CN210101954U - Underwater wall climbing detection robot - Google Patents

Abstract

The utility model belongs to the technical field of wall climbing robot, especially, relate to a wall climbing inspection robot under water, including waterproof automobile body, translucent cover, vision module, elevating system and running gear, be equipped with the installation cavity in the waterproof automobile body, be equipped with the opening in the installation cavity, the translucent cover install in the opening part and with opening sealing connection, elevating system install in the installation cavity, vision module rotationally install in elevating system's drive is served, vision module's sense terminal orientation the translucent cover sets up, running gear install in on the waterproof automobile body and with waterproof automobile body sealing connection. The utility model discloses a climb wall inspection robot under water when running gear's walking, vision module can rotate and go up and down through self, can adapt to the changeable condition of light under water to shoot clear image, reach the purpose that detects under water.

Description

Underwater wall climbing detection robot

Technical Field

The utility model belongs to the technical field of the wall climbing robot, especially, relate to a wall climbing inspection robot under water.

Background

At present, underwater detection is mainly carried out by frogmans to carry a detection device for underwater operation, and the water pressure of an underwater area, particularly a deep water area, is higher, so that the frogmans have higher health hidden dangers; and the environment is full of unknown property, so that the method has great potential safety hazard. The robot has the advantages of flexible movement, strong environmental adaptability and the like, so the application of the robot in the fields of underwater detection and the like is more extensive. However, in the case of underwater robot operation, the visibility condition becomes worse as the robot moves in the depth direction. The positions of a camera and a lens of the wheeled underwater detection robot based on vision are fixed and cannot be flexibly adjusted, so that the robot cannot meet the working requirement of complex underwater environment detection.

In the fields of ships, petrochemical industry and the like, the outer metal wall is formed by welding magnetic steel plates, and due to seawater immersion and marine organism adhesion, the outer metal wall is subjected to large-area paint removal, rusting and corrosion, so that the appearance is influenced, and the service life of the outer metal wall and the safety of the device are seriously influenced. The attachment of marine organisms to the wall surface of the ship body increases the load of the ship body, reduces the fuel efficiency, and generally adopts a wall-climbing robot to detect, clean, derust and other operations on the outer wall of the metal. However, most wall-climbing robots with detection functions can only work above the water surface at present, and do not have the function of underwater detection, and the position of a camera cannot be adjusted, so that the wall-climbing robots cannot adapt to the condition that underwater light rays are variable.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wall detection robot climbs under water, the wall detection robot that climbs that aims at solving among the prior art can not adapt to the changeable condition of light under water because of the position of camera and leads to its technical problem who does not possess the function that detects under water.

In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a wall detection robot climbs under water, includes waterproof automobile body, translucent cover, vision module, elevating system and running gear, be equipped with the installation cavity in the waterproof automobile body, be equipped with the opening in the installation cavity, the translucent cover install in the opening part and with opening sealing connection, elevating system install in the installation cavity, vision module rotationally install in elevating system's drive is served, the sense terminal orientation of vision module the translucent cover sets up, running gear install in on the waterproof automobile body and with waterproof automobile body sealing connection.

Further, climb wall inspection robot under water still includes mount, mounting bracket, pivot and rotating electrical machines, mount fixed mounting in elevating system's drive end is last, pivot and mounting bracket fixed connection, the tip of pivot passes behind the mount with rotating electrical machines's output shaft fixed connection, rotating electrical machines install in on the mount.

Further, be equipped with the arc wall on the mounting bracket, the mount with the position that the arc wall corresponds is equipped with the gag lever post, the gag lever post is worn to locate in the arc wall in order to be used for the restriction the mounting bracket pivoted angle.

Further, elevating system includes servo motor and linear module, linear module install in the installation intracavity and be vertical setting, the motor with linear module is connected, the vision module install in on the drive end of linear module.

Furthermore, the vision module comprises a camera and two light-gathering cylinders, the camera is installed on the driving end of the lifting mechanism, the two light-gathering cylinders are installed on the driving end of the lifting mechanism, and the two light-gathering cylinders are respectively located on two opposite sides of the camera.

Furthermore, the traveling mechanism comprises two driving wheels, two driving motors and a driven wheel, the two driving motors are installed in the installation cavity, output shafts of the two driving motors penetrate through the waterproof vehicle body and are respectively connected with the two driving wheels, the two driving wheels are respectively located on two opposite sides of the waterproof vehicle body and are respectively located on the front side of the waterproof vehicle body, and the driven wheel is installed on the middle portion of the rear side of the bottom of the waterproof vehicle body.

Further, the underwater wall climbing detection robot further comprises a magnetic coupler, a bearing and a bearing seat, an output shaft of the driving motor is connected with the driving wheel through the magnetic coupler, an inner magnet of the magnetic coupler is connected with an output shaft of the driving motor, an outer magnet of the magnetic coupler is connected with the driving wheel, an isolation cover of the magnetic coupler is fixedly installed on the side face of the waterproof vehicle body, the outer magnet of the magnetic coupler is connected with an inner ring of the bearing, an outer ring of the bearing is installed in the bearing seat, and the side face of the bearing seat is fixedly installed on the side face of the waterproof vehicle body.

Furthermore, a universal wheel carrier is arranged at the bottom of the waterproof vehicle body, and the driven wheel is mounted on the universal wheel carrier.

Further, the driven wheel and the two driving wheels respectively comprise a wheel hub, a rubber sleeve, two yokes and a plurality of magnets, the rubber sleeve is provided with a plurality of mounting through holes at intervals along the circumferential direction, the magnets are mounted in the mounting through holes in a one-to-one correspondence mode, the rubber sleeve is sleeved on the wheel hub, the two yokes are fixedly mounted on two opposite side faces of the wheel hub respectively, the two yokes seal openings at two ends of each mounting through hole respectively, and the wheel hub is connected with the driving motor.

Further, climb wall inspection robot under water and still include star type sealing washer, be equipped with on the internal face of installation cavity along the annular groove that the open-ended periphery extends, star type sealing washer install in the annular groove, the translucent cover pass through the screw install in on the internal face of installation cavity, star type sealing washer centre gripping in the translucent cover with between the tank bottom surface of annular groove. The utility model provides an above-mentioned one or more technical scheme in the wall climbing robot under water have one of following technological effect at least: the vision module of the underwater wall climbing robot is driven by the lifting mechanism, can move up and down, and can be rotatably arranged at the driving end of the lifting mechanism and rotate relative to the lifting mechanism; along with running gear's walking, vision module can rotate and go up and down through self, can adapt to the changeable condition of light under water to shoot clear image, reach the purpose that detects under water. In addition, the waterproof vehicle body, the sealing connection between the travelling mechanism and the waterproof vehicle body and the sealing connection between the transparent cover and the waterproof vehicle body are structurally designed, so that the waterproofness of the whole underwater wall-climbing robot can be improved, and the underwater wall-climbing robot can work normally underwater.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a viewing angle of an underwater wall-climbing robot according to an embodiment of the present invention.

Fig. 2 is a sectional view taken along line a-a in fig. 1.

Fig. 3 is a schematic structural diagram of another view angle of the underwater wall-climbing robot according to the embodiment of the present invention.

Fig. 4 is a sectional view taken along line B-B in fig. 3.

Fig. 5 is a partial enlarged view taken along C in fig. 4.

Fig. 6 is a schematic diagram of sectioning of the procapsid of the underwater wall-climbing robot provided by the embodiment of the utility model.

Fig. 7 is an exploded view of the underwater wall-climbing robot provided by the embodiment of the present invention.

Fig. 8 is a schematic structural diagram of the lifting mechanism and the vision module of the underwater wall-climbing robot provided by the embodiment of the present invention.

Fig. 9 is an exploded view of the lifting mechanism and the vision module of the underwater wall-climbing robot according to the embodiment of the present invention.

Fig. 10 is an exploded view of a driving wheel of an underwater wall-climbing robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-waterproof vehicle body 11-installation cavity 12-front shell

13-rear housing 20-transparent cover 30-vision module

31-camera 32-illuminating lamp 33-light-gathering tube

40-lifting mechanism 41-servo motor 42-linear module

43-connecting frame 44-coupling 50-travelling mechanism

51-driving wheel 52-driven wheel 53-driving motor

54-magnetic coupling 55-bearing 56-bearing seat

61-fixed frame 62-mounting frame 63-rotating shaft

64-rotating motor 65-rotating flange 66-supporting plate

70-universal wheel carrier 71-U-shaped frame 72-angular contact bearing

73-bearing end cover 74-bolt 75-sleeve

76-connecting rod 77-gasket 78-washer

80-star-shaped sealing ring 91-handle 92-lifting ring

93-sealing ring 511-hub 512-rubber sleeve

513 yoke 514 magnet 541 inner magnet

542-outer magnet 543-cage 611-fixing plate

612-first connecting plate 621-mounting plate 622-second connecting plate

711-side plate 761-flange 5121-mounting through hole

5131-clamping hole 5421-shaft shoulder 6121-limiting rod

6221 arc groove.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1-10, in an embodiment of the present invention, an underwater wall-climbing detection robot is provided, which is suitable for detecting, cleaning and derusting the metal outer wall of a ship, a petrochemical field and other devices, for example: the underwater wall-climbing detection robot can also be loaded with corresponding operation equipment to carry out operations such as cleaning and derusting on the outer wall of metal.

Specifically, climb wall inspection robot under water and include waterproof automobile body 10, translucent cover 20, vision module 30, elevating system 40 and running gear 50, be equipped with installation cavity 11 in the waterproof automobile body 10, be equipped with the opening in the installation cavity 11, translucent cover 20 install in the opening part and with opening sealing connection, elevating system 40 installs in installation cavity 11, vision module 30 rotationally installs on elevating system 40's drive end, the sense terminal of vision module 30 sets up towards translucent cover 20, running gear 50 install on waterproof automobile body 10 and with waterproof automobile body 10 sealing connection.

More specifically, the vision module 30 of the underwater wall-climbing robot of the embodiment of the present invention is driven by the lifting mechanism 40, the vision module 30 can move up and down, and meanwhile, the vision module 30 is rotatably mounted on the driving end of the lifting mechanism 40, and the vision module 30 can also rotate relative to the lifting mechanism 40; with the walking of the walking mechanism 50 on the metal wall surface, the vision module 30 can rotate and lift by itself to adapt to the changeable underwater light, so as to shoot clear images and achieve the purpose of underwater detection. In addition, the sealing connection between the waterproof vehicle body 10 and the running mechanism 50 and the waterproof vehicle body 10 and the sealing connection between the transparent cover 20 and the waterproof vehicle body 10 are designed to improve the waterproof performance of the whole underwater wall climbing robot, so that the underwater wall climbing robot can work normally under water.

Further, the utility model discloses the vision module 30 of climbing wall robot under water can go up and down and rotate in waterproof automobile body 10, can increase vision module 30's field of vision scope, has improved the detection efficiency under water of climbing wall robot under water.

Further, the vision module 30 is disposed toward the transparent cover 20, the vision module 30 can observe the image outside the waterproof vehicle body 10 through the transparent cover 20, and the transparent cover 20 is hermetically connected to the opening, so that water can be prevented from entering the inside of the waterproof vehicle body 10, and the vision module 30 and other components inside the waterproof vehicle body 10 are prevented from being damaged due to water entering.

Preferably, the transparent cover 20 is a glass cover.

In another embodiment of the present invention, referring to fig. 2, 8 and 9, the provided underwater wall-climbing detection robot further includes a fixing frame 61, an installation frame 62, a rotating shaft 63 and a rotating electrical machine 64, the fixing frame 61 is fixedly installed on the driving end of the lifting mechanism 40, the rotating shaft 63 is fixedly connected to the installation frame 62, the end of the rotating shaft 63 passes through the fixing frame 61 and then is fixedly connected to the output shaft of the rotating electrical machine 64, and the rotating electrical machine 64 is installed on the fixing frame 61. Specifically, rotating electrical machines 64 rotates and drives pivot 63 and rotate, and pivot 63 drives mounting bracket 62 to drive the rotation of vision module 30 on the mounting bracket 62, realized vision module 30's rotation promptly, and then rotate in order to obtain more clear image information according to the light condition under water, reach the purpose that detects under water, in addition, can also increase vision module 30's the field of vision through the rotation of vision module 30, improve detection efficiency under water.

Further, the fixing frame 61 includes a fixing plate 611 and two first connecting plates 612, the two first connecting plates 612 are vertically installed at two ends of the fixing plate 611, and the two first connecting plates 612 are arranged in parallel at intervals, that is, the two first connecting plates 612 and the fixing plate 611 are U-shaped; the mounting frame 62 includes a mounting plate 621 and two second connecting plates 622, the two second connecting plates 622 are vertically mounted at two ends of the mounting plate 621, and the two second connecting plates 622 are arranged in parallel at intervals, that is, the two second connecting plates 622 and the mounting plate 621 are U-shaped, after two ends of the rotating shaft 63 respectively penetrate through the two second connecting plates 622 and are fixedly connected with the second connecting plates 622, two ends of the rotating shaft 63 are respectively rotatably connected with the two second connecting plates 622 through two rotating flanges 65; and one end of the rotating shaft 63 is fixedly connected with the output shaft of the rotating motor 64, the two ends of the rotating shaft 63 are supported by the first connecting plate 612 and the second connecting plate 622, and the rotating motor 64 drives the rotating shaft 63 to have good rotating stability, so that the visual module 30 mounted on the mounting plate 621 has good rotating stability, and pictures taken by the visual module 30 are clearer.

In another embodiment of the present invention, referring to fig. 4, 8 and 9, an arc-shaped groove 6221 is provided on the mounting rack 62 of the underwater wall-climbing detection robot, a limiting rod 6121 is provided at a position of the mounting rack 61 corresponding to the arc-shaped groove 6221, and the limiting rod 6121 is disposed in the arc-shaped groove 6221 to limit the rotation angle of the mounting rack 62. Specifically, in the process that the mounting bracket 62 rotates around the center of the rotating shaft 63, the limit rod 6121 on the fixing bracket 61 moves in the arc-shaped groove 6221, on one hand, the arc-shaped groove 6221 plays a role in guiding the movement of the limit rod 6121, and the rotating stability of the mounting bracket 62 is improved; on the other hand, the arc groove 6221 limits that the limit rod 6121 can only move in the arc groove 6221, and plays a limiting role in the movement of the limit rod 6121, so that the rotation angle of the mounting frame 62 is limited, and the phenomenon that the vision module 30 rotates to a vision blind area inside the waterproof vehicle body 10 to shoot inefficiently due to the fact that the mounting frame 62 rotates too much relative to the fixing frame 61 is avoided.

Further, the arc-shaped slot 6221 is opened on one of the second connecting plates 622, and the stop bar 6121 is installed on the first connecting plate 612.

In another embodiment of the present invention, referring to fig. 2, 8 and 9, the lifting mechanism 40 of the underwater wall-climbing detection robot includes a servo motor 41 and a linear module 42, the linear module 42 is installed in the installation cavity 11 and is vertically disposed, the motor is connected to the linear module 42, and the vision module 30 is installed on the driving end of the linear module 42. Specifically, the servo motor 41 drives the driving end of the linear module 42 to move up and down, so as to drive the visual module 30 to move up and down to adapt to different underwater light conditions, and the visual field range of the visual module 30 can be increased, so that the detection efficiency is improved; adopt servo motor 41 and linear module 42 matched with structure, its simple structure, and the accuracy of the oscilaltion of vision module 30 is high, and the accuracy that vision module 30 detected is good.

Further, the driving end of the linear module 42 is fixedly connected with the fixing plate 611, the linear module 42 drives the fixing frame 61 to ascend and descend so as to drive the vision module 30 to ascend and descend, and the vision module 30 can be flexibly adjusted through the mutual matching of the linear module 42 and the rotating motor 64, so that clear graphs can be shot in a changed underwater environment, and the purpose of underwater detection is achieved.

Further, be equipped with link 43 on the bottom surface of installation cavity 11, servo motor 41 installs the inside at link 43, and linear module 42 is vertical to be fixed on the top surface of link 43, and servo motor 41's output shaft is connected and drives the reciprocating of vision module 30 through shaft coupling 44 and linear module 42, combines rotating electrical machines 64 to drive the rotation of vision module 30 simultaneously, and this makes vision module 30 can rotate simultaneously and up-and-down motion.

Furthermore, the rotating motor 64 and the servo motor 41 can be wirelessly connected with an external remote control device to realize remote real-time adjustment of the vision module 30 to adapt to environments with different underwater depths, and the underwater wall climbing detection robot is convenient and quick in underwater detection operation.

The vision module 30 of the underwater wall-climbing detection robot of the embodiment of the utility model is designed with adjustable height and rotation angle, and compared with a fixed vision structure, the robot can adapt to underwater illumination conditions in a wider range, and has good flexibility; the problems of low detection efficiency, fuzzy images and the like caused by a fixed camera are avoided, the adaptive range of underwater light conditions is widened, and the flexibility of the system is improved. .

Preferably, the linear module 42 includes a housing, a screw rod disposed in the housing and rotatable along the length thereof, a moving nut screwed to the screw rod, a sliding plate fixedly connected to the moving nut and exposed out of the housing as a driving end, and a servo motor 41 disposed in the housing and connected to one end of the screw rod, so that the servo motor 41 rotates to drive the screw rod to rotate and drive the moving nut to move linearly, and the visual module 30 fixedly connected to the sliding plate can realize the up-and-down movement. Typically, the linear module 42 also includes a slide or guide shaft and a hole for guiding and supporting. Of course, the matching of the screw rod and the moving nut can be replaced by a belt and a belt pulley, which are not described in detail herein.

In another embodiment of the present invention, referring to fig. 6, 8 and 9, the vision module 30 of the underwater wall-climbing inspection robot includes a camera 31, two lamps 32 and two light-gathering cylinders 33, the camera 31 is installed on the driving end of the lifting mechanism 40, the two lamps 32 are all installed on the driving end of the lifting mechanism 40, the two lamps 32 are respectively located at two opposite sides of the camera 31, and the two light-gathering cylinders 33 are respectively sleeved at the front portions of the two lamps 32. Specifically, the camera 31 of the vision module 30 is used for shooting underwater photos, the lamps 32 on the two sides emit light rays to make up for the deficiency of the underwater light rays, and the camera 31 can shoot clear photos underwater to realize underwater detection; meanwhile, the front part of the illuminating lamp 32 is sleeved with a light-gathering tube 33, the light-gathering tube 33 can reduce the divergence of light, the light-gathering effect is achieved, the underwater illumination condition is improved, and the camera 31 can shoot clear images, so that the underwater detection work can be conveniently unfolded.

Further, the two light-gathering cylinders 33 are symmetrically fixed to both ends of the mounting plate 621 through the support plates 66, respectively.

In another embodiment of the present invention, referring to fig. 1, fig. 3, fig. 6 and fig. 7, the traveling mechanism 50 of the underwater wall-climbing detection robot includes two driving wheels 51, two driving motors 53 and one driven wheel 52, the two driving motors 53 are installed in the installation cavity 11, the output shafts of the two driving motors 53 all pass through the waterproof vehicle body 10 and are connected with the two driving wheels 51 respectively, the two driving wheels 51 are located on two opposite sides of the waterproof vehicle body 10 respectively and are located on the front side of the waterproof vehicle body 10, and the driven wheel 52 is installed on the middle portion of the rear side of the bottom of the waterproof vehicle body 10. Specifically, two driving motors 53 transmit power to two driving wheels 51 and one driven wheel 52 to drive the underwater wall climbing detection robot to advance, retreat and turn underwater so as to detect different underwater positions; two action wheels 51 are located the relative both sides of waterproof automobile body 10 respectively and all are located the position of the front side of waterproof automobile body 10, install the position at the rear side middle part of the bottom of waterproof automobile body 10 from driving wheel 52, two action wheels 51 form the triangle-shaped with from driving wheel 52, this underwater wall climbing detection robot adopts the structure of tricycle formula promptly, the underwater wall climbing detection robot of tricycle formula structure compares in traditional four-wheel type underwater wall climbing detection robot quality lighter, the drive power that needs is littleer, it is more energy-conserving, and the structure is more stable, turn to more nimble, it hinders the ability also stronger.

The utility model discloses this detection robot climbs wall under water adopts tricycle formula structure to compare with traditional four-wheeled robot, and tricycle structure weight is lighter, and the drive power that needs is littleer, and is more energy-conserving, and the structure is more stable, turns to more in a flexible way.

In another embodiment of the present invention, refer to fig. 2, fig. 6 and fig. 7, the walking mechanism 50 of the underwater wall-climbing detection robot further includes a magnetic coupling 54, a bearing 55 and a bearing seat 56, the output shaft of the driving motor 53 is connected to the driving wheel 51 through the magnetic coupling 54, the inner magnet 541 of the magnetic coupling 54 is connected to the output shaft of the driving motor 53, the outer magnet 542 of the magnetic coupling 54 is connected to the driving wheel 51, the isolation cover 543 of the magnetic coupling 54 is fixedly mounted on the side of the waterproof vehicle body 10, the outer magnet 542 of the magnetic coupling 54 is connected to the inner ring of the bearing 55, the outer ring of the bearing 55 is mounted in the bearing seat 56, and the side of the bearing seat 56 is fixedly mounted on the side of the waterproof vehicle body 10. Specifically, the output shaft of the driving motor 53 is connected with the driving wheel 51 through the magnetic coupling 54, the inner magnet 541 and the outer magnet 542 of the magnetic coupling 54 are separated through the isolation cover 543, and by adopting the non-contact coupling 44, the dynamic seal between the output shaft of the driving motor 53 and the driving wheel 51 is converted into static seal, so that water is prevented from entering the interior of the waterproof vehicle body 10, and the damage to the vision module 30, the driving motor 53 and other parts is avoided; the outer magnet 542 of the magnetic coupling 54 is connected with the bearing seat 56 through the bearing 55, the rotating resistance of the outer magnet 542 of the magnetic coupling 54 is small, namely the resistance of the outer magnet 542 of the magnetic coupling 54 driving the driving wheel 51 to rotate is also small, the driving wheel 51 can walk more flexibly, the driving force required by the walking of the underwater wall climbing detection robot is smaller, the energy is saved, the walking flexibility is good, and the obstacle crossing capability is good; further, the bearing seat 56 fixes the bearing 55 to the watertight vehicle body 10, and the structure is more stable and reliable.

Furthermore, a shaft shoulder 5421 is arranged on an outer magnet 542 of the magnetic coupling 54, the shaft shoulder 5421 abuts against an inner ring of the bearing 55 and is located between the bearing 55 and the side face of the waterproof vehicle body 10, the shaft shoulder 5421 abuts against the inner ring of the bearing 55, axial movement of the magnetic coupling 54 is limited, radial support is provided for the magnetic coupling 54, the driving wheel 51 and other components, the stability of connection between the driving wheel 51 and the driving motor 53 is good, and the walking stability of the underwater wall climbing detection robot is ensured.

Further, the output shaft of the driving motor 53 is connected with the inner magnet 541 of the magnetic coupling 54 and the driving wheel 51 is connected with the outer magnet 542 of the magnetic coupling 54 by key slots, so that the connecting structure is simple, the installation and the disassembly are convenient, and the connecting stability between the driving wheel and the outer magnet 542 is good.

Further, the isolation cover 543 is fixed to the side of the waterproof vehicle body 10 through screws, a star-shaped sealing ring 80 is clamped between the isolation cover 543 and the waterproof vehicle body 10, the star-shaped sealing ring 80 is sealed, water is prevented from entering the waterproof vehicle body 10 from the connection position between the output shaft of the driving motor 53 and the waterproof vehicle body 10, corrosion and damage of the vision module 30, the rotating motor 64, the driving motor 53 and other parts inside the waterproof vehicle body 10 are avoided, the waterproof performance of the underwater wall climbing detection robot is improved, and the underwater wall climbing detection robot is ensured to normally run underwater.

The underwater wall climbing detection robot provided by the embodiment of the utility model adopts the magnetic coupling 54 as a transmission component, adopts a non-contact dynamic seal design concept, and is compared with the traditional contact dynamic seal structure; the problems of abrasion and the like of a sealing piece of the contact type dynamic seal are avoided, the water leakage problem caused by the abrasion and the like is avoided, and zero leakage is realized. .

In another embodiment of the present invention, referring to fig. 3, 4 and 5, the waterproof body 10 of the underwater wall-climbing detection robot is provided with a universal wheel frame 70 at the bottom thereof, and the driven wheel 52 is mounted on the universal wheel frame 70. Specifically, the driven wheel 52 is mounted on the waterproof vehicle body 10 through the universal wheel carrier 70, the universal wheel carrier 70 can rotate, the driven wheel 52 can swing to a proper angle to match with the walking of the driving wheel 51 according to the walking path of the driving wheel 51, and the stability and flexibility of the underwater walking of the underwater wall climbing detection robot are improved.

Further, the universal wheel carrier 70 includes an inverted U-shaped frame 71, two angular contact bearings 72, two bearing end covers 73, bolts 74, a sleeve 75, a connecting rod 76, a gasket 77 and a washer 78, a mounting hole is provided on the top surface of the U-shaped frame 71, the angular contact bearings 72 are mounted in the mounting hole, one bearing end cover 73 is mounted at the lower portion of the mounting hole, a fixing hole is provided on the waterproof vehicle body 10, the other angular contact bearing 72 is mounted in the fixing hole, the sleeve 75 is sleeved on the connecting rod 76, two ends of the connecting rod 76 respectively penetrate through the two angular contact bearings 72, two ends of the sleeve 75 respectively abut against the two angular contact bearings 72, a flange 761 is provided at the lower portion of the connecting rod 76, the flange 761 abuts against the bearing end cover 73 at the lower portion of the mounting hole, the bolt 74 sequentially penetrates through the washer 78 and the gasket 77 and then is in threaded connection with, the other bearing end cover 73 is sleeved on the nut and is fixedly connected with the top surface of the waterproof car body 10; the U-shaped frame 71 is fixedly connected with the waterproof car body 10 in the axial direction through the abutting action of the screw, the sleeve 75 and the flange 761; the U-shaped bracket 71 is allowed to rotate about the axial direction of the connecting rod 76 by the provision of two angular contact bearings 72.

Furthermore, the driven wheel 52 is rotatably mounted between the two side plates 711 of the U-shaped frame 71, and the lower parts of the two side plates 711 are both bent towards the same side, and the design of the bent shape can form effective torque when the driven wheel 52 rotates, which is beneficial to the flexible turning of the underwater wall climbing detection robot.

In another embodiment of the present invention, referring to fig. 2, fig. 4, fig. 7 and fig. 10, the driven wheel 52 and the two driving wheels 51 of the underwater wall-climbing detection robot include a wheel hub 511, a rubber sleeve 512, two yokes 513 and a plurality of magnets 514, the rubber sleeve 512 is provided with a plurality of mounting through holes 5121 along the circumferential direction, each magnet is installed in each mounting through hole 5121 in a one-to-one manner, the rubber sleeve 512 is installed on the wheel hub 511, the two yokes 513 are respectively and fixedly installed on the two opposite side surfaces of the wheel hub 511, the two yokes 513 respectively seal the openings at the two ends of each mounting through hole 5121, and the wheel hub 511 is connected with the driving motor 53. Specifically, the magnet 514 transmits magnetic force to the metal wall surface through the two yokes 513, so that magnetic adsorption between the driving wheel 51 and the driven wheel 52 and the metal wall surface is realized, and the magnet 514 is arranged inside the driving wheel 51 and the driven wheel 52, so that an interference phenomenon caused by the fact that the magnet 514 is arranged on the belly of the wall climbing robot can be prevented, and the obstacle crossing capability of the underwater wall climbing robot is improved; the rubber sleeve 512 provides a mounting base for the magnets 514, the magnets 514 are uniformly and annularly distributed in the rubber sleeve 512, and the rubber sleeve 512 is sleeved on the hub 511, that is, the magnets 514 are uniformly and annularly distributed on the circumference of the hub 511, so that the driving wheel 51 and the driven wheel 52 can be stably adsorbed on the metal wall surface when the driving wheel 51 and the driven wheel 52 rotate to any position.

Further, the magnet 514 is cylindrical, the magnet 514 is arranged in the mounting through hole 5121 in a penetrating manner, the side surfaces of the two yokes 513 are provided with clamping holes 5131, two ends of the magnet 514 are respectively positioned in the clamping holes 5131 on the two yokes 513, the two yokes 513 are arranged on two opposite side surfaces of the hub 511, the two yokes 513 clamp the magnet 514, the axial positioning of the magnet 514 is realized, the structure is arranged, the assembly operation of the magnet 514 is simplified, and the assembly cost of the driving wheel 51 and the driven wheel 52 is saved.

Further, the magnets 514 may be square, triangular, etc., and the number of arrays and the size of the magnets 514 may be varied to meet different magnetic attraction requirements.

The embodiment of the utility model provides a this climbing wall inspection robot's under water action wheel 51 all adopts array magnet 514 distribution design from driving wheel 52, and the magnet 514 of small-size, regular shape has not only reduced the production and the assembly degree of difficulty of magnet 514, has practiced thrift the cost.

The embodiment of the utility model provides a this wall detection robot climbs under water adopts the absorption design of magnetic wheel, compares in arranging the magnetic adsorption device in wall climbing robot belly, under the prerequisite of guaranteeing enough adsorption affinity, has greatly improved the ability of hindering more of robot. The obstacle crossing capability of the wall climbing robot is also improved.

In another embodiment of the present invention, referring to fig. 4, the underwater wall-climbing detection robot further includes a star-shaped sealing ring 80, an annular groove extending along the periphery of the opening is provided on the inner wall surface of the mounting cavity 11, the star-shaped sealing ring 80 is installed in the annular groove, the transparent cover 20 is installed on the inner wall surface of the mounting cavity 11 through a screw, and the star-shaped sealing ring 80 is clamped between the transparent cover 20 and the bottom surface of the annular groove. Specifically, the star-shaped seal ring 80 prevents water from penetrating into the waterproof vehicle body 10 from the joint between the transparent cover 20 and the inner wall surface of the mounting cavity 11, and improves the waterproof performance of the underwater wall climbing detection robot.

Further, the waterproof vehicle body 10 comprises a front shell 12 and a rear shell 13 which are buckled with each other, the front shell 12 and the rear shell 13 are connected through screws, and the front shell 12 and the rear shell 13 are stably and reliably connected, so that the front shell 12 and the rear shell 13 are convenient to mount and dismount.

Further, the elevating mechanism 40, the vision module 30, and the driving motor 53 are installed in the front housing 12, the driving pulley 51 is installed at a side portion of the front housing 12, and the driven pulley 52 is installed at the rear housing 13.

Further, a top surface of the front housing 12 is provided with a handle 91 to facilitate movement of the underwater wall climbing detection robot.

Furthermore, a hanging ring 92 is arranged on the top surface of the rear shell 13, when in use, the connecting rope is fixed on the hanging ring 92, then the underwater wall-climbing detection robot is put into water, and then the connecting rope is gradually released, and the underwater wall-climbing detection robot slowly sinks under the action of self gravity until the underwater wall-climbing detection robot is adsorbed on a metal wall surface; when the underwater wall climbing robot needs to be pulled out of the water, the underwater wall climbing detection robot is pulled out of the water only by pulling the connecting rope; through the cooperation of rings 92 and connecting rope, this detection robot that climbs the wall under water puts into the aquatic and pulls out the security and the stability of the surface of water good, and this easy operation is reliable.

Furthermore, a sealing ring 93 is further arranged at the buckling connection position of the front shell 12 and the rear shell 13, so that water is prevented from permeating into the waterproof shell from the buckling connection position of the front shell 12 and the rear shell 13, and the waterproof performance of the underwater wall climbing detection robot is improved.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a wall detection robot climbs under water which characterized in that: including waterproof automobile body, translucent cover, vision module, elevating system and running gear, be equipped with the installation cavity in the waterproof automobile body, be equipped with the opening in the installation cavity, the translucent cover install in the opening part and with opening sealing connection, elevating system install in the installation cavity, vision module rotationally install in elevating system's drive is served, the sense terminal orientation of vision module the translucent cover sets up, running gear install in on the waterproof automobile body and with waterproof automobile body sealing connection.

2. The underwater wall-climbing detection robot according to claim 1, characterized in that: climb wall inspection robot under water still includes mount, mounting bracket, pivot and rotating electrical machines, mount fixed mounting in on elevating system's the drive end, pivot and mounting bracket fixed connection, the tip of pivot passes behind the mount with rotating electrical machines's output shaft fixed connection, rotating electrical machines install in on the mount.

3. The underwater wall-climbing detection robot according to claim 2, characterized in that: the mounting bracket is provided with an arc-shaped groove, the position of the mounting bracket corresponding to the arc-shaped groove is provided with a limiting rod, and the limiting rod penetrates through the arc-shaped groove to limit the rotating angle of the mounting bracket.

4. The underwater wall-climbing detection robot according to claim 1, characterized in that: the lifting mechanism comprises a servo motor and a linear module, the linear module is installed in the installation cavity and is vertically arranged, the motor is connected with the linear module, and the vision module is installed on a driving end of the linear module.

5. The underwater wall-climbing detection robot according to claim 1, characterized in that: the vision module comprises a camera and two light-gathering cylinders, the camera is installed on the driving end of the lifting mechanism, the two light-gathering cylinders are installed on the driving end of the lifting mechanism, and the two light-gathering cylinders are located on two opposite sides of the camera respectively.

6. The underwater wall-climbing detection robot according to any one of claims 1 to 5, characterized in that: the walking mechanism comprises two driving wheels, two driving motors and a driven wheel, the two driving motors are installed in the installation cavity, output shafts of the two driving motors penetrate through the waterproof automobile body and are connected with the two driving wheels respectively, the two driving wheels are located on two opposite sides of the waterproof automobile body respectively and are located on the front side of the waterproof automobile body, and the driven wheel is installed on the middle portion of the rear side of the bottom of the waterproof automobile body.

7. The underwater wall-climbing detection robot according to claim 6, characterized in that: the underwater wall climbing detection robot further comprises a magnetic coupling, a bearing and a bearing seat, an output shaft of the driving motor is connected with the driving wheel through the magnetic coupling, an inner magnet of the magnetic coupling is connected with an output shaft of the driving motor, an outer magnet of the magnetic coupling is connected with the driving wheel, an isolation cover of the magnetic coupling is fixedly installed on the side face of the waterproof vehicle body, the outer magnet of the magnetic coupling is connected with an inner ring of the bearing, an outer ring of the bearing is installed in the bearing seat, and the side face of the bearing seat is fixedly installed on the side face of the waterproof vehicle body.

8. The underwater wall-climbing detection robot according to claim 6, characterized in that: the bottom of the waterproof vehicle body is provided with a universal wheel carrier, and the driven wheel is mounted on the universal wheel carrier.

9. The underwater wall-climbing detection robot according to claim 6, characterized in that: the driven wheel and the two driving wheels respectively comprise a wheel hub, a rubber sleeve, two yokes and a plurality of magnets, the rubber sleeve is provided with a plurality of mounting through holes at intervals along the circumferential direction, the magnets are mounted in the mounting through holes in a one-to-one correspondence mode, the rubber sleeve is sleeved on the wheel hub, the two yokes are fixedly mounted on two opposite side faces of the wheel hub respectively, the two yokes seal openings at two ends of each mounting through hole respectively, and the wheel hub is connected with the driving motor.

10. The underwater wall-climbing detection robot according to any one of claims 1 to 5, characterized in that: the underwater wall climbing detection robot further comprises a star-shaped sealing ring, an annular groove extending along the periphery of the opening is formed in the inner wall surface of the installation cavity, the star-shaped sealing ring is installed in the annular groove, the transparent cover is installed on the inner wall surface in the installation cavity through screws, and the star-shaped sealing ring is clamped between the transparent cover and the bottom surface of the annular groove.

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