CN211391645U - Small-size underwater robot - Google Patents
Small-size underwater robot Download PDFInfo
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- CN211391645U CN211391645U CN201922220715.9U CN201922220715U CN211391645U CN 211391645 U CN211391645 U CN 211391645U CN 201922220715 U CN201922220715 U CN 201922220715U CN 211391645 U CN211391645 U CN 211391645U
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Abstract
The utility model relates to a small-size underwater robot, including the robot afterbody casing, the robot middle part casing and the robot head casing that connect gradually, the both sides of robot afterbody casing are connected with the afterbody screw for the front and back left and right sides of drive control robot removes, is equipped with step motor in the casing of robot middle part, and step motor's driveshaft connection and drive sucking disc-flange do piston motion, and the one end of sucking disc-flange is equipped with the sampling pipe to piston motion through sucking disc-flange is taken out/is arranged water matter, and the last top of robot head casing is equipped with the head screw with lower bottom, is used for the rising and the decline of drive control robot head, and the front end of robot head casing is equipped with the camera. The utility model discloses simple structure science is reliable to adopt modular structure, the function storehouse in afterbody casing, the middle part casing of robot and the robot head casing can carry out the apolegamy according to the usage of difference, and the operation is stable, and location navigation is high-efficient quick.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to small-size underwater robot.
Background
In the 21 st century, with the increasing importance of the country on the development of marine economy, the fields of marine scientific investigation, marine rescue, marine oil exploration, marine tourism and the like in China are increasingly hot, and the demand on underwater shooting and monitoring equipment is increasing day by day. The underwater unmanned aerial vehicle also plays an important role in the aspects of ship maintenance, fishery culture and the like. Particularly, the external inspection of the bottoms of large cargo ships, passenger ships and fishing boats is necessary in the prior art, a manual launching inspection mode is generally adopted, but the cost is high, the manual launching inspection mode is easily influenced by external environmental factors, and in the aspect of fishery culture, the water quality inspection, fish shoal monitoring, net cage arrangement and repair and the like are traditionally completed mainly by manpower. Nowadays, the difficult problem that these two fields face can be solved well in unmanned aerial vehicle's under water application, can reduce cost, again can raise the efficiency.
At present, an underwater unmanned aerial vehicle continuously makes new progress on key technology, the shooting capability, the diving capability and the cruising capability are continuously enhanced, and the underwater unmanned aerial vehicle is widely applied to various fields such as underwater search and rescue, marine environmental protection, scientific research and archaeology, submarine exploration, underwater photography, diving entertainment and the like.
However, the underwater unmanned aerial vehicle on the market at present has a single structure and extremely poor expansibility, the research and development, operation and manufacturing costs of enterprises aiming at unmanned aerial vehicles with different functions are very high, and the selling price of the underwater unmanned aerial vehicle is also very high.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the problem that prior art exists, provide a small-size underwater robot.
For realizing above-mentioned technical purpose, reach above-mentioned technological effect, the utility model discloses a following technical scheme realizes:
the utility model provides a small-size underwater robot, includes the robot afterbody casing, the middle part casing of robot and the robot head casing that connect gradually, the both sides of robot afterbody casing are connected with the afterbody screw for the all around removal of drive control robot, be equipped with step motor in the casing of robot middle part, step motor's driveshaft is connected and drive sucking disc-flange makes piston motion, the one end of sucking disc-flange is equipped with the sampling pipe to piston motion through sucking disc-flange is taken out/is arranged water matter, the last top of robot head casing is equipped with the head screw with lower bottom for the rising and the decline of drive control robot head, the front end of robot head casing is equipped with the camera, is used for gathering the image.
Furthermore, a battery and a main control board are arranged in the middle shell of the robot, and the battery is respectively and electrically connected with the stepping motor and the corresponding driving motors on the head propeller and the tail propeller through the main control board and is used for providing power and controlling the motors.
Furthermore, the sampling pipe, the sucker-flange, the stepping motor, the battery and the main control board are sequentially arranged in the middle shell of the robot, the sampling pipe is close to the rear end of the head shell of the robot, and the main control board is close to the front end of the tail shell of the robot.
Furthermore, waterproof pads are respectively arranged between the stepping motor and the battery, between the battery and the main control board, and between the main control board and the front end of the tail shell of the robot, and are used for preventing water.
Furthermore, a positioning device is arranged in the middle shell of the robot and used for positioning the robot.
Furthermore, the upper top and the lower bottom of the robot head shell are provided with openings, and head propellers are arranged in the openings.
Further, the open end of the sampling pipe is communicated with the water body through an opening on the robot head shell.
Furthermore, two sides of the tail shell of the robot are connected with a tail propeller through a connecting frame.
The utility model has the advantages that:
the utility model discloses simple structure science is reliable to adopt modular structure, the function storehouse in afterbody casing, the middle part casing of robot and the robot head casing can carry out the apolegamy according to the usage of difference, like camera module, sampling module, orientation module etc. the operation is reliable, stable, and location navigation is high-efficient, quick.
Drawings
Fig. 1 is a schematic diagram of the explosion structure of the present invention;
FIG. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention;
fig. 4 is a side view of the present invention.
The reference numbers in the figures illustrate: 1. the device comprises a camera, 2, a head propeller, 3, a sampling pipe, 4, a sucker-flange, 5, a stepping motor, 6, a battery, 7, a positioning device, 8, a main control board, 9 and a tail propeller.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 4, a small underwater robot comprises a robot tail shell, a robot middle shell and a robot head shell which are connected in sequence, wherein the robot has a total length of 1.5m and a diameter of 110MM, and a weight of 20KG (balance weight and water tank full load), tail propellers 9 are connected to two sides of the robot tail shell and are used for driving and controlling the robot to move back and forth and left and right, a stepping motor 5 is arranged in the robot middle shell, a driving shaft of the stepping motor 5 is connected with and drives a sucker-flange 4 to do piston motion, a sampling pipe 3 is arranged at one end of the sucker-flange 4, water is pumped/discharged through the piston motion of the sucker-flange 4, in the embodiment, the sampling pipe 3 is provided with 3 medical peristaltic pumps and sampling pipes to form a self-made six-pipe sampling system, and head propellers 2 are arranged at the upper top and the lower bottom of the robot head shell, the robot head shell is used for driving and controlling the robot head to ascend and descend, and the front end of the robot head shell is provided with a camera 1 used for collecting images.
Be equipped with battery 6 and main control board 8 in the casing of robot middle part, battery 6 adopts 12V, 20000MAH, 3S model aeroplane and model ship lithium cell, can last 20 seas under 4 seas per hour' S the condition, and every hour in 6 seas of maximum speed per hour, battery 6 can dismantle in a flexible way, reaches more lasting duration, corresponding driving motor on step motor 5 and head screw 2 and the afterbody screw 9 is connected through main control board 8 electricity respectively to battery 6 for provide electric power and control for each motor.
Between step motor 5 and battery 6, between battery 6 and the main control board 8, and main control board 8 and lean on the front end of robot afterbody casing between set up waterproof pad respectively, be used for waterproof, in this embodiment, waterproof pad adopts industrial grade PVC waterproof flange, is equipped with 8 hole waterproof gaskets of silica gel, can guarantee that 1.5M depth of water is 24 hours watertight under the laboratory, and the test of putting the pressure to the whole built-in portion is carried out under 0.5MPA atmospheric pressure (being equivalent to 50M depth of water), and under the circumstances, 24H stews, the atmospheric pressure decline volume is less than 0.5%, and the gas tightness is high.
The robot middle part is equipped with positioner 7 in the casing, a location for the robot, in this embodiment, positioner 7 adopts big dipper and GPS double location, make the location more accurate reliable, to the communication problem, in this embodiment, adopt conventional 433MHZ low frequency and 2.4GHZ high frequency to communicate, adopt 2.4GHZ on the surface of water, shallow water adopts 433MHZ, the deep water adopts 2.4GHZ + power line carrier signal buoy, guarantee the communication in the aquatic with multiple mode, the navigation adopts the high-efficient quick navigation of conventional PID mode, and be furnished with corresponding ground base station, on image transmission, adopt 1080P, 5.8GHZ wireless high definition picture passes, can transmit image data to on the receiver of 2000 meters outward.
The upper top and the lower bottom of the robot head shell are provided with holes, and the head propeller 2 is arranged in the holes.
The open end of the sampling pipe 3 is communicated with a water body through an opening hole in the shell of the head of the robot.
And two sides of the tail shell of the robot are connected with a tail propeller 9 through a connecting frame.
The principle of the utility model
When the robot operates, when the two tail propellers 9 on the two sides of the tail shell of the robot are synchronously driven, the robot moves forwards or backwards, when the two tail propellers 9 are asynchronously driven, the robot moves leftwards or rightwards, and when the stepping motor 5 drives the sucker-flange 4 to do piston motion, the water pumping and drainage of the sampling pipe 3 are realized, so that the sampling is convenient, and when the propellers 2 on the upper top and the lower bottom of the head shell of the robot move, the robot performs head raising or diving actions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A small underwater robot comprises a robot tail shell, a robot middle shell and a robot head shell which are connected in sequence, and is characterized in that tail propellers (9) are connected to two sides of the robot tail shell and used for driving and controlling the robot to move all around, a stepping motor (5) is arranged in the robot middle shell, a driving shaft of the stepping motor (5) is connected with and drives a sucker-flange (4) to do piston motion, a sampling pipe (3) is arranged at one end of the sucker-flange (4), water is pumped/discharged through the piston motion of the sucker-flange (4), head propellers (2) are arranged at the upper top and the lower bottom of the robot head shell and used for driving and controlling the robot head to ascend and descend, and a camera (1) is arranged at the front end of the robot head shell, for acquiring images.
2. The small underwater robot as claimed in claim 1, wherein a battery (6) and a main control board (8) are arranged in the middle shell of the robot, and the battery (6) is respectively and electrically connected with the stepping motor (5) and corresponding driving motors on the head propeller (2) and the tail propeller (9) through the main control board (8) and is used for providing power and controlling for the motors.
3. A small underwater robot as claimed in claim 2, characterized in that the sampling tube (3), the suction cup-flange (4), the stepping motor (5), the battery (6) and the main control board (8) are arranged in sequence within the robot middle shell, and that the sampling tube (3) abuts against the rear end of the robot head shell and the main control board (8) abuts against the front end of the robot tail shell.
4. A small-sized underwater robot as claimed in claim 3, wherein waterproof pads are respectively provided between the stepping motor (5) and the battery (6), between the battery (6) and the main control board (8), and between the main control board (8) and the front end of the tail housing of the robot for waterproofing.
5. A small underwater robot as claimed in claim 1, characterized in that a positioning device (7) is provided in the middle housing of the robot for positioning the robot.
6. A small underwater robot as claimed in claim 1, characterized in that the upper top and lower bottom of the robot head housing are provided with openings and a head propeller (2) is provided in the openings.
7. A small underwater robot as claimed in claim 5, characterized in that the open end of the sampling tube (3) is connected to the body of water through an opening in the robot head housing.
8. A small underwater robot as claimed in claim 1, characterized in that the two sides of the robot tail housing are connected to a tail propeller (9) by means of a connecting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922220715.9U CN211391645U (en) | 2019-12-12 | 2019-12-12 | Small-size underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922220715.9U CN211391645U (en) | 2019-12-12 | 2019-12-12 | Small-size underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211391645U true CN211391645U (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922220715.9U Active CN211391645U (en) | 2019-12-12 | 2019-12-12 | Small-size underwater robot |
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| CN (1) | CN211391645U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750909A (en) * | 2022-05-24 | 2022-07-15 | 鲁东大学 | Submersible marine pollutant observation equipment and working method thereof |
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2019
- 2019-12-12 CN CN201922220715.9U patent/CN211391645U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750909A (en) * | 2022-05-24 | 2022-07-15 | 鲁东大学 | Submersible marine pollutant observation equipment and working method thereof |
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