CN117208175A - Underwater robot - Google Patents
Underwater robot Download PDFInfo
- Publication number
- CN117208175A CN117208175A CN202311320830.8A CN202311320830A CN117208175A CN 117208175 A CN117208175 A CN 117208175A CN 202311320830 A CN202311320830 A CN 202311320830A CN 117208175 A CN117208175 A CN 117208175A
- Authority
- CN
- China
- Prior art keywords
- shell
- gear
- gas
- gas reactor
- connecting pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 238000007789 sealing Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000001960 triggered effect Effects 0.000 claims abstract description 10
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000011257 shell material Substances 0.000 description 39
- 239000013535 sea water Substances 0.000 description 13
- 238000004140 cleaning Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 239000002893 slag Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 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
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an underwater robot, which comprises a shell and a safety device; the triggering device is arranged on the shell and can be triggered under preset pressure; the gas reactor is arranged in the shell, and the triggering device is connected with the gas reactor; the sealing bin is fixedly arranged on the side wall of the shell, and a water outlet is formed in the side wall of the sealing bin; two ends of the first connecting pipe are respectively connected with the sealed bin and the gas reactor, and gas generated by the reaction of the gas reactor enters the sealed bin through the first connecting pipe; the air bag is fixedly arranged at the upper part of the shell; the transmission device is arranged on the first connecting pipe, and after the water in the sealed bin is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag. The invention can enable the robot to quickly float out of the water after the problem occurs, and simultaneously avoid the situation that the safety device cannot normally operate due to the use of electronic elements.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater robot.
Background
In order to prolong the service life of the ship and ensure the economic and safe operation of the ship, the ship must be regularly docked for maintenance, and the cleaning of the surface of the ship body in the market is mainly divided into two types of cleaning in the dock and cleaning underwater. The general working flow of cleaning in the dock is that after part of anticorrosive paint of a ten thousand tons of giant ship hulls is corroded by seawater, the ship is pulled into the dock, workers stand on a high-altitude car of tens of meters to hold special equipment, the ship hulls with copper slag as rust spots remove rust, site dust is large, noise is harsh, and the working environment is bad. The manual underwater cleaning is performed by the diver in the water, the efficiency is very low, the labor is wasted, the cost is very high, the risk is high, and the rust slag can pollute the sea water. At present, the underwater robot is used for detecting the defects of the ship bottom, detecting the regularity and cleaning the ship bottom, so that the method becomes the first choice of people. Most of the existing underwater robots are complex in structure, single in function and low in operability.
Chinese patent CN 209870691U discloses an underwater robot, including the robot body, the robot body includes motion device, cleaning device and power device, and the motion device is including encircling the track on the track drive wheel, and the motion of underwater robot is accomplished the removal mainly by the rotation of installing the track in the robot left and right sides, and the main shell material of both sides track is the aluminum alloy, and this kind of material is lighter, and the inside magnet that contains a piece of track is used for adsorbing, drives the removal of robot along with the rotation of track. The power device, the cleaning device and the row feeding device are installed through the installation shaft above the crawler belt, the power device comprises a first power device for driving the crawler belt to rotate and a second power device for driving the cleaning device to work, the cleaning device comprises a quick return device and a cleaning device, the quick return device is a shellfish remover connected with the end of the robot body through a bias crank sliding block mechanism, the cleaning device comprises a group of brush cleaners 5 arranged at the bottom of the robot body, a discharge opening of each brush cleaner is connected with a garbage collection device arranged in the middle of the robot body, and the garbage collection device is used for collecting and storing filtered sundries and can be detached for replacement.
According to the scheme, the ship can be cleaned with high efficiency, but when the robot is unexpected, the sensor program is automatically powered off and the air bag is ejected, the sensor program of the robot, namely corresponding electric elements, is required to ensure that the robot cannot fail, if the corresponding program and the circuit fail in a dock, the robot is hopeful to retrieve, if the robot is used for detection in the ocean, the robot can be sunk into the sea when the robot fails in the deep sea, the robot cannot retrieve, and the cost is high.
Disclosure of Invention
According to the underwater robot, when the robot is out of control and begins to sink, ballast water is stored in the sealed cabin in the submerging process, the robot still needs to discharge water in the sealed cabin in order to quickly float up, when the robot begins to sink, the pressure at the trigger device gradually rises, when the pressure of seawater reaches the preset pressure, the trigger device triggers the gas reactor, the gas reactor generates gas, the gas enters the sealed cabin through the first connecting pipe, the ballast water in the sealed cabin is extruded by the gas, the whole weight in the sealed cabin is reduced, then the transmission device pumps the gas into the air bag, and the air bag pops out to drive the robot to float up, so that the robot can quickly float up after the problem, and meanwhile, the situation that the safety device cannot normally operate due to the use of electronic elements is avoided.
In order to solve the problems in the prior art, the invention provides an underwater robot, which comprises a shell and a safety device; the safety device comprises a triggering device, a gas reactor, a sealing bin, a first connecting pipe, a transmission device and an air bag; the triggering device is arranged on the shell and can be triggered under preset pressure; the gas reactor is arranged in the shell, the triggering device is connected with the gas reactor, and the triggering device can start the gas reactor after being triggered; the sealing bin is fixedly arranged on the side wall of the shell, and a water outlet is formed in the side wall of the sealing bin; two ends of the first connecting pipe are respectively connected with the sealed bin and the gas reactor, and gas generated by the reaction of the gas reactor enters the sealed bin through the first connecting pipe; the air bag is fixedly arranged at the upper part of the shell; the transmission device is arranged on the first connecting pipe, and after the water in the sealed bin is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag.
Preferably, the triggering device comprises a triggering block, a button and a safety device; the trigger block is arranged on the side wall of the shell in a sliding manner along the length direction of the shell, and penetrates through the side wall of the shell; the button is arranged in the shell, the button is positioned at one side of the end part of the triggering block, the button is connected with the gas reactor and can trigger the gas reactor, and the triggering block can trigger the button; the safety device is arranged on the trigger block and limits the trigger block when the external pressure does not reach the preset pressure.
Preferably, the safety device comprises a safety rod, a first connecting rod, a clamping frame, a first clamping groove, a second clamping groove and an elastic component; the safety rod is arranged on one side of the trigger block and is arranged on the side wall of the shell in a sliding manner along the length direction of the shell; the elastic component is arranged on the end part of the bumper in the shell; the first connecting rod is arranged below the bumper, and one end of the first connecting rod is hinged with the end part of the bumper; the clamping frame is vertically arranged below the first connecting rod, the upper part of the clamping frame is hinged with one end of the first connecting rod, which is far away from the safety rod, and the clamping frame can slide along the vertical direction under the drive of the first connecting rod; the first clamping groove is penetrated and arranged on the clamping frame along the length direction of the shell; the second clamping groove is formed in the lower portion of the trigger block, and the clamping frame is matched with the second clamping groove in a clamping mode.
Preferably, the elastic component comprises a second connecting rod, a sliding block and a spring; the second connecting rod is hinged to one end of the trigger block, which is positioned in the shell; the sliding block is hinged to one end of the second connecting rod, which is far away from the trigger block, and is arranged in a sliding manner along the width direction of the shell; the spring is arranged on the slider far away from the second connecting rod along the width direction of the shell.
Preferably, the transmission comprises an air supply device, a turbine pump, a disc, meshing teeth and a first gear; the turbine pump is arranged on the first connecting pipe, and the turbine pump can be driven to rotate when the gas in the first connecting pipe flows; the disc is arranged on one side of the turbine pump, and the turbine pump can drive the disc to rotate; the number of the meshing teeth is multiple, the meshing teeth are equidistantly arranged on the side wall of the disc around the straight line of the disc, and the arc length of the part of the disc, which is not provided with the meshing teeth, is larger than that of the part of the disc, which is provided with the meshing teeth; two sides of the gas supply device are respectively connected with the gas reactor and the gas bag; the first gear is arranged on the air supply device, the first gear can control the air supply device to be opened and closed, and the first gear is meshed with the meshing teeth.
Preferably, the transmission further comprises a second gear and a third gear; the second gear is fixedly arranged at the driving end of the turbine pump; the third gear is arranged at the end part of the disc along the axis of the disc, the third gear is meshed with the second gear, and the diameter of the second gear is smaller than that of the third gear.
Preferably, the air supply device includes a second connection pipe and a switching valve; two ends of the second connecting pipe are respectively connected with the air bag and the gas reactor; the switch valve is arranged on the second connecting pipe, and a switch knob on the switch valve is fixedly connected with the first gear.
Preferably, the safety device further comprises a one-way valve; the check valve is arranged on the side wall of the sealing bin and allows water in the sealing bin to flow outwards.
Preferably, the safety device further comprises a warning lamp; the warning light is fixedly arranged on the upper part of the shell.
Preferably, the safety device further comprises a locator; the locator is fixedly arranged in the shell.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, when a problem occurs in the robot, the robot loses control and begins to sink, ballast water exists in the sealed cabin in the submergence process, so that the robot can quickly float up and water in the sealed cabin is required to be discharged, when the robot begins to sink, the pressure at the trigger device gradually rises, when the pressure of seawater reaches the preset pressure, the trigger device is triggered, the gas reactor is activated by the trigger device, the gas reactor generates gas, the gas enters the sealed cabin through the first connecting pipe, the ballast water in the sealed cabin is extruded by the gas, the integral weight in the sealed cabin is reduced, then the gas is pumped into the air bag by the transmission device, the air bag pops up to drive the robot to float out of the water surface, the robot can quickly float out of the water surface after the problem occurs, and the situation that the safety device cannot normally run due to the use of electronic elements is avoided.
Drawings
Fig. 1 is a perspective view of an underwater robot with an airbag not ejected.
Fig. 2 is a schematic perspective view of the underwater robot after the airbag is ejected.
Fig. 3 is a schematic perspective view of the underwater robot with the outer shell and a portion of the sealed shell removed.
Fig. 4 is a schematic perspective view of an underwater robot with the check valve, the housing and the seal housing removed.
Fig. 5 is an enlarged partial schematic view of the underwater robot at a in fig. 4.
Fig. 6 is an enlarged partial schematic view of the underwater robot at B in fig. 4.
Fig. 7 is a schematic perspective view of a second embodiment of the underwater robot with the check valve, housing and seal housing removed.
Fig. 8 is an enlarged partial schematic view of the underwater robot at C in fig. 7.
Fig. 9 is a perspective view of the underwater robot with the clip frame, the check valve, the housing and the seal housing removed.
Fig. 10 is a partially enlarged schematic view of the underwater robot at D in fig. 9.
The reference numerals in the figures are:
1-a housing; 2-a safety device; 21-a trigger device; 211-a trigger block; 212-a button; 213-safety device; 2131-bumper; 2132—a first link; 2133-a clamping frame; 2134-a first snap groove; 2135-a second snap groove; 2136-a second link; 2137-a slider; 2138-springs; 22-a gas reactor; 23-sealing the bin; 231-a one-way valve; 24-a first connection tube; 25-transmission means; 251-an air supply device; 2511-a second connection tube; 2512—switching valves; 252-turbine pump; 2521-a second gear; 2522-third gear; 253-a disc; 2531-meshing teeth; 254-a first gear; 26-an air bag; 27-warning light.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
Referring to fig. 1, 2 and 7: an underwater robot comprises a housing 1 and a safety device 2; the safety device 2 comprises a triggering device 21, a gas reactor 22, a sealing cabin 23, a first connecting pipe 24, a transmission device 25 and an air bag 26; the triggering device 21 is arranged on the shell 1, and the triggering device 21 can be triggered under preset pressure; the gas reactor 22 is arranged in the shell 1, the triggering device 21 is connected with the gas reactor 22, and the triggering device 21 can start the gas reactor 22 after being triggered; the sealing bin 23 is fixedly arranged on the side wall of the shell 1, and a water outlet is formed in the side wall of the sealing bin 23; the two ends of the first connecting pipe 24 are respectively connected with the sealed cabin 23 and the gas reactor 22, and the gas generated by the reaction of the gas reactor 22 enters the sealed cabin 23 through the first connecting pipe 24; the air bag 26 is fixedly arranged at the upper part of the shell 1; the transmission device 25 is arranged on the first connecting pipe 24, and after the water in the sealed bin 23 is discharged, the first connecting pipe 24 drives the transmission device 25 to pump the gas generated by the gas reactor 22 into the air bag 26.
When the robot goes wrong, the robot loses control and begins to sink, because ballast water exists in the sealed cabin 23 in the submergence process, the water in the sealed cabin 23 still needs to be discharged in order to enable the robot to quickly float upwards, when the robot begins to sink, the pressure at the trigger device 21 gradually rises, the preset pressure is arranged in the trigger device 21, the trigger device 21 can be triggered only when the external pressure reaches the preset pressure, the trigger device 21 is of a mechanical structure, and the pressure value of the preset pressure needs to be smaller than the maximum design compression resistance value of the robot, otherwise, the pressure of external seawater can be used for compressing the robot in the submergence process of the robot, and the robot can not be damaged by the seawater pressure before floating upwards only if the preset pressure is smaller than the maximum design compression resistance value of the robot. When the pressure of seawater reaches the preset pressure, the triggering device 21 is triggered, the triggering device 21 activates the gas reactor 22, the gas reactor 22 generates gas, the gas enters the sealed cabin 23 through the first connecting pipe 24, ballast water in the sealed cabin 23 is extruded by the gas, the overall weight in the sealed cabin 23 is reduced, then the transmission device 25 pumps the gas into the air bag 26, the air bag 26 ejects the robot to float out of the water, the instantaneous pressure of the gas reactor 22 generates gas is maximum, ballast water is stored in the sealed cabin 23, if the water in the sealed cabin 23 is required to be discharged, the sufficient pressure is required to enter the sealed cabin 23, the gas generated by the gas reactor 22 needs to enter the sealed cabin 23 through the first connecting pipe 24, after the water in the sealed cabin 23 is discharged, the transmission device 25 can discharge the gas generated in the gas reactor 22 into the air bag 26, the sealed cabin 23 can provide buoyancy for the robot, under the double functions of the air bag 26 and the sealed cabin 23, the robot can quickly float out of the water after the problem, and meanwhile, the safety device 2 cannot normally run due to the use of the safety device.
Referring to fig. 2, 3 and 10: the triggering device 21 includes a triggering block 211, a button 212, and a safety device 213; the trigger block 211 is slidably arranged on the side wall of the shell 1 along the length direction of the shell 1, and the trigger block 211 penetrates through the side wall of the shell 1; the button 212 is arranged in the shell 1, the button 212 is positioned at one side of the end part of the triggering block 211, the button 212 is connected with the gas reactor 22 and can trigger the gas reactor 22, and the triggering block 211 can trigger the button 212; a safety device 213 is provided on the trigger block 211, and the safety device 213 restricts the trigger block 211 when the external pressure does not reach the preset pressure.
In the process of the robot submerging, the water flow in the ocean can form impact on the side wall of the robot shell 1, if the safety device 213 is not arranged, the trigger block 211 slides under the impact of the water flow, the condition that the trigger block 211 accidentally triggers the button 212 is easily caused, after the safety device 213 is arranged, the external pressure is gradually greater than the preset pressure along with the sinking of the robot only when the robot breaks down, the safety device 213 is unlocked at the moment, the trigger block 211 can slide freely, and the trigger block 211 can press the button 212 to trigger under the pressure action of external seawater.
Referring to fig. 7, 8 and 10: the safety device 213 includes a safety bar 2131, a first link 2132, a clamping frame 2133, a first clamping groove 2134, a second clamping groove 2135, and an elastic component; the bumper 2131 is arranged at one side of the trigger block 211, and the bumper 2131 is arranged on the side wall of the shell 1 in a sliding manner along the length direction of the shell 1; the elastic component is arranged on the end part of the bumper 2131 positioned in the shell 1; the first link 2132 is disposed under the bumper 2131, and one end of the first link 2132 is hinged to an end of the bumper 2131; the clamping frame 2133 is vertically arranged below the first connecting rod 2132, the upper part of the clamping frame 2133 is hinged with one end of the first connecting rod 2132, which is far away from the bumper bar 2131, and the clamping frame 2133 can slide along the vertical direction under the drive of the first connecting rod 2132; the first clamping groove 2134 is arranged on the clamping frame 2133 in a penetrating manner along the length direction of the shell 1; the second clamping groove 2135 is provided at the lower part of the trigger block 211, and the clamping frame 2133 is matched with the second clamping groove 2135 in a clamping manner.
In order to prevent the trigger block 211 from accidentally sliding due to the flowing water impact, a safety device 213 is disposed on one side of the trigger block 211, when the pressure does not reach the preset pressure, the elastic component provides support for the safety rod 2131, so that the safety rod 2131 cannot fully retract into the housing 1, and further, the clamping frame 2133 disposed below the first link 2132 cannot fully move downward, since the external seawater pressure can act on the safety rod 2131 and the trigger block 211 at the same time, the safety rod 2131 cannot easily slide due to the action of the elastic component, i.e. the external water impact cannot greatly affect the safety rod 2131, the seawater pressure overcomes the elasticity of the elastic component to push the clamping frame 2133 only as the submergence depth increases, and the clamping frame 2133 slides along the vertical direction as the clamping frame 2133 slides along with the trigger block 211, so that the trigger block 211 can impact on the button 212 under the action of the external seawater pressure, and the gas reactor 22 is activated.
Referring to fig. 8: the elastic assembly includes a second link 2136, a slider 2137, and a spring 2138; the second connecting rod 2136 is hinged on one end of the trigger block 211 positioned inside the shell 1; the sliding block 2137 is hinged to one end of the second connecting rod 2136 away from the trigger block 211, and the sliding block 2137 is arranged in a sliding manner along the width direction of the shell 1; the spring 2138 is provided on the slider 2137 away from the second link 2136 in the width direction of the housing 1.
When the bumper 2131 is impacted by external seawater pressure or water flow fluctuation, the bumper 2131 drives the sliding block 2137 to slide through the second connecting rod 2136, so that the spring 2138 arranged on the sliding block 2137 is compressed, the elastic force of the spring 2138 acts on the bumper 2131 after the compression, and the clamping frame 2133 is only disengaged from the triggering block 211 when the bumper 2131 is completely pressed into the housing 1.
Referring to fig. 4: the transmission 25 includes an air supply 251, a turbo pump 252, a disk 253, meshing teeth 2531, and a first gear 254; the turbine pump 252 is arranged on the first connecting pipe 24, and the turbine pump 252 can be driven to rotate when the gas in the first connecting pipe 24 flows; the disc 253 is arranged on one side of the turbine pump 252, and the turbine pump 252 can drive the disc 253 to rotate; the plurality of the meshing teeth 2531 are arranged, the meshing teeth 2531 are equidistantly arranged on the side wall of the disc 253 around the straight line of the disc 253, and the arc length of the part of the disc 253, which is not provided with the meshing teeth 2531, is longer than that of the part of the disc 253, which is provided with the meshing teeth 2531; both sides of the gas supply device 251 are connected with the gas reactor 22 and the airbag 26, respectively; the first gear 254 is disposed on the air supply device 251, the first gear 254 can control the air supply device 251 to be opened and closed, and the first gear 254 is engaged with the engagement teeth 2531.
When the gas reactor 22 is activated, the gas reactor 22 generates gas, the gas enters the first connecting pipe 24, so that the turbo pump 252 arranged on the first connecting pipe 24 is driven to rotate, the disc 253 can be driven by the turbo pump 252, so that after the turbo pump 252 rotates, the disc 253 rotates, when the disc 253 rotates, the part of the disc 253, which is not provided with the meshing teeth 2531, does not drive the first gear 254 to rotate when passing through the first gear 254, and when the part of the disc 253, which is provided with the meshing teeth 2531, passes through the first gear 254, the first gear 254 is driven to rotate, the gas supply device 251 is driven by the first gear 254 to be started, the gas supply device 251 lifts and supplies the gas to the gas bag 26, and the gas bag 26 is inflated to float up with the shell 1.
Referring to fig. 5: the transmission 25 further includes a second gear 2521 and a third gear 2522; the second gear 2521 is fixedly provided on the driving end of the turbo pump 252; a third gear 2522 is provided at an end of the disc 253 along the axis of the disc 253, the third gear 2522 intermeshes with a second gear 2521, the diameter of the second gear 2521 being smaller than the diameter of the third gear 2522.
When the gas flows through the first connection pipe 24, the turbo pump 252 provided on the first connection pipe 24 is rotated, so that the second gear 2521 provided on the driving end of the turbo pump 252 is also rotated, and since the second gear 2521 and the third gear 2522 are engaged with each other, the third gear 2522 can be rotated by the second gear 2521, and the disk 253 fixedly coupled with the third gear 2522 is also rotated.
Referring to fig. 6: the gas supply device 251 includes a second connection pipe 2511 and a switching valve 2512; both ends of the second connection pipe 2511 are connected to the airbag 26 and the gas reactor 22, respectively; the switching valve 2512 is provided on the second connection pipe 2511, and a switching knob on the switching valve 2512 is fixedly connected with the first gear 254.
When the disc 253 rotates, the part of the disc 253, which is not provided with the meshing teeth 2531, does not drive the first gear 254 to rotate when passing through the first gear 254, and when the part of the disc 253, which is provided with the meshing teeth 2531, passes through the first gear 254, the first gear 254 is driven to rotate, the first gear 254 drives the switch knob on the switch valve 2512 to rotate, so that the gas generated by the gas reactor 22 enters the air bag 26 through the second connecting pipe 2511, and the air bag 26 is inflated and expanded.
Referring to fig. 1: the safety device 2 further comprises a one-way valve 231; a one-way valve 231 is provided on a side wall of the seal cartridge 23, the one-way valve 231 allowing water in the seal cartridge 23 to flow out to the seal cartridge 23.
Since many electric power systems of the robot will malfunction after the robot breaks down, the sealing bin 23 needs to draw in the external water when storing the ballast water, so the sealing bin 23 needs to be provided with a switch, and when the robot breaks down, the switch cannot be ensured to be smoothly opened, if the switch is in a closed state, the gas pressure generated by the gas reactor 22 cannot extrude the water in the sealing bin 23, and after the one-way valve 231 is arranged, the situation can be avoided, the water in the sealing bin 23 can be stably extruded, and the external seawater cannot enter the sealing bin 23 through the one-way valve 231.
Referring to fig. 1: the safety device 2 further comprises a warning light 27; the warning lamp 27 is fixedly provided at the upper portion of the housing 1.
When the robot fails during night operation, after the water in the sealed cabin 23 is discharged and the air bag 26 is ejected, the robot under water can rise, and the warning lamp 27 arranged on the shell 1 can provide guidance for a worker searching the robot, so that the robot can be found conveniently at night.
Referring to fig. 1-10: the safety device 2 further comprises a locator; the locator is fixedly arranged inside the shell 1.
Because ocean currents exist on the sea, when the robot breaks down and floats on the water surface, the robot is far away from the place where the robot happens under the pushing of the ocean currents, and after the locator is arranged, a worker can find the specific position of the robot through the locating of the locator.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.
Claims (10)
1. An underwater robot comprises a housing (1) and a safety device (2);
the safety device (2) is characterized by comprising a triggering device (21), a gas reactor (22), a sealing bin (23), a first connecting pipe (24), a transmission device (25) and an air bag (26);
the triggering device (21) is arranged on the shell (1), and the triggering device (21) can be triggered under preset pressure;
the gas reactor (22) is arranged in the shell (1), the triggering device (21) is connected with the gas reactor (22), and the triggering device (21) can start the gas reactor (22) after being triggered;
the sealing bin (23) is fixedly arranged on the side wall of the shell (1), and a water outlet is formed in the side wall of the sealing bin (23);
the two ends of the first connecting pipe (24) are respectively connected with the sealed bin (23) and the gas reactor (22), and gas generated by the reaction of the gas reactor (22) enters the sealed bin (23) through the first connecting pipe (24);
the air bag (26) is fixedly arranged at the upper part of the shell (1);
the transmission device (25) is arranged on the first connecting pipe (24), and after the water in the sealed bin (23) is discharged, the first connecting pipe (24) drives the transmission device (25) to pump the gas generated by the gas reactor (22) into the air bag (26).
2. An underwater robot as claimed in claim 1, characterized in that the triggering device (21) comprises a triggering block (211), a button (212) and a safety device (213);
the trigger block (211) is arranged on the side wall of the shell (1) in a sliding manner along the length direction of the shell (1), and the trigger block (211) penetrates through the side wall of the shell (1);
the button (212) is arranged in the shell (1), the button (212) is positioned on one side of the end part of the trigger block (211), the button (212) is connected with the gas reactor (22) and can trigger the gas reactor (22), and the trigger block (211) can trigger the button (212);
a safety device (213) is arranged on the trigger block (211), and the safety device (213) limits the trigger block (211) when the external pressure does not reach the preset pressure.
3. The underwater robot of claim 2, wherein the safety device (213) comprises a safety bar (2131), a first link (2132), a clamping frame (2133), a first clamping groove (2134), a second clamping groove (2135), and an elastic assembly;
the bumper (2131) is arranged on one side of the trigger block (211), and the bumper (2131) is arranged on the side wall of the shell (1) in a sliding manner along the length direction of the shell (1);
the elastic component is arranged on the end part of the bumper (2131) positioned in the shell (1);
the first connecting rod (2132) is arranged below the bumper (2131), and one end of the first connecting rod (2132) is hinged with the end part of the bumper (2131);
the clamping frame (2133) is vertically arranged below the first connecting rod (2132), the upper part of the clamping frame (2133) is hinged with one end, far away from the bumper (2131), of the first connecting rod (2132), and the clamping frame (2133) can slide along the vertical direction under the driving of the first connecting rod (2132);
the first clamping groove (2134) is arranged on the clamping frame (2133) in a penetrating manner along the length direction of the shell (1);
the second clamping groove (2135) is arranged at the lower part of the trigger block (211), and the clamping frame (2133) is matched with the second clamping groove (2135) in a clamping way.
4. A submerged robot according to claim 3, characterized in that the elastic assembly comprises a second link (2136), a slide (2137) and a spring (2138);
the second connecting rod (2136) is hinged to one end of the trigger block (211) positioned in the shell (1);
the sliding block (2137) is hinged to one end of the second connecting rod (2136) far away from the trigger block (211), and the sliding block (2137) is arranged in a sliding manner along the width direction of the shell (1);
the spring (2138) is provided on the slider (2137) away from the second link (2136) in the width direction of the housing (1).
5. An underwater robot as claimed in claim 1, characterized in that the transmission means (25) comprise a gas supply (251), a turbine pump (252), a disc (253), meshing teeth (2531) and a first gear (254);
the turbine pump (252) is arranged on the first connecting pipe (24), and the turbine pump (252) can be driven to rotate when the gas in the first connecting pipe (24) flows;
the disc (253) is arranged on one side of the turbine pump (252), and the turbine pump (252) can drive the disc (253) to rotate;
the meshing teeth (2531) are arranged in a plurality, the meshing teeth (2531) are equidistantly arranged on the side wall of the disc (253) around the straight line of the disc (253), and the arc length of the part of the disc (253) which is not provided with the meshing teeth (2531) is larger than the arc length of the part of the disc (253) which is provided with the meshing teeth (2531);
the two sides of the gas supply device (251) are respectively connected with the gas reactor (22) and the gas bag (26);
the first gear (254) is arranged on the air supply device (251), the first gear (254) can control the air supply device (251) to be opened and closed, and the first gear (254) is meshed with the meshing teeth (2531).
6. An underwater robot as claimed in claim 5, characterized in that the transmission (25) further comprises a second gear (2521) and a third gear (2522);
the second gear (2521) is fixedly arranged on the driving end of the turbine pump (252);
the third gear (2522) is arranged at the end part of the disc (253) along the axis of the disc (253), the third gear (2522) is meshed with the second gear (2521), and the diameter of the second gear (2521) is smaller than that of the third gear (2522).
7. The underwater robot according to claim 5, characterized in that the gas supply means (251) comprises a second connection pipe (2511) and a switching valve (2512);
both ends of the second connecting pipe (2511) are respectively connected with the air bag (26) and the gas reactor (22);
the switch valve (2512) is arranged on the second connecting pipe (2511), and a switch knob on the switch valve (2512) is fixedly connected with the first gear (254).
8. An underwater robot as claimed in claim 1, characterized in that the safety device (2) further comprises a one-way valve (231);
a one-way valve (231) is arranged on the side wall of the sealing bin (23), and the one-way valve (231) allows water in the sealing bin (23) to flow outwards to the sealing bin (23).
9. An underwater robot as claimed in claim 1, characterized in that the safety device (2) further comprises a warning light (27);
the warning lamp (27) is fixedly arranged at the upper part of the shell (1).
10. An underwater robot as claimed in claim 1, characterized in that the safety device (2) further comprises a locator;
the locator is fixedly arranged in the shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311320830.8A CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311320830.8A CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117208175A true CN117208175A (en) | 2023-12-12 |
| CN117208175B CN117208175B (en) | 2024-04-09 |
Family
ID=89042523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311320830.8A Active CN117208175B (en) | 2023-10-12 | 2023-10-12 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117208175B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080006597U (en) * | 2008-12-03 | 2008-12-29 | (주)보고 | Ballast apparatus of underwater vehicle |
| CN104309787A (en) * | 2014-10-23 | 2015-01-28 | 南通市海鸥救生防护用品有限公司 | Robot drop protection device |
| CN111252223A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Emergency floating device of underwater robot |
| CN112249284A (en) * | 2020-10-23 | 2021-01-22 | 哈尔滨工程大学 | Emergency floating device of underwater robot |
| CN112319749A (en) * | 2020-10-26 | 2021-02-05 | 中国船舶科学研究中心 | Submersible underwater deep falling emergency floating device |
| CN212500965U (en) * | 2019-04-26 | 2021-02-09 | 西湖大学 | Emergent recovery unit of underwater robot |
| CN114715366A (en) * | 2020-12-22 | 2022-07-08 | 中国科学院沈阳自动化研究所 | Emergent floating device that unmanned under water navigation utensils |
| CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
-
2023
- 2023-10-12 CN CN202311320830.8A patent/CN117208175B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080006597U (en) * | 2008-12-03 | 2008-12-29 | (주)보고 | Ballast apparatus of underwater vehicle |
| CN104309787A (en) * | 2014-10-23 | 2015-01-28 | 南通市海鸥救生防护用品有限公司 | Robot drop protection device |
| CN212500965U (en) * | 2019-04-26 | 2021-02-09 | 西湖大学 | Emergent recovery unit of underwater robot |
| CN111252223A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Emergency floating device of underwater robot |
| CN112249284A (en) * | 2020-10-23 | 2021-01-22 | 哈尔滨工程大学 | Emergency floating device of underwater robot |
| CN112319749A (en) * | 2020-10-26 | 2021-02-05 | 中国船舶科学研究中心 | Submersible underwater deep falling emergency floating device |
| CN114715366A (en) * | 2020-12-22 | 2022-07-08 | 中国科学院沈阳自动化研究所 | Emergent floating device that unmanned under water navigation utensils |
| CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
Non-Patent Citations (1)
| Title |
|---|
| 王明剑;陈庆;张绳;: "气囊技术用于潜艇应急上浮方案探讨", 舰船科学技术, no. 04, 15 April 2009 (2009-04-15), pages 41 - 44 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117208175B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114236086B (en) | Floating water quality sampling monitoring equipment for monitoring urban water source | |
| CN117208175B (en) | Underwater robot | |
| CN108454783A (en) | A kind of underwater platform heaving line device with buoy | |
| CN110565610B (en) | Device for cleaning and recovering floater on narrow river surface | |
| CN212932609U (en) | River course water quality monitoring device | |
| CN115677134A (en) | Oil-water separation device for ship sewage treatment and use method thereof | |
| CN110426240B (en) | Device and method for taking out underwater sludge and attachments | |
| CN113044187A (en) | Mechanical release device of life raft | |
| CN212500965U (en) | Emergent recovery unit of underwater robot | |
| CN114136291A (en) | Hydrology monitoring device applied to river | |
| CN207971796U (en) | A kind of ocean engineering cleaning equipment of good airproof performance | |
| CN209870691U (en) | Underwater robot | |
| CN117433839A (en) | Buoyancy-regulating and controlling sampling device of robot for marine investigation | |
| CN110155298B (en) | Structure for recovering dirty oil from deck of liquid cargo ship | |
| CN114163083B (en) | Floating type ocean sewage treatment device | |
| CN213684554U (en) | Back-flushing type explosion-proof sand discharge pump | |
| CN213743323U (en) | Elastic clamping fishing hook drilling tool fishing tool | |
| CN113525632A (en) | Underwater intelligent robot capable of floating upwards quickly | |
| CN111485540B (en) | Take anti-rust treatment's offshore drilling platform pillar anti-rust equipment | |
| CN202642076U (en) | Manual decontamination device | |
| CN118403400B (en) | Wastewater treatment device for textile processing and treatment method thereof | |
| CN102632972A (en) | Water spray combined flood prevention rescue boat | |
| CN217864620U (en) | Pontoon ship with front impact resistance | |
| CN213109743U (en) | Emergency protection recovery unit of underwater robot | |
| CN115324006B (en) | Ocean greasy dirt recovery unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |