CN210942199U - Underwater cruising and sampling robot - Google Patents
Underwater cruising and sampling robot Download PDFInfo
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- CN210942199U CN210942199U CN201921020148.6U CN201921020148U CN210942199U CN 210942199 U CN210942199 U CN 210942199U CN 201921020148 U CN201921020148 U CN 201921020148U CN 210942199 U CN210942199 U CN 210942199U
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Abstract
The utility model discloses an underwater cruising and sampling robot, including main part mechanism, screw motion, sampling collection mechanism and install controller and the battery in main part mechanism, respectively install a track motion in main part mechanism both sides lower part, screw motion is equipped with two sets, installs respectively on main part mechanism both sides upper portion, sampling collection mechanism comprises sampling arm and sampling basket, and sampling arm, sampling basket are fixed respectively at the main part mechanism front and back end, main part mechanism front end central authorities install a camera, still install two balanced fins at main part mechanism top rear end. The utility model can move and sample on the ground under water and ground under water by arranging the propeller motion mechanism and the crawler motion mechanism, and has wide application range; the illuminating lamp system provides illumination under dark environment, and the camera is used for gathering and confirming sample information, catches the sampling by the sampling arm afterwards, and the sampling is accurate and efficient.
Description
Technical Field
The utility model belongs to the technical field of the cruise and the sampling technique and specifically relates to a cruise and sampling robot under water.
Background
At present, there are two main sampling modes, one mode is that a worker rowing to a specified place for sampling. Because the reservoirs, rivers and oceans are large, each monitoring only depends on naked eyes and a reference object for positioning, the obtained substance samples are limited, and the accuracy is poor. Heavy rain can also bring danger to workers if wind blows are encountered. The other type is a bionic underwater sampling robot, for example, the Chinese utility model patent with the application number of 201720232603.3 discloses a bionic underwater sampling robot, the underwater sampling robot adopts the cabin to intake water and drain water for submerging and floating, meanwhile, a corresponding steerable boosting device is arranged on the side part of the robot, the speed of the underwater sampling robot is increased by increasing the force, a larger force is provided during sampling, a mechanical arm is arranged at the head of the robot and can steer and retract into the robot, a sample collected by the mechanical arm is placed in an end part collecting cabin to be brought back, the sample is stretched out during working and is taken back when a task is completed, the mechanical arm is used for hard sampling, a group of 2-3 sampling pipes required by soft material sampling are arranged at the belly of the robot, and the soft material and the hard material are respectively sampled and are suitable for different underwater environments and requirements. The sampling robot disclosed in the patent can meet basic underwater sampling, but cannot sample underwater ground.
Disclosure of Invention
An object of the utility model is to overcome above-mentioned prior art not enough, provide an underwater cruise and sampling robot, can sample aquatic and submarine ground material.
In order to realize the purpose, the utility model discloses a technical scheme is: the utility model provides an underwater cruising and sampling robot, includes main part mechanism, screw motion, sampling collection mechanism and installs controller and the battery in main part mechanism, its characterized in that: the crawler movement mechanisms comprise a crawler, a main driving wheel, a driven wheel, two loading wheels, a spring hydraulic damper and a crawler driving motor, wherein the crawler driving motor is arranged in an inner cavity of the main mechanism and is connected with the main driving wheel through a connecting shaft;
the screw motion mechanism is provided with two sets and is respectively installed on the upper portions of the two sides of the main body mechanism, the sampling and collecting mechanism is composed of a sampling mechanical arm and a sampling basket, the sampling mechanical arm and the sampling basket are respectively fixed at the front end and the rear end of the main body mechanism, a camera is installed in the center of the front end of the main body mechanism, and two balance fins are further installed at the rear end of the top of the main body mechanism.
Further, the screw motion mechanism includes driving motor under water, installs screw, rotor arm, first big torque motor, swing arm and the big torque motor of second on driving motor under water, be fixed with a pivot through the bearing assembly in the main part mechanism, the one end of swing arm is fixed in the pivot, and the big torque motor fixed mounting of second in the main part mechanism inner chamber and can drive the pivot and rotate, first big torque motor fixed mounting is on the swing arm, and rotor arm one end is fixed on the output shaft of first big torque motor, and driving motor fixed mounting is at the other end of rotor arm under water.
Furthermore, a blade protection cover is fixedly mounted on the shell of the underwater driving motor. The main body mechanism is further provided with a swing arm limiting plate, and the swing arm limiting plate is perpendicular to the top surface of the main body mechanism.
Further, the inner cavity of the main body mechanism is divided into an upper layer and a lower layer, the crawler driving motor and the storage battery are respectively installed on two sides of the lower layer of the inner cavity, the first large torsion motor and the second large torsion motor are respectively installed on the upper layer of the inner cavity, and the controller is installed in the middle of the upper layer of the inner cavity.
Furthermore, the sampling mechanical arm comprises a base arranged at the front end of the top surface of the main body mechanism, a supporting rod, a swinging arm and a sampling clamp which are arranged on the base through a bearing assembly, a third large torsion motor for driving the supporting rod to rotate is arranged in the base, one end of the swinging arm is hinged with the supporting rod, a first steering engine for driving the swinging arm to swing is further arranged at the hinged position, the other end of the swinging arm is welded with the center of a disc steering engine, a rotating shaft of the disc steering engine is connected with the sampling clamp through a joint, and a second steering engine for driving the sampling clamp to swing is arranged at the rotating shaft. Sampling clip includes the connecting seat, fixes two upper and lower plywood, chuck, dwang, electric telescopic handle and the push rod on the connecting seat, and dwang one end is passed through the articulated shaft and is installed between two upper and lower plywood, and the dwang other end is terminal articulated with the chuck, and the dwang middle part is articulated with push rod one end, and the push rod other end is articulated with electric telescopic handle, through electric telescopic handle's flexible push-and-pull, realizes strutting and the closure of chuck.
Furthermore, the end part of the movable rod of the electric telescopic rod is connected with an H-shaped connector, the upper plywood and the lower plywood are provided with chutes, and the electric telescopic rod can push the H-shaped connector to move along the chutes during action.
Furthermore, headlamps are further installed on two sides of the camera.
The utility model has the advantages that: the utility model can move and sample on the ground under water and ground under water by arranging the propeller motion mechanism and the crawler motion mechanism, and has wide application range; the illuminating lamp system provides illumination under dark environment, and the camera is used for gathering and confirming sample information, catches the sampling by the sampling arm afterwards, and the sampling is accurate and efficient.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic top view of the present invention;
fig. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic view showing the state of the mechanical arm moving above the sampling collection basket after sampling according to the present invention;
fig. 4 is a schematic diagram of the state of the middle propeller movement mechanism after rotation;
FIG. 5 is a schematic view of the internal layout of the lower layer of the main body mechanism of the present invention;
FIG. 6 is a schematic view of the inner layout of the upper layer of the main body mechanism of the present invention;
fig. 7 is a schematic cross-sectional view of the base of the sampling mechanical arm according to the present invention;
FIG. 8 is a schematic view of the connection of the components of the sampling clip of the present invention;
fig. 9 is a schematic view of the state of the sampling clamp of the present invention;
fig. 10 is a schematic diagram of the state of the sampling clamp in the present invention.
In the figure: 1. a body structure; 2. a crawler belt; 3. a main drive wheel; 4. a driven wheel; 5. a loading wheel; 6. a spring hydraulic damper; 7. a propeller; 8. a blade protecting cover; 9. a rotating arm; 10. driving a motor underwater; 11. a swing arm; 12. a swing arm limiting plate; 13. a camera; 14. a headlamp; 15. a balance fin; 16. a sampling basket; 17. a track drive motor; 18. a base; 19. a support bar; 201. a first steering engine; 202. a second steering engine; 21. swinging arms; 22. a disc steering engine; 23. a joint; 24. sampling a clamp; 25. plywood; 26. a chuck; 27. an electric telescopic rod; 28. a push rod; 29. rotating the rod; 30. hinging a shaft; 31. an H-shaped connector; 32. a first large torque motor; 33. a second large torque motor; 34. a bearing assembly; 35. a third large torque motor; 36. a gear; 37. a signal receiver; 38. a controller; 39. a storage battery; 40. a support shaft; 41. connecting seat, 42, spout.
Detailed Description
As shown in fig. 1-4, the utility model relates to an underwater cruising and sampling robot, which comprises a main body mechanism 1, a propeller movement mechanism, a sampling and collecting mechanism, and a controller 38 and a storage battery 39 which are installed in the main body mechanism 1.
The crawler movement mechanisms are respectively installed on the lower portions of two sides of the main body mechanism 1 and comprise a crawler 2, a main driving wheel 3, a driven wheel 4, bogie wheels 5, a spring hydraulic damper 6 and a crawler driving motor 17, the crawler driving motor 17 is installed in an inner cavity of the main body mechanism 1, an output shaft of the crawler driving motor 17 is connected with the main driving wheel 3 through a connecting shaft, the two bogie wheels 5 are respectively connected with the main body mechanism 1 through the spring hydraulic damper 6, and the crawler 2 is sleeved on the main driving wheel 3, the driven wheel 4 and the bogie wheels 5. The driven wheels 4 of the two sets of track motion mechanisms are connected through a supporting rotating shaft 40, and the supporting rotating shaft 40 is arranged at the rear end of the main body mechanism 1 through a bearing.
The screw motion is equipped with two sets, installs respectively on 1 both sides upper portion of main part mechanism, the mechanism is collected in the sampling comprises sampling arm and sampling basket, and sampling arm, sampling basket 16 are fixed respectively at 1 front and back ends of main part mechanism, 1 front end central authorities of main part mechanism install a camera 13, head-light 14 is still installed to camera 13 both sides. Two balance fins 15 are also mounted on the rear end of the top of the main body mechanism 1.
The propeller movement mechanism comprises an underwater driving motor 10, a propeller 7 arranged on the underwater driving motor, a rotating arm 9, a first large torsion motor 32, a swinging arm 11 and a second large torsion motor 33. A rotating shaft is fixed on the main body mechanism 1 through a bearing assembly 34, one end of a swinging arm 11 is fixed on the rotating shaft, a second large torque motor 33 is fixedly installed in an inner cavity of the main body mechanism and can drive the rotating shaft to rotate, a first large torque motor 32 is fixedly installed on the swinging arm 11, one end of a rotating arm 9 is fixed on an output shaft of the first large torque motor 32, and an underwater driving motor 10 is fixedly installed at the other end of the rotating arm 9. The first high torque motor 32 is operable to drive the swing arm 9 to rotate 360 °, and the second high torque motor 33 is operable to drive the swing arm 11 to swing within 90 °.
Further, a blade protection cover 8 is fixedly arranged on the shell of the underwater driving motor 10. The main body mechanism 1 is further provided with a swing arm limiting plate 12, and the swing arm limiting plate 12 is perpendicular to the top surface of the main body mechanism 1.
As shown in fig. 5 and 6, specifically, the inner cavity of the main body mechanism 1 is divided into an upper layer and a lower layer, the track driving motor 17 and the storage battery 39 are respectively installed at two sides of the lower layer of the inner cavity, the first large torsion motor 32 and the second large torsion motor 33 are respectively installed at the upper layer of the inner cavity, and the controller 38 is installed at the middle of the upper layer of the inner cavity and used for controlling the actions of the propeller movement mechanism, the sampling and collecting mechanism and the track movement mechanism.
As shown in fig. 2, 3 and 7, the sampling mechanical arm comprises a base 18 mounted at the front end of the top surface of the main body mechanism, a support rod 19 mounted on the base through a bearing assembly, a swing arm 21 and a sampling clamp 24, and a third large torsion motor 35 for driving the support rod to rotate is mounted in the base 18. One end of the swing arm 21 is hinged with the support rod 19, a first steering engine 201 for driving the swing arm to swing is further installed at the hinged position, the other end of the swing arm 21 is welded with the center of a disc steering engine 22, and a rotating shaft of the disc steering engine 22 is connected with a sampling clamp 24 through a joint 23; and a second steering engine 202 for driving the sampling clamp to swing is arranged at the joint rotating shaft. The third large torque motor 35 can drive the support rod 19 to rotate, namely the whole mechanical arm rotates; the first steering engine 201 and the second steering engine 202 respectively realize the swinging of the swing arm 21 and the sampling clamp, and the disc steering engine 22 can enable the sampling clamp to rotate. This facilitates the capture of the sample.
As shown in fig. 8 and 9, the sampling clamp includes a connecting seat 41, an upper plywood 25 and a lower plywood 25 fixed on the connecting seat, a clamping head 26, a rotating rod 29, an electric telescopic rod 27 and a push rod 28, one end of the rotating rod 29 is installed between the upper plywood 25 and the lower plywood 25 through a hinge shaft 30, the other end of the rotating rod 29 is hinged to the end of the clamping head 26, the middle of the rotating rod 29 is hinged to one end of the push rod 28, the other end of the push rod 28 is hinged to the electric telescopic rod 27, and the clamping head 26 is opened and closed.
Specifically, the end of the movable rod of the electric telescopic rod 27 is connected with an H-shaped connector 31, the upper plywood 25 and the lower plywood 25 are provided with sliding grooves 42, and the electric telescopic rod can push the H-shaped connector 31 to move along the sliding grooves 42 during movement.
The utility model discloses a theory of operation is: the underwater cruising and sampling robot sinks by using the gravity of the robot, when the underwater cruising and sampling robot contacts the water bottom, the crawler driving motor 17 is started to move on the water bottom ground, and meanwhile, the balance fin (15) at the tail part can improve the cruising stability of the robot. When encountering a submarine hillock, the propeller 7 is started to generate lift force upwards, so that the robot floats to a certain height, then the second large torque motor 33 drives the rotating arm to rotate, namely after the propeller 7 rotates by a certain angle, the underwater driving motor 10 drives the propeller 7 to generate forward thrust, so that the robot runs forwards, then the propeller 7 is closed, the robot lands on the ground by utilizing the gravity of the robot, and the shock-absorbing type loading wheels 5 can generate a buffering effect during landing, so that the action of crossing the submarine hillock can be completed, and the motion continuity of the robot is ensured.
In the cruising process, if a sample which can be researched is observed by the camera 13, the system controls the sampling clamp 24 to capture, the electric telescopic rod 27 controls the push rod 28 to push out, the angle of the rotating rod 29 is reduced, the chuck 26 is opened, then the electric telescopic rod 27 controls the push rod 28 to pull, the angle of the rotating rod 29 is increased, the chuck 26 clamps the sample, then the whole body rotates by 180 degrees, the sample is placed into the sampling basket 16 at the tail part of the main body, and one-time sampling operation is completed.
The above description is only for the purpose of illustrating the technical solutions of the present invention, and the simple modification or equivalent replacement of the technical solutions of the present invention by those of ordinary skill in the art does not depart from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. The utility model provides an underwater cruising and sampling robot, includes main part mechanism, screw motion, sampling collection mechanism and installs controller and the battery in main part mechanism, its characterized in that: the crawler movement mechanisms comprise a crawler, a main driving wheel, a driven wheel, two loading wheels, a spring hydraulic damper and a crawler driving motor, wherein the crawler driving motor is arranged in an inner cavity of the main mechanism and is connected with the main driving wheel through a connecting shaft;
the screw motion mechanism is provided with two sets and is respectively installed on the upper portions of the two sides of the main body mechanism, the sampling and collecting mechanism is composed of a sampling mechanical arm and a sampling basket, the sampling mechanical arm and the sampling basket are respectively fixed at the front end and the rear end of the main body mechanism, a camera is installed in the center of the front end of the main body mechanism, and two balance fins are further installed at the rear end of the top of the main body mechanism.
2. The underwater cruise and sampling robot of claim 1, wherein: the propeller movement mechanism comprises an underwater driving motor, a propeller, a rotating arm, a first large torsion motor, a swinging arm and a second large torsion motor, wherein the propeller, the rotating arm, the first large torsion motor, the swinging arm and the second large torsion motor are installed on the underwater driving motor, a rotating shaft is fixed on a main body mechanism through a bearing assembly, one end of the swinging arm is fixed on the rotating shaft, the second large torsion motor is fixedly installed in an inner cavity of the main body mechanism and can drive the rotating shaft to rotate, the first large torsion motor is fixedly installed on the swinging arm, one end of the rotating arm is fixed on an output shaft of the first large torsion motor, and the underwater.
3. The underwater cruise and sampling robot of claim 2, wherein: and a blade protection cover is fixedly arranged on the shell of the underwater driving motor.
4. The underwater cruise and sampling robot of claim 2, wherein: the main body mechanism is further provided with a swing arm limiting plate, and the swing arm limiting plate is perpendicular to the top surface of the main body mechanism.
5. The underwater cruise and sampling robot of claim 2, wherein: the inner cavity of the main body mechanism is divided into an upper layer and a lower layer, the crawler driving motor and the storage battery are respectively installed on two sides of the lower layer of the inner cavity, the first large torsion motor and the second large torsion motor are respectively installed on the upper layer of the inner cavity, and the controller is installed in the middle of the upper layer of the inner cavity.
6. The underwater cruise and sampling robot of claim 1, wherein: the sampling mechanical arm comprises a base, a supporting rod, a swinging arm and a sampling clamp, wherein the base is installed at the front end of the top surface of the main body mechanism, the supporting rod, the swinging arm and the sampling clamp are installed on the base through a bearing assembly, a third large torsion motor for driving the supporting rod to rotate is installed in the base, one end of the swinging arm is hinged to the supporting rod, a first steering engine for driving the swinging arm to swing is installed at the hinged position, the other end of the swinging arm is welded to the center of a disc steering engine, a rotating shaft of the disc steering engine is connected with the sampling clamp through a joint, and.
7. The underwater cruise and sampling robot of claim 6, wherein: sampling clip includes the connecting seat, fixes two upper and lower plywood, chuck, dwang, electric telescopic handle and the push rod on the connecting seat, and dwang one end is passed through the articulated shaft and is installed between two upper and lower plywood, and the dwang other end is terminal articulated with the chuck, and the dwang middle part is articulated with push rod one end, and the push rod other end is articulated with electric telescopic handle, through electric telescopic handle's flexible push-and-pull, realizes strutting and the closure of chuck.
8. The underwater cruise and sampling robot of claim 7, wherein: the utility model discloses a portable electric telescopic handle, including electric telescopic handle, upper and lower plywood are equipped with the spout, electric telescopic handle's movable rod end connection has H shape connector be equipped with the spout on the upper and lower two plywood, can promote H shape connector and remove along the spout when electric telescopic handle moves.
9. An underwater cruising and sampling robot as claimed in any one of claims 1 to 8, wherein: and headlamps are further mounted on two sides of the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921020148.6U CN210942199U (en) | 2019-07-03 | 2019-07-03 | Underwater cruising and sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921020148.6U CN210942199U (en) | 2019-07-03 | 2019-07-03 | Underwater cruising and sampling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210942199U true CN210942199U (en) | 2020-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921020148.6U Expired - Fee Related CN210942199U (en) | 2019-07-03 | 2019-07-03 | Underwater cruising and sampling robot |
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| Country | Link |
|---|---|
| CN (1) | CN210942199U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408139A (en) * | 2022-03-07 | 2022-04-29 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
-
2019
- 2019-07-03 CN CN201921020148.6U patent/CN210942199U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408139A (en) * | 2022-03-07 | 2022-04-29 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
| CN114408139B (en) * | 2022-03-07 | 2022-12-09 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200707 Termination date: 20210703 |