239000011425 bamboo Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000003381 stabilizer Substances 0.000 claims 13
- 244000058871 Echinochloa crus-galli Species 0.000 abstract 2
- 235000015225 Panicum colonum Nutrition 0.000 abstract 2
- 230000001681 protective effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of underwater robots and discloses a cabled underwater robot positioning device and a positioning method thereof, wherein the cabled underwater robot positioning device comprises a box body, a lifting mechanism is arranged on the box body, the box body is connected with an underwater robot through the lifting mechanism, an auxiliary positioning mechanism is arranged on the underwater robot, the auxiliary positioning mechanism comprises an L-shaped frame which is symmetrically and fixedly connected with the end wall of the underwater robot, the L-shaped frame is rotatably connected with a baffle shaft between the end wall of the underwater robot, the baffle shaft is fixedly arranged on the outer surface of the baffle shaft, so that the underwater robot can be positioned, hovering at a certain position can be realized, the influence of water flow is overcome, and the underwater robot cannot move along with the water flow; the cable can swing, so that the cable avoids the obstacle, the cable is prevented from moving difficultly due to the influence of the obstacle, the water grass and the like can be cut, and the cable is prevented from being clamped due to the influence of the water grass and the like.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a cabled underwater robot positioning device and a positioning method thereof.
Background
The underwater robot is also called an unmanned remote-control submersible, and is an extreme operation robot working under water. The underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. The unmanned remote control submersible mainly comprises: the cabled remote-control submersible is divided into a submarine self-propelled type, a towing type and a crawling type on a submarine structure.
At present, when the underwater robot is positioned, the robot is easy to be influenced by water flow to move, is inconvenient to hover and position, causes inaccuracy in positioning, and the connected cable is easy to be blocked by an obstacle, so that the movement of the robot is difficult, and the positioning is difficult.
Traditional copper bar connection mode complex operation, inefficiency greatly influences the test efficiency of testboard.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a cabled underwater robot positioning device and a positioning method thereof, which effectively solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a cabled underwater robot positioner, includes the box, be equipped with elevating system on the box, pass through between box and the underwater robot elevating system connection, be equipped with auxiliary positioning mechanism on the underwater robot, auxiliary positioning mechanism includes the L type frame of symmetrical fixed connection on the underwater robot end wall, L type frame with the baffle axle of rotating connection between the underwater robot end wall, the surface fixed mounting of baffle axle has the baffle axle, be equipped with the band pulley chamber in the L type frame, the baffle axle extends to the band pulley intracavity, the baffle axle keep away from the end fixed connection of underwater robot one side has brake subassembly, brake subassembly fixed mounting is in on the band pulley chamber end wall, the surface fixed mounting of baffle axle has driving gear, meshing between driving gear and the driven gear, driven gear fixed mounting is in the surface of band pulley shaft, the band pulley rotates to be installed between the band pulley chamber end wall, the surface fixed mounting of band pulley shaft has driving pulley and driven pulley passes through the rotation band pulley connection, driven pulley is fixed to be installed in the band pulley chamber, driven pulley is fixed to be installed in the driven pulley, the driven pulley is fixed surface is installed to the signal processor of a band pulley, the signal is connected to the underwater robot is fixed with the surface of the transmission plate, the signal is installed in the signal processor is fixed to the surface of the underwater robot, the signal processor is connected to the signal transmitter is installed to the surface of the band pulley under water, the band is fixed on the surface, the surface is connected with the signal transmitter has the signal processor in the transmission panel, the processor is installed on processing equipment on the ground.
Preferably, the lifting mechanism comprises a supporting frame symmetrically and fixedly connected with the upper surface of the box body, a lifting rotating shaft is rotatably connected between the supporting frames, the lifting rotating shaft is in power connection with a lifting motor, the lifting motor is fixedly installed in the supporting frame, a rotating drum is fixedly installed on the outer surface of the lifting rotating shaft, a cable is wound on the outer surface of the rotating drum and connected with the cable, the cable is far away from a connecting column fixedly connected with one side of the rotating drum, the connecting column is far away from one side of the cable and fixedly connected with the underwater robot, a channel is formed in the box body in a penetrating mode, and the cable penetrates through the channel.
Preferably, be equipped with cycloid mechanism on the underwater robot, cycloid mechanism includes be equipped with the cycloid gear chamber on the underwater robot, cycloid gear chamber end wall interrotation is connected with the cycloid gear axle, cycloid gear axle and cycloid motor power connection, cycloid motor fixed mounting is in the underwater robot, cycloid gear shaft's surface fixed mounting has the cycloid gear, cycloid gear and annular rack meshing, annular rack rotates installs the underwater robot upper surface, annular rack upper surface symmetry fixedly connected with mounting bracket, rotate between the mounting bracket and be connected with the cycloid pivot, one of them the mounting bracket is equipped with the gear chamber in, gear chamber interrotation is connected with the driving gear axle, driving gear axle and driving motor power connection, driving motor fixed mounting is in on the mounting bracket end wall, fixedly connected with buckler on the mounting bracket end wall, driving motor is located in the buckler, driving gear and follower gear meshing between the surface fixed mounting has the driving gear, follower gear is in the surface of pivot, annular rack rotation is installed to the annular rack upper surface symmetry, the cycloid pivot is connected with the swing cable is connected with the swing wire, swing wire is connected with the swing wire.
Preferably, the buoyancy adjusting mechanism is arranged on the box body, the buoyancy adjusting mechanism comprises adjusting sliding grooves symmetrically arranged on the end walls of the box body, an adjusting screw rod is connected between the end walls of the adjusting sliding grooves in a rotating mode, the adjusting screw rod is connected with an adjusting motor in a power mode, the adjusting motor is fixedly arranged in the box body, the adjusting screw rod is connected with an adjusting nut block in a threaded mode, the adjusting nut block is slidably connected between the end walls of the adjusting sliding grooves, a floating plate is fixedly connected to the outer surface of the adjusting sliding grooves, a stabilizing sliding block is symmetrically and fixedly connected to the inner side surface of the floating plate, the stabilizing sliding block is slidably connected in the stabilizing sliding groove, and the stabilizing sliding groove is arranged on the end walls of the box body.
Preferably, the stabilizing mechanism is arranged on the bottom wall of the box body, the stabilizing mechanism comprises a fixing rod fixedly connected with the bottom wall of the box body, the fixing rod is far away from a stabilizing disc fixedly connected with the tail end of one side of the box body, a circumference array is provided with a stabilizing groove, a stabilizing screw rod is rotationally connected with the end wall of the stabilizing groove, the stabilizing screw rod is in power connection with a stabilizing motor, the stabilizing motor is fixedly arranged in the stabilizing disc, the stabilizing screw rod is in threaded connection with a stabilizing plate, and the stabilizing plate is in sliding connection between the end walls of the stabilizing groove.
Preferably, the underwater robot is provided with a pushing mechanism, the pushing mechanism comprises a fixing frame which is symmetrically and fixedly connected with the end wall of the underwater robot, a steering shaft is rotationally connected with the end wall of the fixing frame, the steering shaft is in power connection with a rotating motor, the rotating motor is fixedly installed in the fixing frame, a rotating frame is fixedly installed between the steering shafts, a protective cover is fixedly installed on the end wall of the rotating frame, a pushing rotating shaft is rotationally connected with the end wall of the rotating frame, the pushing rotating shaft is in power connection with the pushing motor, the pushing motor is fixedly installed in the rotating frame, and a propeller is fixedly connected with the tail end of one side of the rotating frame and is located in the protective cover.
Preferably, the end wall of the underwater robot is provided with a cutting mechanism, the cutting mechanism comprises a cutting rotating shaft which is rotationally connected with the end wall of the underwater robot, the cutting rotating shaft is in power connection with a cutting motor, the cutting motor is fixedly installed in the underwater robot, and a cutting knife is fixedly connected with the tail end of one side of the cutting rotating shaft, which is far away from the underwater robot.
Preferably, the underwater robot bottom wall is provided with a movement mechanism, the movement mechanism comprises a movement frame fixedly installed on the underwater robot bottom wall, a movement rotating shaft is rotatably connected to the movement frame end wall, the movement rotating shaft is in power connection with a movement motor, the movement motor is fixed in the movement frame, the movement rotating shaft is far away from the end fixedly connected with a movement wheel on one side of the underwater robot, and the movement wheel is far away from a movement plate uniformly fixedly connected to the end wall on one side of the movement rotating shaft.
Preferably, a suspension fixing mechanism is arranged on the bottom wall of the L-shaped frame and comprises a suspension barrel fixedly connected with the bottom wall of the L-shaped frame, a drainage channel is formed in the suspension barrel in a penetrating mode, a drainage pump is fixedly connected between end walls of the drainage channel, an electric rotating shaft is connected to the bottom wall of the suspension barrel in a rotating mode, and a cover plate is fixedly arranged on the outer surface of the electric rotating shaft.
The invention provides a cabled underwater robot positioning method, which is based on the cabled underwater robot positioning device and comprises the following steps:
step one: thereby placing the device into the water;
step two: the lifting mechanism moves, so that the height of the underwater robot is adjusted, and the underwater robot is convenient to position;
step three: thereby the buoyancy adjusting mechanism moves, and the suspension height of the box body in water is adjusted;
step four: the stabilizing mechanism moves to increase the stability of the box body and prevent the box body from tipping due to impact;
step five: the auxiliary positioning mechanism moves, so that the underwater robot can stay at one position in water conveniently, and positioning is assisted;
step six: during auxiliary positioning, the suspension fixing mechanism moves to perform suspension fixing on the underwater robot, so that stability is further improved, and movement is prevented;
step seven: the pushing mechanism moves so as to push the underwater robot to move in water, and the cutting mechanism moves to cut aquatic weeds and the like with obstruction in the moving direction when the underwater robot moves;
step eight: the motion mechanism moves so as to drive the underwater robot to move at the water bottom;
step nine: when moving, the cycloid mechanism moves, thereby realizing the influence of the obstruction.
Compared with the prior art, the invention has the beneficial effects that:
1. the cabled underwater robot positioning device provided by the invention can be used for positioning the underwater robot, hovering at a certain position, overcoming the influence of water flow and preventing the underwater robot from moving along with the water flow.
2. The positioning device for the cabled underwater robot can swing the cable, so that the cable can avoid obstacles, the cable is prevented from moving difficultly due to the influence of the obstacles, the cutting of aquatic weeds and the like can be realized, and the cable is prevented from being clamped due to the influence of the aquatic weeds and the like.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic view of a first directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 2 is a schematic view of a second directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 3 is a schematic view of a third directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 4 is a schematic view of a fourth directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 5 is a schematic view of a fifth directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 6 is a schematic view of a sixth directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 7 is a schematic view of a seventh directional structure of a cabled underwater robot positioning device according to the present invention;
FIG. 8 is a schematic view of the structure at A-A in FIG. 7;
FIG. 9 is a schematic view of the structure at B-B in FIG. 7;
FIG. 10 is a schematic view of the structure at C-C in FIG. 8;
FIG. 11 is a schematic view of the structure at D-D in FIG. 9;
FIG. 12 is a schematic view of the structure at E-E in FIG. 9;
fig. 13 is a schematic view of the structure at F-F in fig. 8.
In the figure: 1-box, 2-floating plate, 3-supporting frame, 4-rotating drum, 5-cable, 6-adjusting chute, 7-stabilizing chute, 8-stabilizing slide, 9-adjusting nut block, 10-fixed rod, 11-stabilizing disc, 12-baffle, 13-baffle shaft, 14-L-shaped frame, 15-signal transmitter, 16-waterproof cover, 17-underwater robot, 18-moving plate, 19-moving wheel, 20-fixed frame, 21-rotating frame, 22-protective cover, 23-signal transmitter, 24-suspending drum, 25-cover plate, 26-rotating plate, 27-rotating shaft, 28-mounting frame, 29-adjusting screw, 30-channel, 31-swinging block, 32-swinging shaft, 34-annular rack, 35-threading cylinder, 36-mounting shaft, 37-connecting column, 38-cutting rotating shaft, 39-cutting knife, 40-moving frame, 41-moving rotating shaft, 43-lifting rotating shaft, 44-pushing, 45-propeller, 46-motor, 47-gear cavity, 48-rotating shaft, cycloidal gear cavity, 52-rotating shaft, 55-cycloidal gear cavity, 53-rotating shaft, 55-driven gear cavity, 53-rotating shaft, 53-driven gear cavity, 53-driven cavity, stable cycloidal gear cavity, 53-rotating shaft, 55-rotating shaft, stable cycloidal cavity, 53-rotating shaft, stable gear cavity, 53-rotating shaft, 55-rotating shaft, stable gear cavity, and stable gear cavity 60-rotating shaft, 63-follower gear, 64-drive gear, 65-drive gear shaft, 66-drive motor, 67-rotating belt, 68-drain passage.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-13, the invention provides a cabled underwater robot positioning device, the component materials in the device are made of pressure-resistant materials, the cabled underwater robot positioning device comprises a box body 1, a lifting mechanism is arranged on the box body 1, the box body 1 is connected with an underwater robot 17 through the lifting mechanism, the lifting mechanism is used for driving the underwater robot 17 to lift, an auxiliary positioning mechanism is arranged on the underwater robot 17 and used for carrying out auxiliary positioning on the underwater robot 17, the auxiliary positioning mechanism comprises an L-shaped frame 14 symmetrically and fixedly connected with the end wall of the underwater robot 17, a baffle shaft 13 is rotatably connected between the L-shaped frame 14 and the end wall of the underwater robot 17, the baffle shaft 13 is fixedly arranged on the outer surface of the baffle shaft 13, a belt wheel cavity 54 is arranged in the L-shaped frame 14, the baffle shaft 13 extends into the pulley cavity 54, a brake component is fixedly connected to the tail end of one side of the baffle shaft 13 far away from the underwater robot 17, the brake component is fixedly arranged on the end wall of the pulley cavity 54, a driving gear 58 is fixedly arranged on the outer surface of the baffle shaft 13, the driving gear 58 is meshed with a driven gear 57, the driven gear 57 is fixedly arranged on the outer surface of a pulley shaft 56, the pulley shaft 56 is rotatably arranged between the end walls of the pulley cavity 54, a driving pulley 55 is fixedly arranged on the outer surface of the pulley shaft 56, the driving pulley 55 and the driven pulley 53 are connected through a rotating belt 67, the driven pulley 53 is fixedly arranged on the outer surface of a rotating shaft 27, the rotating shaft 27 is rotatably connected between the end walls of the pulley cavity 54, the pulley cavity 54 extends to the end wall of the underwater robot 17, the outer surface circumferential array of the rotating shaft 27 between the underwater robot 17 and the L-shaped frame 14 is fixedly provided with a rotating plate 26, the outer surface of the underwater robot 17 is fixedly provided with a signal transmitter 15, the signal transmitter 15 is in signal connection with a signal transmitter 23, the signal transmitter 23 is fixedly arranged on the upper surface of the underwater robot 17, the signal transmitter 23 is in signal connection with a processor, and the processor is arranged on processing equipment on the ground;
the braking assembly releases the braking on the baffle shaft 13, water flow impacts the baffle 12, so that the baffle shaft 13 is driven to rotate, so that the driving gear 58 is driven to rotate, the driving gear 58 is meshed with the driven gear 57, so that the pulley shaft 56 is driven to rotate, so that the driving pulley 55 is driven to rotate, the driving pulley 55 and the driven pulley 53 are connected and driven through the rotating belt 67, so that the driven pulley 53 is driven to rotate, so that the rotating shaft 27 is driven to rotate, so that the rotating plate 26 is driven to rotate, the rotating plate 26 is opposite to the rotating direction of the baffle 12, the underwater robot 17 is prevented from moving due to the impact of water flow, the signal transmitter 15 transmits a positioning signal, the signal transmitted by the signal transmitter 23 is received by the signal transmitter 23 to the processor, and the signal is transmitted to the processing equipment after being processed by the processor, so that the position of the underwater robot 17 is determined and positioned.
The lifting mechanism comprises supporting frames 3 symmetrically and fixedly connected with the upper surface of a box body 1, lifting rotating shafts 43 are rotatably connected between the supporting frames 3, the lifting rotating shafts 43 are in power connection with lifting motors, the lifting motors are fixedly installed in the supporting frames 3, a rotating drum 4 is fixedly installed on the outer surface of each lifting rotating shaft 43, a cable 5 is wound on the outer surface of each rotating drum 4, a connecting column 37 is fixedly connected to one end of each cable 5 far away from each rotating drum 4, an underwater robot 17 is fixedly connected to one end of each connecting column 37 far away from each cable 5, a channel 30 is formed in the box body 1 in a penetrating mode, and each cable 5 penetrates through the corresponding channel 30;
thereby starting the lifting motor to drive the lifting rotating shaft 43 to rotate, thereby driving the rotary drum 4 to rotate, and driving the cable 5 to move, thereby enabling the underwater robot 17 to move.
Advantageously, the underwater robot 17 is provided with a cycloid mechanism, the cycloid mechanism is used for cycloid and preventing the cable 5 from being blocked by an obstacle, the cycloid mechanism comprises cycloid gear cavities 47 arranged on the underwater robot 17, cycloid gear shafts 49 are rotationally connected between end walls of the cycloid gear cavities 47, the cycloid gear shafts 49 are in power connection with cycloid motors 46, the cycloid motors 46 are fixedly arranged in the underwater robot 17, cycloid gears 48 are fixedly arranged on the outer surfaces of the cycloid gear shafts 49, the cycloid gears 48 are meshed with annular racks 34, the annular racks 34 are rotationally arranged on the upper surface of the underwater robot 17, mounting frames 28 are symmetrically and fixedly connected on the upper surface of the annular racks 34, cycloid rotating shafts 61 are rotationally connected between the mounting frames 28, gear cavities 62 are arranged in one of the mounting frames 28, a driving gear shaft 65 is rotationally connected between the end walls of the gear cavity 62, the driving gear shaft 65 is in power connection with a driving motor 66, the driving motor 66 is fixedly installed on the end wall of the installation frame 28, a waterproof cover 16 is fixedly connected on the end wall of the installation frame 28, the driving motor 66 is positioned in the waterproof cover 16, a driving gear 64 is fixedly installed on the outer surface of the driving gear shaft 65, the driving gear 64 is meshed with a following gear 63, the following gear 63 is fixedly installed on the outer surface of the cycloid rotating shaft 61, the cycloid rotating shaft 61 extends into the gear cavity 62, a swinging frame 33 is fixedly installed on the outer surface of the cycloid rotating shaft 61, a swinging shaft 32 is rotationally connected on the upper side surface of the swinging frame 33, a swinging block 31 is fixedly connected at the tail end of one side of the swinging shaft 32 far from the swinging frame 33, the swinging block 31 is symmetrically and rotatably connected with mounting shafts 36, threading drums 35 are fixedly connected between the mounting shafts 36, and the threading drums 35 penetrate through the cables 5;
thereby start cycloid motor 46 to drive cycloid gear shaft 49 rotates, thereby drives cycloid gear 48 rotates, cycloid gear 48 with annular rack 34 meshes, thereby drives mounting bracket 28 rotates to corresponding position, starts driving motor 66, thereby drives drive gear shaft 65 rotates, thereby drives drive gear 64 rotates, drive gear 64 with follow-up gear 63 meshes, thereby drives cycloid pivot 61 rotates, thereby drives swing frame 33 rotates, thereby drives swing axle 32 rotates, thereby drives swing block 31 rotates, thereby drives installation axle 36 moves, thereby drives threading section of thick bamboo 35 moves, thereby drives cable 5 moves and avoids the barrier.
The buoyancy adjusting mechanism is used for adjusting the buoyancy of the box body 1, the buoyancy adjusting mechanism comprises adjusting sliding grooves 6 symmetrically arranged on the end wall of the box body 1, adjusting screw rods 29 are rotatably connected between the end walls of the adjusting sliding grooves 6, the adjusting screw rods 29 are in power connection with an adjusting motor, the adjusting motor is fixedly arranged in the box body 1, the adjusting screw rods 29 are in threaded connection with adjusting nut blocks 9, the adjusting nut blocks 9 are in sliding connection between the end walls of the adjusting sliding grooves 6, a floating plate 2 is fixedly connected to the outer surface of the adjusting sliding grooves 6, stabilizing sliding blocks 8 are symmetrically and fixedly connected to the inner side surface of the floating plate 2, the stabilizing sliding blocks 8 are in sliding connection with stabilizing sliding grooves 7, and the stabilizing sliding grooves 7 are arranged on the end wall of the box body 1;
thereby start accommodate motor, thereby drive accommodate screw 29 rotates, thereby drives adjust nut piece 9 moves, thereby drives floating plate 2 moves, thereby to the height of box 1 in the water is adjusted, floating plate 2 moves, thereby drives stable slider 8 slides in stable spout 7, stable slider 8 increases the stability of floating plate 2.
The stabilizing mechanism is used for increasing stability of the box body 1 and preventing tipping, the stabilizing mechanism comprises a fixing rod 10 fixedly connected to the bottom wall of the box body 1, a stabilizing disc 11 is fixedly connected to the tail end of one side of the fixing rod 10 far away from the box body 1, stabilizing grooves 50 are formed in a circumferential array on the stabilizing disc 11, stabilizing screw rods 51 are rotatably connected to the end walls of the stabilizing grooves 50, the stabilizing screw rods 51 are in power connection with a stabilizing motor, the stabilizing motor is fixedly installed in the stabilizing disc 11, the stabilizing screw rods 51 are in threaded connection with stabilizing plates 52, and the stabilizing plates 52 are in sliding connection between the end walls of the stabilizing grooves 50;
and the stabilizing motor is started to drive the stabilizing screw rod 51 to rotate, so that the stabilizing plate 52 is driven to move out of the stabilizing groove 50, the contact surface with water is increased, and the stability is improved.
The underwater robot 17 is provided with a pushing mechanism, the pushing mechanism is used for pushing the underwater robot 17 to move in water, the pushing mechanism comprises a fixed frame 20 symmetrically and fixedly connected with the end wall of the underwater robot 17, a steering shaft 42 is rotatably connected with the end wall of the fixed frame 20, the steering shaft 42 is in power connection with a rotating motor, the rotating motor is fixedly arranged in the fixed frame 20, a rotating frame 21 is fixedly arranged between the steering shafts 42, a protective cover 22 is fixedly arranged on the end wall of the rotating frame 21, a pushing rotating shaft 44 is rotatably connected with the end wall of the rotating frame 21, the pushing rotating shaft 44 is in power connection with the pushing motor, the pushing motor is fixedly arranged in the rotating frame 21, a propeller 45 is fixedly connected with the tail end of one side of the pushing rotating shaft 44 far away from the rotating frame 21, and the propeller 45 is positioned in the protective cover 22;
thereby starting the pushing motor to drive the pushing rotating shaft 44 to rotate, thereby driving the propeller 45 to rotate, and pushing the underwater robot 17 to move in the water.
The underwater robot 17 is provided with a cutting mechanism on the end wall, the cutting mechanism is used for cutting aquatic weeds and the like in the moving direction to prevent the movement from being influenced, the cutting mechanism comprises a cutting rotating shaft 38 which is rotationally connected with the end wall of the underwater robot 17, the cutting rotating shaft 38 is in power connection with a cutting motor, the cutting motor is fixedly arranged in the underwater robot 17, and a cutting knife 39 is fixedly connected with the tail end of one side of the cutting rotating shaft 38, which is far away from the underwater robot 17;
thereby starting the cutting motor to drive the cutting rotating shaft 38 to rotate, and drive the cutting knife 39 to rotate, so that the aquatic weed in the moving direction is cut.
The underwater robot 17 is provided with a motion mechanism on the bottom wall, the motion mechanism is used for driving the underwater robot 17 to move and walk on the water bottom, the motion mechanism comprises a motion frame 40 fixedly arranged on the bottom wall of the underwater robot 17, a motion rotating shaft 41 is rotatably connected to the end wall of the motion frame 40, the motion rotating shaft 41 is in power connection with a motion motor, the motion motor is fixed in the motion frame 40, a motion wheel 19 is fixedly connected to the tail end of one side of the motion rotating shaft 41 far away from the underwater robot 17, and a motion plate 18 is uniformly and fixedly connected to the end wall of one side of the motion wheel 19 far away from the motion rotating shaft 41;
thereby starting the motion motor to drive the motion rotating shaft 41 to rotate, thereby driving the motion wheel 19 to rotate, thereby driving the motion plate 18 to rotate, and driving the underwater robot 17 to move under the water.
The suspension fixing mechanism is used for suspension fixing during positioning and preventing movement, the suspension fixing mechanism comprises a suspension cylinder 24 fixedly connected with the bottom wall of the L-shaped frame 14, a drainage channel 68 is formed in the suspension cylinder 24 in a penetrating manner, a drainage pump 59 is fixedly connected between the end walls of the drainage channel 68, an electric rotating shaft 60 is rotatably connected with the bottom wall of the suspension cylinder 24, and a cover plate 25 is fixedly arranged on the outer surface of the electric rotating shaft 60;
thereby energizing the electric rotating shaft 60, thereby enabling the electric rotating shaft 60 to rotate, thereby driving the cover plate 25 to rotate, thereby enabling the suspension cylinder 24 to be opened, thereby enabling water to enter the suspension cylinder 24, thereby realizing fixation, and when the fixation is not needed, energizing the electric rotating shaft 60, thereby enabling the electric rotating shaft 60 to rotate, thereby driving the cover plate 25 to rotate, thereby enabling the suspension cylinder 24 to be closed, and starting the drainage pump 59, thereby enabling water obtained in the suspension cylinder 24 to be drained through the drainage channel 68.
The invention provides a cabled underwater robot positioning method, which is based on the cabled underwater robot positioning device and comprises the following steps:
step one: thereby placing the device into the water;
step two: the lifting mechanism moves, so that the height of the underwater robot 17 is adjusted, and the underwater robot is convenient to position;
step three: thereby the buoyancy adjusting mechanism moves, and the suspension height of the box body 1 in water is adjusted;
step four: the stabilizing mechanism moves to increase the stability of the box body 1 and prevent the box body from tipping due to impact;
step five: the auxiliary positioning mechanism moves, so that the underwater robot 17 can stay at one position in water conveniently, and positioning is assisted;
step six: during auxiliary positioning, the suspension fixing mechanism moves to perform suspension fixing on the underwater robot 17, so that stability is further improved, and movement is prevented;
step seven: the pushing mechanism moves so as to push the underwater robot 17 to move in water, and the cutting mechanism moves to cut aquatic weeds and the like with obstruction in the moving direction when moving;
step eight: the motion mechanism moves so as to drive the underwater robot 17 to move at the water bottom;
step nine: when moving, the cycloid mechanism moves, thereby realizing the influence of the obstruction.
In the working process of the invention, the lifting motor is started to drive the lifting rotating shaft 43 to rotate to drive the rotary drum 4 to rotate to drive the cable 5 to move to drive the underwater robot 17 to move, the adjusting motor is started to drive the adjusting screw rod 29 to rotate to drive the adjusting nut block 9 to move to drive the floating plate 2 to move so as to adjust the height of the box body 1 in water, the floating plate 2 is moved to drive the stabilizing sliding block 8 to slide in the stabilizing sliding groove 7, the stabilizing sliding block 8 increases the stability of the floating plate 2, the stabilizing motor is started to drive the stabilizing screw rod 51 to rotate to drive the stabilizing plate 52 to move out of the stabilizing groove 50 to increase the contact surface with water to increase the stability, the pushing motor is started, thereby driving the pushing shaft 44 to rotate, thereby driving the propeller 45 to rotate, thereby driving the underwater robot 17 to move in water, starting the cutting motor to drive the cutting shaft 38 to rotate, thereby driving the cutting blade 39 to rotate, thereby realizing cutting of the aquatic weed in the moving direction, starting the cycloid motor 46 to drive the cycloid gear shaft 49 to rotate, thereby driving the cycloid gear 48 to rotate, the cycloid gear 48 is meshed with the annular rack 34, thereby driving the mounting frame 28 to rotate to the corresponding position, starting the driving motor 66 to drive the driving gear shaft 65 to rotate, thereby driving the driving gear 64 to rotate, the driving gear 64 is meshed with the follower gear 63, thereby driving the cycloid shaft 61 to rotate, thereby driving the swinging frame 33 to rotate, thereby driving the swinging shaft 32 to rotate, thereby driving the swinging block 31 to rotate, thereby driving the mounting shaft 36 to move, thereby driving the threading tube 35 to move, thereby driving the cable 5 to move so as to avoid an obstacle, facilitating the better movement of the underwater robot 17, the brake component releases the brake of the baffle shaft 13, the water flow impacts the baffle 12, thereby driving the baffle shaft 13 to rotate, thereby driving the driving gear 58 to rotate, the driving gear 58 is meshed with the driven gear 57, thereby driving the pulley shaft 56 to rotate, thereby driving the driving pulley 55 to rotate, the driving pulley 55 and the driven pulley 53 are connected and driven through the rotating belt 67, thereby driving the driven pulley 53 to rotate, thereby driving the rotating shaft 27 to rotate, thereby driving the rotating plate 26 to rotate, the rotating plate 26 is opposite to the rotating direction of the baffle plate 12, so as to prevent the underwater robot 17 from moving due to the impact of water flow, the signal transmitter 15 transmits a positioning signal, the signal transmitter 23 receives the signal transmitted by the signal transmitter 23 and transmits the signal to the processor, the signal is processed by the processor and then transmitted to processing equipment, so that the position of the underwater robot 17 is determined and positioned, the electric rotating shaft 60 is electrified, the electric rotating shaft 60 is rotated, the cover plate 25 is driven to rotate, the suspension cylinder 24 is opened, water enters the suspension cylinder 24, fixing is realized, when fixing is not needed, the electric rotating shaft 60 is electrified, the electric rotating shaft 60 is rotated, the cover plate 25 is driven to rotate, the suspension cylinder 24 is closed, the drain pump 59 is activated so that water in the suspension cartridge 24 is drained through the drain channel 68.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a cabled underwater robot positioner which characterized in that: comprises a box body (1), a lifting mechanism is arranged on the box body (1), the box body (1) is connected with an underwater robot (17) through the lifting mechanism, an auxiliary positioning mechanism is arranged on the underwater robot (17), the auxiliary positioning mechanism comprises an L-shaped frame (14) which is symmetrically and fixedly connected with the end wall of the underwater robot (17), a baffle shaft (13) which is rotationally connected between the L-shaped frame (14) and the end wall of the underwater robot (17), the baffle shaft (13) is fixedly arranged on the outer surface of the baffle shaft (13), a pulley cavity (54) is arranged in the L-shaped frame (14), the baffle shaft (13) extends into the pulley cavity (54), a brake component is fixedly connected with one end of the baffle shaft (13) far away from the end wall of the underwater robot (17), a driving gear (58) is fixedly arranged on the outer surface of the baffle shaft (13), a driving gear (58) is meshed with a driven gear (57), a pulley shaft (56) is fixedly arranged on the outer surface of the pulley shaft (56), the novel underwater robot is characterized in that the driving belt wheel (55) is connected with the driven belt wheel (53) through a rotating belt (67), the driven belt wheel (53) is fixedly arranged on the outer surface of the rotating shaft (27), the rotating shaft (27) is rotationally connected between the end walls of the belt wheel cavity (54), the belt wheel cavity (54) extends to the end walls of the underwater robot (17), a rotating plate (26) is fixedly arranged on the circumferential array of the outer surface of the rotating shaft (27) between the underwater robot (17) and the L-shaped frame (14), a signal transmitter (15) is fixedly arranged on the outer surface of the underwater robot (17), the signal transmitter (15) is in signal connection with a signal transmitter (23), the signal transmitter (23) is fixedly arranged on the upper surface of the underwater robot (17), and the signal transmitter (23) is in signal connection with a processor which is arranged on processing equipment on the ground.
2. A cabled underwater robot positioning device according to claim 1, characterized in that: the lifting mechanism comprises a supporting frame (3) which is symmetrically and fixedly connected with the upper surface of a box body (1), lifting rotating shafts (43) are rotatably connected between the supporting frames (3), the lifting rotating shafts (43) are in power connection with lifting motors, the lifting motors are fixedly installed in the supporting frames (3), a rotating drum (4) is fixedly installed on the outer surface of the lifting rotating shafts (43), a cable (5) is wound on the outer surface of the rotating drum (4), the cable (5) is far away from a connecting column (37) which is fixedly connected with one side of the rotating drum (4), the connecting column (37) is far away from one side of the cable (5) which is fixedly connected with an underwater robot (17), a channel (30) is formed in the box body (1) in a penetrating mode, and the cable (5) penetrates through the channel (30).
3. A cabled underwater robot positioning device according to claim 2, characterized in that: the underwater robot (17) is provided with a cycloid mechanism, the cycloid mechanism comprises a cycloid gear cavity (47) arranged on the underwater robot (17), cycloid gear shafts (49) are rotationally connected between end walls of the cycloid gear cavity (47), the cycloid gear shafts (49) are in power connection with a cycloid motor (46), the cycloid motor (46) is fixedly arranged in the underwater robot (17), the outer surface of the cycloid gear shafts (49) is fixedly provided with cycloid gears (48), the cycloid gears (48) are meshed with an annular rack (34), the annular rack (34) is rotationally arranged on the upper surface of the underwater robot (17), mounting frames (28) are symmetrically and fixedly connected with cycloid rotating shafts (61) between the mounting frames (28), one of the mounting frames (28) is internally provided with a gear cavity (62), the end walls of the cycloid motor (62) are rotationally connected with a driving gear shaft (65), the driving gear shaft (65) is in power connection with a driving motor (66), the driving motor (66) is fixedly arranged on the end walls (28) of the mounting frames (16), the driving motor (16) are fixedly arranged in the waterproof covers (16), the outer surface fixed mounting of driving gear axle (65) has driving gear (64), meshing between driving gear (64) and follow-up gear (63), follow-up gear (63) fixed mounting is in the surface of cycloid pivot (61), cycloid pivot (61) extend to in gear chamber (62), the surface fixed mounting of cycloid pivot (61) has swinging boom (33), swinging boom (33) upside surface rotation is connected with swing axle (32), swing axle (32) are kept away from swing boom (33) one side end fixedly connected with swing piece (31), symmetrical rotation is connected with installation axle (36) on swing piece (31), fixedly connected with threading section of thick bamboo (35) between installation axle (36), pass on threading section of thick bamboo (35) cable (5).
4. A cabled underwater robot positioning device according to claim 1, characterized in that: the buoyancy adjusting mechanism comprises adjusting sliding grooves (6) symmetrically arranged on the end walls of the box body (1), adjusting screw rods (29) are rotationally connected between the end walls of the adjusting sliding grooves (6), the adjusting screw rods (29) are in power connection with an adjusting motor, the adjusting motor is fixedly installed in the box body (1), the adjusting screw rods (29) are in threaded connection with adjusting nut blocks (9), the adjusting nut blocks (9) are in sliding connection between the end walls of the adjusting sliding grooves (6), floating plates (2) are fixedly connected to the outer surfaces of the adjusting sliding grooves (6), stabilizing sliding blocks (8) are symmetrically and fixedly connected to the inner side surfaces of the floating plates (2), the stabilizing sliding blocks (8) are in sliding connection with the stabilizing sliding grooves (7), and the stabilizing sliding grooves (7) are arranged on the end walls of the box body (1).
5. The cabled underwater robot positioning device of claim 4, wherein: be equipped with stabilizing mean on box (1) diapire, stabilizing mean includes dead lever (10) of fixed connection on box (1) diapire, dead lever (10) are kept away from box (1) one side end fixedly connected with stabilizer disc (11), circumference array is equipped with stabilizer tank (50) on stabilizer disc (11), rotate on stabilizer tank (50) end wall and be connected with stabilizer lead screw (51), stabilizer lead screw (51) are connected with stabilizer motor power, stabilizer motor fixed mounting is in stabilizer disc (11), stabilizer lead screw (51) and stabilizer plate (52) threaded connection, stabilizer plate (52) sliding connection is in between stabilizer tank (50) end wall.
6. A cabled underwater robot positioning device according to claim 3, characterized in that: be equipped with pushing mechanism on underwater robot (17), pushing mechanism includes symmetrical fixed connection's mount (20) on underwater robot (17) end wall, rotate on mount (20) end wall and connect steering spindle (42), steering spindle (42) are connected with rotation motor power, rotation motor fixed mounting is in mount (20), fixed mounting has rotating turret (21) between steering spindle (42), fixed mounting has protection casing (22) on rotating turret (21) end wall, rotate on rotating turret (21) end wall and be connected with promotion pivot (44), promote pivot (44) and promotion motor power connection, promote motor fixed mounting in rotating turret (21), it keeps away from to promote pivot (44) one side end fixedly connected with screw (45), screw (45) are located in protection casing (22).
7. The cabled underwater robot positioning device of claim 6, wherein: be equipped with cutting mechanism on the end wall of underwater robot (17), cutting mechanism includes cutting pivot (38) of rotating connection on the end wall of underwater robot (17), cutting pivot (38) are connected with cutting motor power, cutting motor fixed mounting is in underwater robot (17), cutting pivot (38) are kept away from end fixedly connected with cutting knife (39) in one side of underwater robot (17).
8. The cabled underwater robot positioning device of claim 7, wherein: be equipped with motion on the diapire of underwater robot (17), motion includes fixed mounting's motion frame (40) on the diapire of underwater robot (17), rotate on motion frame (40) end wall and be connected with motion pivot (41), motion pivot (41) are connected with motion motor power, motion motor is fixed in motion frame (40), motion pivot (41) are kept away from end fixedly connected with motion wheel (19) on one side of underwater robot (17), motion wheel (19) are kept away from evenly fixedly connected with motion board (18) on the end wall on one side of motion pivot (41).
9. A cabled underwater robot positioning device according to claim 1, characterized in that: be equipped with suspension fixed establishment on L type frame (14) diapire, suspension fixed establishment includes fixed connection's suspension section of thick bamboo (24) on L type frame (14) diapire, run through processing on suspension section of thick bamboo (24) has drainage channel (68), fixedly connected with drain pump (59) between drainage channel (68) end wall, it is connected with electric rotating shaft (60) to rotate on suspension section of thick bamboo (24) diapire, electric rotating shaft (60) surface fixed mounting has apron (25).
10. A cabled underwater robot positioning method based on the cabled underwater robot positioning device according to any of the above claims 1-9, characterized in that: the method comprises the following steps:
step one: thereby placing the device into the water;
step two: the lifting mechanism moves, so that the height of the underwater robot (17) is adjusted, and the underwater robot is convenient to position;
step three: thereby the buoyancy adjusting mechanism moves, and the suspension height of the box body (1) in water is adjusted;
step four: the stabilizing mechanism moves to increase the stability of the box body (1) and prevent the box body from tipping due to impact;
step five: the auxiliary positioning mechanism moves, so that the underwater robot (17) can stay at one position in water conveniently, and positioning is assisted;
step six: during auxiliary positioning, the suspension fixing mechanism moves to perform suspension fixing on the underwater robot (17), so that stability is further improved, and movement is prevented;
step seven: the pushing mechanism moves so as to push the underwater robot (17) to move in water, and the cutting mechanism moves to cut aquatic weeds and the like which are blocked in the moving direction when the underwater robot moves;
step eight: the motion mechanism moves so as to drive the underwater robot (17) to move at the water bottom;
step nine: when in motion, the cycloid mechanism moves, thereby realizing the influence of the obstruction.
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