CN208549721U - Catch robot - Google Patents

Abstract

The utility model provides a kind of fishing robot, includes framing component, propeller mould group, buoyancy piece mould group, electronic compartment mould group, battery modules and functor mould group；Propeller mould group, buoyancy piece mould group, electronic compartment mould group and battery modules are removably mounted on framing component；Framing component includes lateral plate structure, support board structure and cross-over configurations；The lateral plate structure includes left plate and this two blocks of side plates of right side plate, and cross-over configurations direct or indirect connection is on side plate；Support board structure includes left supporting plate and right supporting plate these two types supporting plate, and left supporting plate, right supporting plate are securedly mounted to left plate, on right side plate respectively；Functor mould group includes the robot manipulator structure being mounted on framing component.The utility model can carry out under water fishing activity by mechanical arm structural clamp fishing net, while carry camera, multi-beam sonar and searchlight, and then can capture the position of the shoal of fish, and attract the shoal of fish by light.

Description

Catch robot

Technical field

The utility model relates to robot fields, undersea search field, and in particular, to a kind of fishing robot.

Background technique

Currently, the fishing in seabed is largely that diver is employed to carry out underwater fishing operation, this underwater fishing is leaned on completely The experience of diver operates, also, in arctic weather, water temperature is extremely low, and diver is difficult to dive beneath the water, fishing operation by Limit employs at high cost, diver risk high.Even some deep waters, due to bad environments, pressure is excessive to wait one A little reasons, personnel, which can not dive into the water, carries out fishing operation.For these reasons, eager needs one can replace the mankind to carry out The robot of underwater fishing operation.

Utility model content

For the defects in the prior art, the purpose of the utility model is to provide a kind of fishing robots.

It include framing component, propeller mould group, buoyancy piece mould group, electricity according to fishing robot provided by the utility model Sub- cabin mould group, battery modules and functor mould group；Propeller mould group, buoyancy piece mould group, electronic compartment mould group and battery modules It is removably mounted on framing component；

Framing component includes lateral plate structure, support board structure and cross-over configurations；The lateral plate structure includes left plate and the right side This two blocks of side plates of side plate, cross-over configurations direct or indirect connection is on side plate；Support board structure include left supporting plate and right supporting plate this two Class supporting plate, left supporting plate, right supporting plate are securedly mounted to left plate, on right side plate respectively；

Functor mould group includes the robot manipulator structure being mounted on framing component, and the robot manipulator structure includes linear motor With clamping part；Linear motor driving clamping part is converted between open configuration and closed state both states.

Preferably, the propeller mould group includes horizontal propeller and both underwater propellers of vertical pusher；It is horizontal Propeller, vertical pusher are separately mounted to supporting plate, on side plate；

Two be adjacently positioned the supporting plate being mounted on the same side plate is provided with arc groove on two opposite end faces； Space between two arc grooves being oppositely arranged forms the installation space of vertical pusher.

It preferably, include the first supporting plate and the second supporting plate in multiple left supporting plates；It include third support in multiple right supporting plates Plate and the 4th supporting plate；

The cross-over configurations include arc-like sheet, between the first supporting plate and third supporting plate and/or the second supporting plate and the 4th supporting plate Between by the arc-like sheet be connected；

The electronic compartment mould group is mounted on arc-like sheet.

Preferably, the cross-over configurations include bottom plate, and the both ends of bottom plate are connected directly with left plate, right side plate respectively；

The battery modules are mounted on bottom plate.

Preferably, it is provided with the first plate hole on the supporting plate, the first connecting hole is provided on side plate；

Embedded nut is provided in first plate hole, the first bolt of setting penetrates rear and embedded spiral shell from the first connecting hole Supporting plate is fixed on side plate by mother's cooperation；

Colloid layer is additionally provided between first bolt and embedded nut；

Buoyancy piece mould group includes buoyancy cover and buoyant mass, and buoyancy cover is securedly mounted on supporting plate, and buoyant mass is located at buoyancy cover Between supporting plate.

Preferably, underwater propeller includes electric machine structure, support guide structure and one or more paddle blades；

The electric machine structure includes rotor assembly and stator module；Support guide structure, paddle blade are separately mounted to stator On component, rotor assembly；

The rotor assembly includes shell, and multiple paddle blades are directly securedly mounted on shell along circumferential direction respectively；Or Person is indirectly attached on shell after multiple paddle blades are molded as one by the blade connection being arranged；The shell is located at fixed The radial outside of sub-component；

Support guide structure includes guide pipe, and the paddle blade is located at the radially inner side of guide pipe.

Preferably, the rotor assembly also includes shaft, rotor magnet and first end cover, and first end cover and shell fasten Connection is integrally formed, and the rotor magnet is mounted on the inner wall of shell；Shaft is circumferentially fixed in first end cover；

The stator module includes excitation winding, inner support and second end cover, and inner support and second end cover are integrally formed Or be fastenedly connected, the excitation winding is mounted on the outer peripheral surface of inner support；

Space that first end cover, second end cover and shell surround formed article containing space, the rotor magnet and excitation around Group is respectively positioned in article containing space；

The support guide structure also includes the first housing and the second housing, and the second housing is securedly mounted to second end cover On；

The guide pipe includes to be fastenedly connected or integrally formed diameter socket part and guide part, the support that the second housing passes through setting Opening lever is connected in diameter socket part, and the first housing is fastenedly connected on guide part by the fender rod being arranged；

It is also fastenedly connected with mounting bracket on guide pipe, is provided with embedded nut in the connecting hole being arranged in mounting bracket.

Preferably, the electronic compartment mould group includes that pressure-resistant control cabinet and underwater manipulator, the underwater manipulator are mounted on In pressure-resistant control cabinet；

Pressure-resistant control cabinet includes to axially extend the sequentially connected first control hatchcover in direction, control cabinet shell, the second control Hatchcover；The battery modules include that pressure-resistant battery flat and battery, the battery are mounted in pressure-resistant battery flat；Pressure-resistant battery flat packet Containing battery hatch；

It is described first control hatchcover and/or second control hatchcover and/or battery hatch on be provided with it is following any one or appoint Multiple structures: waterproof quick coupling, air vent connector, connector connect bolt.

Preferably, functor mould group also include it is following any one or appoint multiple structures: searchlight, camera, sonar；

First control hatchcover, the second control cabinet cover and are connected with umbilical cables, camera by fast waterproof connector respectively；

The umbilical cables include cable protective sleeve, form cabling space inside cable protective sleeve；The cable protective sleeve packet Containing the polyethylene outer sheath being radially arranged from outside to inside, two-sided cover plastic-steel belt；Be provided in cabling space it is following any one Or appoint multiple structures: power supply line, optical fiber, gasket for packing, metal reinforcement；

Second control cabinet, which covers, is additionally provided with sapphire glass cover, and the camera is located in sapphire glass cover；

The camera includes low-light (level) video camera.

Preferably, clamping part is removably mounted on linear motor；

The linear motor includes cover assembly, driving motor and straight line adjustment structure；

The cover assembly inner space forms isobaric space, and driving motor is mounted in isobaric space；It is described isobaric empty Between the middle full isobaric fluid of filling；

The straight line adjustment structure includes push rod and screw rod, the screw rod and the circumferentially fixed connection of driving motor；Push rod edge Axial one end is fastenedly connected or integrally formed with adjusting nut, and the other end, which axially extends, reaches the external empty of isobaric space Between；

Adjusting nut and screw rod collectively form Leadscrew drive system, are provided with dynamic sealing knot between push rod and isobaric shell Structure.

Compared with prior art, the utility model have it is following the utility model has the advantages that

1, the utility model can carry out under water fishing activity by mechanical arm structural clamp fishing net, while carry camera shooting Head, multi-beam sonar and searchlight, and then the position of the shoal of fish can be captured, and the shoal of fish is attracted by light.

2, the utility model realizes quick assembling, diversified group with structural moduleization and control system modular technology Conjunction and the quickly functions such as expansion, and stress levels are high, it is small in size, it is at low cost, it can quickly connect.

3, diversification configuration, buoyant material, kentledge can arbitrarily arrange in pairs or groups according to statics Analysis structure；Configure different pressure resistances Propeller, buoyant material, the pressure-resistance structure of grade can produce the fishing robot of different stress levels.

4, the utility model solves the key problem of submersible machine waterproof, it is not necessary to do pressure-resistant seal again for motor complete machine Cabin, enormously simplifies the structure of propeller, and weight, size and manufacturing cost are effectively reduced.

5, when working in water, the water flow near the utility model provides excellent water cooling for high-speed rotating motor, leads While the structure of pipe paddle is capable of providing efficient thrust, it effectively prevent being involved in for underwater sundries.

6, framing component overall construction design is reasonable, can be fishing robot under the premise of using less parts as far as possible Component sufficient installation site is provided, alleviate the weight of frame, save material cost；Whole installation is also ensured simultaneously Intensity.

7, the utility model is also equipped with manipulator, can be grabbed after detecting object.

Detailed description of the invention

Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model Sign, objects and advantages will become more apparent upon:

Fig. 1 is fishing robot perspective view；

Fig. 2 is the perspective view of camera installation site in reaction fishing robot；

Fig. 3 is framing component schematic perspective view；

Fig. 4 is schematic perspective view when fishing robot part is truncated；

Fig. 5 is battery hatch partial enlarged view；

Fig. 6 is the first control hatchcover partial enlarged view；

Fig. 7 is fishing robot bottom view；

Fig. 8 is underwater propeller schematic perspective view；

Fig. 9 is underwater propeller side view；

Figure 10 is underwater propeller cross-sectional view；

Figure 11 is perspective view under one visual direction of electric machine structure；

Figure 12 is electric machine structure cross-sectional view；

Figure 13 is perspective view under another visual direction of electric machine structure；

Figure 14 is umbilical cables cross-sectional view；

Figure 15 is structure of the linear motion actuator schematic diagram；

Figure 16 is that linear motor and clamping part assemble detail drawing；

Figure 17 is that linear motor and clamping part assemble outline drawing.

It is shown in figure:

Specific embodiment

The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made. These are all within the protection scope of the present invention.

In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

As shown in Figure 1 and Figure 2, fishing robot provided by the utility model includes framing component 400, propeller mould group 610, buoyancy piece mould group 620, electronic compartment mould group 630, battery modules 640 and functor mould group；Propeller mould group 610, buoyancy Part mould group 620, electronic compartment mould group 630 and battery modules 640 are removably mounted on framing component 400；Framing component 400 Include lateral plate structure 410, support board structure 420 and cross-over configurations 430；The lateral plate structure 410 includes left plate 411 and right side This two blocks of side plates of plate 412,430 direct or indirect connection of cross-over configurations is on side plate；Support board structure 420 includes left supporting plate and right support Plate these two types supporting plate, left supporting plate, right supporting plate are securedly mounted to left plate 411, on right side plate 412 respectively；Functor mould group includes The robot manipulator structure being mounted on framing component (400), the robot manipulator structure include linear motor 500 and clamping part 561；Institute Stating linear motor 500 drives clamping part 561 to convert between open configuration and closed state both states, it is preferable that described Linear motor 500 is mounted on framing component 400.

Any of lateral plate structure 410, support board structure 420, cross-over configurations 430 structure appoints multiple structures to include HDPE Part.High density polyethylene (HDPE) (HDPE) material is that a kind of crystallinity is high, and nonpolar thermoplastic resin is nontoxic, tasteless, is had good Heat resistance and cold resistance, chemical stability is good, and rigidity and toughness with higher, mechanical strength is good, and water imbibition is low.Compared to existing Some metal frameworks, weight can be effectively reduced with manufacturing cost.

It include the first supporting plate 421 and the second supporting plate 422 in multiple left supporting plates；It include third supporting plate in multiple right supporting plates 423 and the 4th supporting plate 424.As shown in Fig. 2, being provided with the first plate hole 454 on the supporting plate, the first connecting hole is provided on side plate 455, embedded nut 456 is provided in first plate hole 454, after the first bolt 461 of setting is penetrated from the first connecting hole 455 Cooperate with embedded nut 456 and supporting plate is fixed on side plate.It is additionally provided between first bolt 461 and embedded nut 456 Nut in practical application, at the beginning of assembly, is thrown into make embedded nut among the first plate hole 454 first by colloid layer 456, for each supporting plate and side plate to be connected into a general frame, connected in the first bolt 461 and embedded nut 456 When connecing, a kind of anaerobism colloid is poured into embedded nut 456, can guarantee not generating between supporting plate and side plate so opposite Movement connects stronger, the stability of enhancing structure.

The propeller mould group 610 includes horizontal propeller 611 and both underwater propellers 200 of vertical pusher 612； Horizontal propeller 611, vertical pusher 612 are separately mounted to supporting plate, on side plate；It is mounted on being adjacently positioned on the same side plate Opposite two end faces of two supporting plates on be provided with arc groove 441；The space between two arc grooves 441 being oppositely arranged Form the installation space of vertical pusher 612.As shown in fig. 7, being provided with 4 horizontal propellers 611 and 2 altogether in embodiment Vertical pusher 612, in practical application, the quantity of underwater propeller 200 can be adjusted as needed.Preferably, the side It is provided with lamp secured adjusted hole 457 on plate, lamp mounting rack 458, the searchlight are provided in lamp secured adjusted hole 457 681 are just mounted on lamp mounting rack 458.Since searchlight 681 is different from the power demands of underwater propeller 200, battery modules After 640 connections one are for the electronic device of electric adjustment, then respectively on searchlight 681, underwater propeller 200.Preferably, side Hand-held hole 461 is additionally provided on plate.

The cross-over configurations 430 include arc-like sheet 431 and bottom plate 432, between the first supporting plate 421 and third supporting plate 423 and/ Or second be connected between supporting plate 422 and the 4th supporting plate 424 by the arc-like sheet 431.On the one hand arc-like sheet increases two sides On the other hand connective stability between plate provides positioning and installation space for electronic compartment mould group 630.The both ends of bottom plate 432 It is connected directly respectively with left plate 411, right side plate 412；Kentledge hole 451 is provided on bottom plate 432, it can on kentledge hole 451 Clump weight is installed, cooperation buoyancy piece mould group 620 is controlled fishing the buoyancy that robot is integrally subject to, convenient for underwater operation.In addition, institute Battery modules 640 are stated to be also mounted on bottom plate (432).Preferably, 432 shape of bottom plate is H-shaped, is set on the bottom plate 432 It is equipped with the second connecting hole, second connecting hole is located at the middle part of H-shaped bottom plate 432, can be used for fixing the equal knot of battery modules 640 Structure.

As shown in figure 3, being provided with main lightening hole 452, along height extending direction, the supporting plate, bottom plate on the side plate 432 are located at the two sides of main lightening hole 452.Time lightening hole 453, the secondary lightening hole are additionally provided on supporting plate and/or side plate 453 be following any or various shapes: circle, polygon, waist-shaped hole shape, ellipse, irregular shape.On framing component Aperture be on the one hand conducive to mitigate overall weight, on the other hand, the supplement of clump weight may be implemented, harness is tied up, is whole The lifting of structure and the adjustment for facilitating whole trim and center of gravity.Generally speaking, the utility model is to framing component and fishing The whole center of gravity and weight of robot have stringent control, so in terms of the plates such as side plate, supporting plate, bottom plate 432, need by Many experiments and calculating, the final the number of openings for determining plate fabrication hole and position, are allowed to not only meet installation requirement, but also reach Center of gravity and weight demands.

As shown in Fig. 8 to Figure 10, underwater propeller 200 provided by the utility model is led comprising electric machine structure 100, support To structure 210 and one or more paddle blades 240；The electric machine structure 100 includes rotor assembly 110 and stator module 120； Support guide structure 210, paddle blade 240 are separately mounted to stator module 120, on rotor assembly 110；The rotor assembly 110 Comprising shell 114, the shell 114 is located at the radial outside of stator module 120.Multiple difference of paddle blades 240 are along circumferential direction Directly it is securedly mounted on shell 114；Alternatively, after multiple paddle blades 240 are molded as one by the blade connection being arranged, It connects and is mounted on shell 114；Support guide structure 210 includes guide pipe 220, and the paddle blade 240 is located at the diameter of guide pipe 220 Inwardly.

As shown in Figure 11 to Figure 13, the rotor assembly 110 also includes shaft 111, rotor magnet 112 and first end cover 113, first end cover 113 is fastenedly connected or is integrally formed with shell 114, and the rotor magnet 112 is mounted on the inner wall of shell 114 On face；Shaft 111 is circumferentially fixed in first end cover 113；The stator module 120 includes excitation winding 121, inner support 122 And second end cover 123, inner support 122 are integrally formed or are fastenedly connected with second end cover 123, the excitation winding 121 is installed On the outer peripheral surface of inner support 122；The space that first end cover 113, second end cover 123 and shell 114 surround forms tolerant sky Between, the rotor magnet 112 is respectively positioned in article containing space with excitation winding 121；Stator module 120 passes through with rotor assembly 110 One or more sliding bearings 130 connect.Preferably, the inner support 122 is tubulose, and the shaft 111 is through setting in pipe In the axially extending bore of shape inner support 122, shaft 111 is connect with inner support 122 by the sliding bearing 130；Multiple excitations around Group 121 is circumferentially distributed in the outside wall surface of inner tubular support 122；Multiple rotor magnets 112 are with excitation winding 121 in radial side It is oppositely arranged upwards.Preferably, the cross-sectional shape of the inner support 122 is also possible to polygon, multiple excitation windings 121 It is located on multiple radial end faces of inner support 122.Preferably, can have with preprocessing for pacifying in the inner support 122 The locating slot of the excitation winding 121 of dress can increase excitation winding 121 and inner support when being potted to excitation winding 121 Effective fixed-area between 122 increases fixing intensity.

The support guide structure 210 also includes the first housing 231 and the second housing 232, the fastening installation of the second housing 232 In second end cover 123；The guide pipe 220 includes to be fastenedly connected or integrally formed diameter socket part 221 and guide part 222, the Two housings 232 are connected in diameter socket part 221 by the bar 233 that struts of setting, the fender rod 234 that the first housing 231 passes through setting It is fastenedly connected on guide part 222.Mounting bracket 260 is also fastenedly connected on guide pipe 220；The fender rod 234 is in cross Arrangement.Preferably, the paddle blade 240 is biconvex profile, plano-convex aerofoil profile or concave-convex aerofoil profile.Compared to existing underwater propulsion knot The circular section rotation oar blade that structure uses, is conducive to provide bigger push away using the aerofoil profile paddle blade structure for being usually used in aviation field Power.Paddle blade 240, guide pipe 220 and fender rod 234 collectively form the structure of conduit paddle, are providing the same of efficient thrust When, it effectively prevent being involved in for underwater sundries.It is, of course, preferable to ground, the paddle blade 240, fender rod 234 and bar 233 is strutted Number can be allocated according to actual needs.Preferably, as shown in Figure 10, diameter socket part 221 and guide part 222 are in inner wall and outside Smoothed section connection on wall；The diameter socket part 221 is along the direction with 222 connecting pin of guide part to 221 free end of diameter socket part On, the diameter of inner wall and outer wall increases.For guide part 222, outer wall is in cylindrical shape, opposite 221 place end of diameter socket part Inner diameter remain unchanged, the inner diameter at end is gradually increased outward where the free end of guide part 222, is in reaming shape, has Conducive to the resistance of motion reduced in water.

Preferably, waterproof coating layer is provided on the excitation winding 121 and/or rotor magnet 112；The sliding bearing 130 include polymer composite bearing, and the shaft 111 includes No. 45 rotating steel shafts.The sliding bearing 130 is plastic shaft Hold, such bearing be it is special underwater using bearing, have the advantage that wear-resisting, can absorb top load, it is chemically resistant, It is corrosion-resistant, and can be worked normally in -40 degrees Celsius to+200 degrees Celsius of temperature.It is provided in the second end cover 123 Threading hole 141, the excitation winding 121 are connected with motor lines, and motor lines are threaded through in threading hole 141；The threading hole 141 Encapsulating layer is provided between wall surface of the hole and motor lines；Sealant pouring and sealing, which fills up motor line outlet, makes motor of the naked leakage in external environment Line is all sealed in Embedding Material, is reached to motor lines water proof anti-corrosion pressure resistance effect.Correspondingly, on second housing 232 It is provided with cable-through hole, motor lines run through cable-through hole in the direction of extension.Preferably, the first end cover 113, second end cover 123 On be respectively arranged with first through hole 142, the second through-hole 143.In addition, axially extending on direction, shell 114 and second end cover There are gaps between 123.Article containing space and external pressure difference can be balanced by above structure.Preferably, shell 114 and second End cap 123 is connected by bearing arrangement, and the structure connection of electric machine structure 100 entire in this way is even closer, and intensity is relatively reliable.

As shown in fig. 7, the first end cover 113 includes integrally formed radial extension 151 and fastening part 152, shaft 111 is circumferentially fixed on fastening part 152 along axial one end；Shaft 111 is reached along the axial other end through second end cover 123 The outside of article containing space, shaft 111 are equipped with shaft end clamping plate 161 along the axial other end, and shaft end clamping plate 161 is tight by setting Rationed marketing 162 is circumferentially fixed in shaft 111.It is provided with annular groove in the second end cover 123, the shaft end clamping plate 161 is along axis It is rotatably installed in annular groove to the one end in direction.Electric machine structure 100 entire in this way sees that structure is more compact in shape, shaft end Snap-gauge 161 is rotated with shaft 111, and plays protection sliding bearing 130, and limit the radial deflection that shaft 111 moves Effect.

Preferably, capsul is additionally provided in article containing space, the capsul is securedly mounted in inner support 122；Sealing Sealing space is formed inside shell, the excitation winding 121 is mounted in sealing space, and it is filled in sealing space and completely waits press liquids, The equal press liquids are insulating liquid.The purpose of capsul setting is that insulation and opposing stationary ring are built in sealing space The waterproof coating on excitation winding 121 and 121 surface of excitation winding is further protected in border.Compared with the existing technology, this is practical new It is smaller to the size requirement of capsul in type, therefore same thickness is able to bear bigger pressure difference, in addition, being in high pressure in time Under, it is also only to have lost part beneficial effect that capsul, which is destroyed, the normal operation without will affect equipment.The sealing Shell can be stiff case, be also possible to the shell with certain elasticity, for stiff case, pressure difference inside and outside sealing space by Capsul itself undertakes, and reliability is high, but to the material requirements of capsul higher；For having the shell of certain elasticity, example Such as rubber itself is able to bear certain external pressure, and certain deformation can be generated under deepwater high-pressure environment, so that insulation The pressure increase of liquid, but be unlikely to increase very much too many, forms certain barometric gradient, be ultimately applied to excitation winding 121 or The pressure of the waterproof coating on its surface is also relatively small, improves operation stability and service life.

As shown in figure 4, buoyancy piece mould group 620 includes buoyancy cover 621 and buoyant mass 622, buoyancy cover 621 is securedly mounted to hold in the palm On plate, buoyant mass 622 is between buoyancy cover 621 and supporting plate.Buoyant mass 622 is made of buoyant material, and buoyant material refers to close Degree is lower than the material of water.According to statics trim demand, buoyant mass 622 is cut into the fritter of needs, is placed in buoyancy cover 621 Interior, buoyancy cover 621 is taken with supporting plate to be bolted.621 function of buoyancy cover is anticollision and and the framing component of buoyant mass 622 400 are fixedly connected.

The electronic compartment mould group 630 includes that pressure-resistant control cabinet 631 and underwater manipulator, the underwater manipulator are mounted on resistance to It presses in control cabinet 631；Pressure-resistant control cabinet 631 includes to axially extend direction sequentially connected first control hatchcover 632, control cabinet Shell 633, second controls hatchcover 634；The battery modules 640 include that pressure-resistant battery flat 641 and battery, the battery are mounted on resistance to In piezoelectric battery cabin 641；Pressure-resistant battery flat 641 includes battery hatch 642.As shown in Figure 5, Figure 6, the first control hatchcover 632 And/or second control hatchcover 634 and/or battery hatch 642 on be provided with it is following any one or appoint multiple structures: the fast quick access of waterproof First 651, air vent connector 652, connector connect bolt 653.Air vent connector 652 is used for pneumatic sealing test, and rear enclosed gas is completed in detection Hole.When opening the cabin, stomata is first opened, for ventilating, can simply open hatchcover.Fast waterproof connector 651 connects bolt with connector 653 connect and carry out vulcanization sealing.Preferably, the utility model is also equipped with water surface control unit, and underwater manipulator passes through wired The mode and water surface control unit of communication or wireless communication carry out the transmitting of signal.Underwater manipulator includes two micro computers, point It Yong Yu not system control and motion control.Water surface control unit shows that sensing data is shown for image, control instruction acquisition Under pass.Preferably, water surface control unit is connect using network, USB or signal quick coupling with underwater manipulator, underwater control Device reserves user interface, in case user development.All signals pass through the measure voltage & current function of governor circuit, and upload the water surface It has been shown that, underwater situation are uploaded to water surface control unit by 9 sensor collection signals and are shown.Water surface control unit according to Different motion requirements presets different motion algorithms.Preferably, the pressure-resistant control cabinet 631 and/or pressure-resistant battery flat 641 It is also equipped with equal press liquids, working principle is consistent with the equal setting of press liquids in electric machine structure 100.

Preferably, functor mould group also include it is following any one or appoint multiple structures: searchlight 681, camera 682, sound ?.Preferably, the first control hatchcover 632, second, which controls, is connected with umbilical cables by fast waterproof connector respectively on hatchcover 634 660, camera 682 are additionally provided with sapphire glass cover 671 on second control hatchcover 634, and the camera 682 is located at blue precious In stone cloche 671.Umbilical cables 660 are for connecting water surface control unit and fishing robot, as shown in figure 14, umbilical cables 660 Comprising cable protective sleeve, cabling space is formed inside cable protective sleeve；The cable protective sleeve includes radially to set from outside to inside The polyethylene outer sheath 661 set two-sided covers plastic-steel belt 662；Be provided in cabling space it is following any one or appoint multiple structures: Power supply line 663, optical fiber 664, gasket for packing 665, metal reinforcement 666.Umbilical cables 660 provided by the utility model can be realized zero Buoyancy and the compound function of photoelectricity.Preferably, the camera (682) includes low-light (level) video camera, when the light of subject Degree as low as to a certain degree and make video camera export video level as low as when a certain specified value adjust scenery brightness values.Together When have ultra-sensitivity imaging sensor and exclusive electron multiplication and noise control technology that can greatly improve video camera spirit Sensitivity, has better met the demand to high-quality camera shooting, and small power consumption, image effect are true, not colour cast.

As shown in figure 15, clamping part 561 is removably mounted on linear motor 500；The linear motor 500 includes shield Component 510, driving motor 501 and straight line adjustment structure 520；510 inner space of cover assembly forms isobaric space, drives Dynamic motor 501 is mounted in isobaric space；Full isobaric fluid is filled in the isobaric space；The straight line adjustment structure 520 is wrapped Containing push rod 521 and screw rod 523, the screw rod 523 and the circumferentially fixed connection of driving motor 501；Push rod 521 is tight along axial one end It is solidly connected or integrally formed with adjusting nut 522, the other end axially extends the exterior space for reaching isobaric space；Adjusting nut 522 collectively form Leadscrew drive system with screw rod 523, are provided with movable sealing structure between push rod 521 and isobaric shell 512.

The cover assembly 510 includes the first end shield 511 being successively fastenedly connected, isobaric shell 512, the second end shield 513. It is provided with static seal annular groove on first end shield 511 and the second end shield 513, static sealing ring 531 is equipped in static seal annular groove, it is quiet Sealing ring 531 is contacted with the isobaric shell 512.Second end shield 513 is in axial direction provided with guide through hole, the push rod 521, which slide axially, is mounted in guide through hole；Blind hole is provided on push rod 521, the free end of the screw rod 523 extends to described In blind hole.As shown in figure 5, being provided with dynamic sealing annular groove on the inner wall of guide through hole, dynamic seal ring is equipped in dynamic sealing annular groove 532, dynamic seal ring 532 is contacted with push rod 521 always.The utility model is used using contact Sealing Method, i.e., in two contact surfaces Between one, the folder auxiliary element with very high mechanical strength and elasticity, existing gap is filled up, prevents have the seawater of pressure Entered by gap.It is sealed between two contact surface of movable sealing structure using sealing ring, is made by interference fit such as rubber pad Sealing ring have deformation restoration, thus generate automatically compress stress effect reached so that the gap of two contact surfaces tends to 0 To the purpose for preventing leakage.Therefore, the dynamic seal ring 532 needs sufficiently resilient and wearability.

As shown in figure 16, in embodiment, the driving motor 501 passes through shaft coupling 551 or the circumferentially fixed connection of bond structure Onto screw rod 523；Bearing arrangement 552 is additionally provided in isobaric space, two parts that bearing arrangement 552 relatively rotates are separately connected To screw rod 523, the second end shield 513.Preferably, positioning shaft shoulder 540, isobaric shell are additionally provided on second end shield 513 512 one of end face in axial direction is contacted with positioning shaft shoulder 540.Along 513 axial direction of the second end shield, stationary seal ring Slot, positioning shaft shoulder 540, dynamic sealing annular groove are sequentially arranged.It preferably, also include attaching conducting piece 553, attaching conducting piece 553 is tight Guan County is on the second end shield 513.

Preferably, support frame, pressure regulating valve and fairlead are provided on first end shield 511, driving motor 501 is pacified Dress is on the support frame.In addition, the equipressure fluid uses liquid oil, play the role of insulation.It can equity by pressure regulating valve Oil pressure in pressure space is adjusted, and the internal pressure for generating pre-add to cover assembly 510 acts on, when linear motor 500 moves to water When below face, the hydraulically-formed external pressure to cover assembly 510 is acted on, and under internal pressure and the collective effect of external pressure, is reached and is waited densification Effect is sealed, stress of the cover assembly 510 in deepwater environment is reduced.Preferably, the isobaric shell 512 is titanium alloy structure. Preferably, isobaric shell 512 is also possible to the structure with certain elasticity, bears a part of external pressure by the intensity of itself, together When by deformation isobaric space volume is reduced, the internal pressure that isobaric fluid generates increases, and further balances external pressure.Fairlead is used In penetrating cable, power supply and control to driving motor 501 are realized, encapsulating layer is set between fairlead and cable, guarantee isobaric The leakproofness in space.Preferably, it is additionally provided with power supply in the isobaric space, directly powered for driving motor 501.

As shown in figure 17, driving motor 501 drives screw rod 523 to rotate, according to the job specification of Leadscrew drive system, push rod 521 will in axial direction move forward and backward, and the reciprocating motion of push rod 521 is eventually converted into the opening of clamping part 561 and closure is moved Make.The clamping part 561 can be directly connected on push rod 521, be also possible to be indirectly connected with by attaching conducting piece 553 On push rod 521, be provided with Detachable connection structure on attaching conducting piece 553, convenient for clamping part 561 fast quick-detach with The movement of push rod 521 is transmitted on clamping part 561, is conducive in addition, attaching conducting piece 553 also has drive mechanism by installation Realize the movement transmitting of long range.

Preferably, the functor mould group includes metal detector and/or sensor.The sensor includes pressure sensing Device, depth transducer, inertial sensor etc., the inertial sensor include 3-axis acceleration sensor, three-axis gyroscope, three axis Magnetometer.Preferably, also sapphire glass wakes up with a start surface polishing to the lampshade of the camera lens of camera 682 and searchlight 681, makes to catch Robot can also capture under deep-marine-environment compares clear photograph and image.

Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment Sign can be arbitrarily combined with each other.

Claims (10)

1. a kind of fishing robot, which is characterized in that include framing component (400), propeller mould group (610), buoyancy piece mould group (620), electronic compartment mould group (630), battery modules (640) and functor mould group；Propeller mould group (610), buoyancy piece mould group (620), electronic compartment mould group (630) and battery modules (640) are removably mounted on framing component (400)；

Framing component (400) includes lateral plate structure (410), support board structure (420) and cross-over configurations (430)；The side plate knot Structure (410) includes left plate (411) and right side plate (412) this two blocks of side plates, and cross-over configurations (430) direct or indirect connection is in side On plate；Support board structure (420) includes left supporting plate and right supporting plate these two types supporting plate, and left supporting plate, right supporting plate are securedly mounted to a left side respectively On side plate (411), right side plate (412)；

Functor mould group includes the robot manipulator structure being mounted on framing component (400), and the robot manipulator structure includes straight-line electric Machine (500) and clamping part (561)；The linear motor (500) driving clamping part (561) open configuration and closed state this two It is converted between kind state.

2. fishing robot according to claim 1, which is characterized in that the propeller mould group (610) pushes away comprising level Into device (611) and vertical pusher (612) both underwater propellers (200)；Horizontal propeller (611), vertical pusher (612) it is separately mounted to supporting plate, on side plate；

Two be adjacently positioned the supporting plate being mounted on the same side plate is provided with arc groove on two opposite end faces (441)；Space between two arc grooves (441) being oppositely arranged forms the installation space of vertical pusher (612).

3. fishing robot according to claim 1, which is characterized in that include the first supporting plate in multiple left supporting plates (421) with the second supporting plate (422)；It include third supporting plate (423) and the 4th supporting plate (424) in multiple right supporting plates；

The cross-over configurations (430) include arc-like sheet (431), between the first supporting plate (421) and third supporting plate (423) and/or the It is connected between two supporting plates (422) and the 4th supporting plate (424) by the arc-like sheet (431)；

The electronic compartment mould group (630) is mounted on arc-like sheet (431).

4. fishing robot according to claim 1, which is characterized in that the cross-over configurations (430) include bottom plate (432), the both ends of bottom plate (432) are connected directly with left plate (411), right side plate (412) respectively；

The battery modules (640) are mounted on bottom plate (432).

5. fishing robot according to claim 1, which is characterized in that the first plate hole (454) are provided on the supporting plate, The first connecting hole (455) are provided on side plate；

It is provided with embedded nut (456) in first plate hole (454), the first bolt (461) of setting is from the first connecting hole (455) supporting plate is fixed on side plate with embedded nut (456) cooperation after penetrating；

Colloid layer is additionally provided between first bolt (461) and embedded nut (456)；

Buoyancy piece mould group (620) includes buoyancy cover (621) and buoyant mass (622), and buoyancy cover (621) is securedly mounted on supporting plate, Buoyant mass (622) is located between buoyancy cover (621) and supporting plate.

6. fishing robot according to claim 2, which is characterized in that underwater propeller (200) includes electric machine structure (100), support guide structure (210) and one or more paddle blades (240)；

The electric machine structure (100) includes rotor assembly (110) and stator module (120)；Support guide structure (210), blade Piece (240) is separately mounted to stator module (120), on rotor assembly (110)；

The rotor assembly (110) includes shell (114), the directly fastening installation along circumferential direction respectively of multiple paddle blades (240) On shell (114)；Alternatively, being indirectly attached to after multiple paddle blades (240) are molded as one by the blade connection being arranged On shell (114)；The shell (114) is located at the radial outside of stator module (120)；

Support guide structure (210) includes guide pipe (220), and the diameter that the paddle blade (240) is located at guide pipe (220) is inside Side.

7. fishing robot according to claim 6, which is characterized in that the rotor assembly (110) also includes shaft (111), rotor magnet (112) and first end cover (113), first end cover (113) and shell (114) be fastenedly connected or one at Type, the rotor magnet (112) are mounted on the inner wall of shell (114)；Shaft (111) is circumferentially fixed in first end cover (113) on；

The stator module (120) includes excitation winding (121), inner support (122) and second end cover (123), inner support (122) it is integrally formed or is fastenedly connected with second end cover (123), the excitation winding (121) is mounted on the outer of inner support (122) On circumferential surface；

The space that first end cover (113), second end cover (123) and shell (114) surround forms article containing space, the rotor magnetic Body (112) and excitation winding (121) are respectively positioned in article containing space；

The support guide structure (210) is also comprising the first housing (231) and the second housing (232), the second housing (232) fastening It is mounted on second end cover (123)；

The guide pipe (220) includes to be fastenedly connected or integrally formed diameter socket part (221) and guide part (222), the second housing (232) it is connected on diameter socket part (221) by the bar (233) that struts of setting, the fender rod that the first housing (231) passes through setting (234) it is fastenedly connected on guide part (222)；

It is also fastenedly connected on guide pipe (220) mounting bracket (260), is arranged in the connecting hole being arranged in mounting bracket (260) There are embedded nut (456).

8. fishing robot according to claim 1, which is characterized in that the electronic compartment mould group (630) includes resistance to voltage-controlled Cabin (631) processed and underwater manipulator, the underwater manipulator are mounted in pressure-resistant control cabinet (631)；

Pressure-resistant control cabinet (631) includes to axially extend direction sequentially connected first control hatchcover (632), control cabinet shell (633), the second control hatchcover (634)；The battery modules (640) include pressure-resistant battery flat (641) and battery, the battery peace In pressure-resistant battery flat (641)；Pressure-resistant battery flat (641) includes battery hatch (642)；

It is provided in first control hatchcover (632) and/or the second control hatchcover (634) and/or battery hatch (642) following Any one appoints multiple structures: waterproof quick coupling (651), air vent connector (652), connector connection bolt (653).

9. fishing robot according to claim 8, which is characterized in that functor mould group also include it is following any one or appoint Multiple structures: searchlight (681), camera (682), sonar；

Umbilical cables are connected with by fast waterproof connector respectively in first control hatchcover (632), the second control hatchcover (634) (660), camera (682)；

The umbilical cables (660) include cable protective sleeve, form cabling space inside cable protective sleeve；The cable protective sleeve packet Containing the polyethylene outer sheath (661) being radially arranged from outside to inside, two-sided cover plastic-steel belt (662)；It is provided in cabling space Below any one or appoint multiple structures: power supply line (663), optical fiber (664), gasket for packing (665), metal reinforcement (666)；

It is additionally provided with sapphire glass cover (671) in second control hatchcover (634), the camera (682) is located at sapphire glass In glass cover (671)；

The camera (682) includes low-light (level) video camera.

10. fishing robot according to claim 1, which is characterized in that clamping part (561) is removably mounted at straight-line electric On machine (500)；

The linear motor (500) includes cover assembly (510), driving motor (501) and straight line adjustment structure (520)；

Cover assembly (510) inner space forms isobaric space, and driving motor (501) is mounted in isobaric space；It is described Full isobaric fluid is filled in isobaric space；

The straight line adjustment structure (520) includes push rod (521) and screw rod (523), the screw rod (523) and driving motor (501) circumferentially fixed connection；Push rod (521) is fastenedly connected along axial one end or integrally formed with adjusting nut (522), another End axially extends the exterior space for reaching isobaric space；

Adjusting nut (522) and screw rod (523) collectively form Leadscrew drive system, between push rod (521) and isobaric shell (512) It is provided with movable sealing structure.