CN212243762U - Power device for underwater robot - Google Patents
Power device for underwater robot Download PDFInfo
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- CN212243762U CN212243762U CN202021092711.3U CN202021092711U CN212243762U CN 212243762 U CN212243762 U CN 212243762U CN 202021092711 U CN202021092711 U CN 202021092711U CN 212243762 U CN212243762 U CN 212243762U
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Abstract
The utility model discloses a power device for underwater robot, include: an upper sealed bin; a lower sealed bin; the lower sealed cabin is arranged at the bottom of the upper sealed cabin; one side of each of the two connecting plates is fixed on two sides of the upper sealed bin; and the two vertical thrusters are arranged at the tops of the two connecting plates. The utility model discloses a horizontal propeller and the perpendicular propeller that set up for can improve underwater robot's flexibility, and the irregular fretwork design of U type bottom cover and connecting plate, improve drainage and anti-wave flower effect, ensure the shooting effect, and adopt the intelligent control technique, promote intelligent underwater robot's performance, convenience and commonality of use, use 3D printing technique simultaneously, the optimizing apparatus structure, reduce the resistance, reinforcing robot is active ability and activity time under water, reduce the development risk, practice thrift the development expense, shorten the development cycle, can realize batch production.
Description
Technical Field
The utility model relates to the field of robots, more specifically say that it relates to a power device for underwater robot.
Background
When the underwater robot is born in the early 20 th 50 s, the related new technology is not mature enough, the failure rate of electronic equipment is high, the problems of communication matching, lifting recovery and the like are not well solved, so the development is not rapid and is not valued by people, in the 60 s, two development technologies, namely universe and ocean development, are started internationally, so that the remote control type robot is promoted to be developed rapidly, in the 80 s, the underwater robot is developed greatly due to the needs of ocean development and military, particularly various materials and technologies required by an underwater robot body are well solved, the underwater robot is developed greatly, and a group of robots capable of working at various depths and performing various operations are developed, can be used for oil exploitation, submarine mineral exploration, salvaging operation, pipeline laying and inspection, cable laying and inspection, marine culture and the like, Dam inspection of rivers and reservoirs, military affairs and other fields.
At present, most of underwater robots are frame type and submarine-like rotary slender bodies, and with the continuous development of bionic technology, underwater robots in bionic fish shapes and even motion modes can be continuously developed. The underwater robot works in an unknown and challenging marine environment, and various complex marine environments such as wind, wave, current, deep water pressure and the like seriously interfere the motion and control of the robot, so that the communication, navigation and positioning of the underwater robot are very difficult, which is the biggest difference from a land robot and is also a main factor which hinders the development of the underwater robot at present.
In the prior art, the underwater robot is easily influenced by core components in the using process, so that the underwater robot is limited in underwater activity capacity and time, high in cost, difficult to popularize, high in research risk, limited in research expense, long in research period, incapable of being used for batch production and further becoming the greatest obstacle to further development of the underwater robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a power device for underwater robot, it conveniently strengthens robot ability and activity time under water, reduces the development risk, practices thrift the development expense, shortens the development cycle, can realize batch production not enough to prior art exists.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a power plant for an underwater robot comprising: an upper sealed bin; a lower sealed bin; the lower sealed cabin is arranged at the bottom of the upper sealed cabin; one side of each of the two connecting plates is fixed on two sides of the upper sealed bin; the two vertical thrusters are arranged at the tops of the two connecting plates; the two horizontal thrusters are arranged at the bottoms of the two connecting plates; the top of the inner wall of the U-shaped bottom cover is fixed at the top of the lower sealed cabin, and the two sides of the inside of the U-shaped bottom cover are fixed at one side of the two connecting plates.
Further, a round frame is hinged to the horizontal propeller through a hinge, a protective net is arranged on the round frame, two rubber pads are arranged on the round frame, and the rubber pads are semicircular.
Furthermore, an insertion plate is fixedly connected to the circular frame, and a mounting groove is formed in the horizontal propeller.
Further, one side of the insertion plate penetrates the installation groove and extends to the outside of the horizontal thruster.
Further, two chucking boxes of back fixedly connected with of horizontal propeller, two slide bars of fixedly connected with between the inside both sides of chucking box, two the cover is equipped with extrusion spring on the slide bar.
Furthermore, the outer surfaces of the two sliding rods are connected with sliding plates in a sliding mode, two sides of each sliding plate are connected with two sides inside the clamping box in a sliding mode, one side of each sliding plate is fixedly connected with two operating rods, and the top ends of the two operating rods penetrate through the clamping box and extend to one end of the clamping box to be fixedly connected with a pulling handle.
Furthermore, the other side fixedly connected with stock of sliding plate, the one end of stock runs through chucking box and extends to the outside of chucking box, the stock extends to the outside one end fixedly connected with chucking piece of chucking box, insert and seted up two recesses on the board, one side of chucking piece runs through the recess and extends to the inside of recess.
To sum up, this practicality mainly has following beneficial effect: the device is through the horizontal propeller and the perpendicular propeller that set up, make the flexibility that can improve underwater robot, and the irregular fretwork design of U type bottom cover and connecting plate, improve drainage and anti-wave flower effect, ensure the shooting effect, and adopt the intelligent control technique, promote intelligent underwater robot's performance, convenience and commonality of use, use 3D printing technique simultaneously, the optimizing apparatus structure, reduce the resistance, reinforcing robot is ability and activity time under water, reduce the development risk, practice thrift the development expense, shorten the development cycle, can realize batch production.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 2 is a schematic bottom view of the whole of FIG. 1 according to the present invention;
FIG. 3 is a side view of the whole of FIG. 1;
fig. 4 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 5 is a schematic structural view of a circular frame;
FIG. 6 is a side view of the assembly of the circular frame and the horizontal thruster;
fig. 7 is a partially enlarged schematic view of a portion a of fig. 6.
In the figure: 1. an upper sealed bin; 2. a lower sealed bin; 3. a connecting plate; 4. a vertical thruster; 5. a horizontal thruster; 6. a U-shaped bottom cover; 7. a circular frame; 8. a protective net; 9. a rubber pad; 10. an insert plate; 11. mounting grooves; 12. clamping the box; 13. a slide bar; 14. a compression spring; 15. a sliding plate; 16. an operating lever; 17. pulling the handle; 18. a long rod; 19. a clamping block; 20. and (4) a groove.
Detailed Description
This embodiment is described in further detail below with reference to FIGS. 1-3.
First embodiment
A power plant for underwater robots, as shown in fig. 1 to 3, comprising: an upper sealed bin 1;
a lower sealed bin 2; the lower sealed cabin 2 is arranged at the bottom of the upper sealed cabin 1;
one sides of the two connecting plates 3 are fixed on two sides of the upper sealed bin 1;
the two vertical thrusters 4 are arranged at the tops of the two connecting plates 3;
the two horizontal thrusters 5 are arranged at the bottoms of the two connecting plates 3;
the top of the inner wall of the U-shaped bottom cover 6 is fixed to the top of the lower sealed bin 2, and two sides of the inside of the U-shaped bottom cover 6 are fixed to one side of the two connecting plates 3;
the overwater remote control monitoring system is divided into a remote controller and a monitoring platform, the remote controller is provided with six channels, the three channels respectively control the front-back, the left-right and the lifting-diving of the underwater robot, and the other one channel is reserved for controlling the underwater video holder. The underwater video is displayed in real time by adopting a mobile terminal, the underwater analog video transmits a video signal to land through 5.8GHZ image transmission equipment, ground equipment is connected to a mobile phone or a MicroUSB interface of PAD through a video acquisition card of the MicroUSB interface, and then data transmission and display are realized through the OTG function of the equipment. In addition, a Bluetooth BLE interface is reserved in the remote control system, and the real-time state of the underwater sensor and the underwater robot can be transmitted to the mobile terminal for display through Bluetooth in the later period;
the horizontal propeller 5 and the vertical propeller 4 improve the flexibility of the underwater robot, and the irregular hollow design of the U-shaped bottom cover 6 improves the drainage and anti-wave-pattern effects and ensures the shooting effect;
by adopting an intelligent control technology, the performance, the use convenience and the universality of the intelligent underwater robot are improved;
the 3D printing technology is used, the structure of the equipment is optimized, the resistance is reduced, the underwater activity capability and the activity time of the robot are enhanced, the development risk is reduced, the development cost is saved, the development period is shortened, and the batch production can be realized.
The working principle is as follows: the frame is designed and manufactured by a 3D printer, the manufacturing material is light, the floating and submerging are convenient, the power part adopts an east stepper motor and a Missimi optical axis for transmission, the mainboard part adopts an MKS open source 3D printing mainboard, Marlin open source 3D printing driving firmware is used, the power part adopts a Mingmei 400W switching power supply, the power supply uses an LV8729 stepper motor for driving and controlling the stepper motor, the core of the printer is a main circuit board which adopts a 16-bit AVR microprocessor of ATmega2560, the processed 3D model file is converted into X, Y, Z shaft and sprayer feeding stepper motor data through the main circuit board and is delivered to 4 stepper motor control circuits for control, then the stepper motor control circuits control the X-Y plane movement of a workpiece output substrate, the vertical movement of a sprayer and the sprayer feeding speed, the high-temperature sprayer accurately melts raw materials and sprays the raw materials on the workpiece output substrate layer by layer, a final solid model is formed.
The underwater robot is divided into two modes of wired control and wireless control, and is mainly controlled by an onshore controller, the controller adopts a Jumper JP4-IN-1 module, and a main control chip adopts STM32F103CBT6 (128K ROM, 20K RAM), and the module has the advantages of high integration level, good development performance, strong compatibility and the like, each operation control of common remote control is a channel, and the ROV underwater robot has a horizontal propeller 5 and a vertical propeller 4, and only a mixed control system is used for controlling two horizontal propellers 5 and vertical propellers 4 for controlling the submergence and the upward floating of an ROV to move IN all directions under the water, and the submergence is controlled by a motor, but the direction is used for controlling the advancing and retreating of the ROV, and the left steering and the right steering IN the horizontal direction are controlled, so the mixed control of the direction and the advancing and retreating is required to be set. That is, one motion can be connected to two channels, and the rudder amount can be the vector sum of two motions, that is, the control signals of two rods can be merged into one rudder. This step is implemented with a corresponding program.
Has the advantages that: the device is through horizontal propeller 5 and the perpendicular propeller 4 that sets up, make the flexibility that can improve underwater robot, and the irregular fretwork design of U type bottom cover 6 and connecting plate 3, improve drainage and anti-wave flower effect, ensure the shooting effect, and adopt intelligent control technique, promote intelligent underwater robot's performance, convenience and the commonality of use, use 3D printing technique simultaneously, the optimizing apparatus structure, reduce the resistance, reinforcing robot is active ability and activity time under water, reduce the development risk, practice thrift the development expense, shorten the development cycle, can realize batch production.
Second embodiment
Referring to fig. 4 to 7, a second embodiment of the present application provides another underwater robot power device based on the portable underwater robot power device provided in the first embodiment of the present application. The second embodiment is only the preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.
Specifically, the portable underwater working robot power device provided by the second embodiment of the present application is different in that: the horizontal propeller 5 is hinged with a round frame 7 through a hinge, a protective net 8 is arranged on the round frame 7, two rubber pads 9 are arranged on the round frame 7, and the rubber pads 9 are semicircular.
An inserting plate 10 is fixedly connected to the circular frame 7, and an installation groove 11 is formed in the horizontal propeller 5.
One side of the insertion plate 10 penetrates the installation groove 11 and extends to the outside of the horizontal thruster 5.
Two chucking boxes 12 of back fixedly connected with of horizontal propeller 5, two slide bars 13 of fixedly connected with between the inside both sides of chucking box 12, two the cover is equipped with extrusion spring 14 on the slide bar 13.
The outer surfaces of the two sliding rods 13 are slidably connected with sliding plates 15, two sides of each sliding plate 15 are slidably connected with two sides inside the clamping box 12, one side of each sliding plate 15 is fixedly connected with two operating rods 16, and the top ends of the two operating rods 16 penetrate through the clamping box 12 and extend to one end of the clamping box 12 to be fixedly connected with a pulling handle 17.
A long rod 18 is fixedly connected to the other side of the sliding plate 15, one end of the long rod 18 penetrates through the clamping box 12 and extends to the outside of the clamping box 12, a clamping block 19 is fixedly connected to one end of the long rod 18 extending to the outside of the clamping box 12, two grooves 20 are formed in the inserting plate 10, and one side of the clamping block 19 penetrates through the grooves 20 and extends to the inside of the grooves 20;
the clamping block 19 is a quarter round block, and the groove 20 is matched with the clamping block 19;
the rubber pad 9 plays a role in buffering, when the circular frame 7 is hinged and closed, the circular frame 7 is in contact with the horizontal propeller 5, and damage to the horizontal propeller 5 due to excessive force is avoided;
through carrying out hinge setting to circular frame 7, conveniently dismantle and install it, need not carry it down, directly open clearance protection network 8.
The clamping block 19 and the groove 20 are conveniently fixedly clamped through the arranged extrusion spring 14.
In order to avoid the situation that seaweed and suspended organisms in a water body are encountered in the working process of the underwater robot, the horizontal propeller 5 is not provided with a protection device, so that floating objects such as seaweed and the like in water easily enter the horizontal propeller 5 during working, the horizontal propeller 5 is clamped during working, and further the damage is caused;
through set up protection network 8 on horizontal propeller 5, can prevent some aquatic floaters such as the marine alga of some aquatic from getting into, when installing, through inserting board 10 on the circular frame 7 and enter into the mounting groove 11 on the horizontal propeller 5 until going out mounting groove 11, recess 20 and chucking piece 19 are on same water flat line this moment, through release pulling handle 17, under extrusion spring 14's rebound, it slides on the inner wall of chucking box 12 to drive sliding plate 15, and then make the stock 18 downstream on the sliding plate 15, it fixes to drive chucking piece 19 on the stock 18 and enter into recess 20 and carry out the joint, and then inject the position of inserting board 10, make and install protection network 8, play the effect of protection.
The parts not related in the utility model are all the same as the prior art or can be realized by the prior art.
The present embodiment is only for explaining the present invention, and it is not limited to the present embodiment, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.
Claims (7)
1. A power device for an underwater robot, comprising: an upper sealed bin;
a lower sealed bin; the lower sealed cabin is arranged at the bottom of the upper sealed cabin;
one side of each of the two connecting plates is fixed on two sides of the upper sealed bin;
the two vertical thrusters are arranged at the tops of the two connecting plates;
the two horizontal thrusters are arranged at the bottoms of the two connecting plates;
the top of the inner wall of the U-shaped bottom cover is fixed at the top of the lower sealed cabin, and the two sides of the inside of the U-shaped bottom cover are fixed at one side of the two connecting plates.
2. The power plant for underwater robots according to claim 1, characterized in that: the horizontal propeller is hinged with a round frame through a hinge, a protective net is arranged on the round frame, two rubber pads are arranged on the round frame, and the rubber pads are semicircular.
3. The power plant for underwater robots according to claim 2, characterized in that: the circular frame is fixedly connected with an insertion plate, and the horizontal propeller is provided with an installation groove.
4. The power plant for underwater robots according to claim 3, characterized in that: one side of the insertion plate penetrates through the installation groove and extends to the outside of the horizontal thruster.
5. The power plant for underwater robots according to claim 4, characterized in that: two chucking boxes of back fixedly connected with of horizontal propeller, two slide bars of fixedly connected with between the inside both sides of chucking box, two the cover is equipped with extrusion spring on the slide bar.
6. The power plant for underwater robots according to claim 5, characterized in that: the outer surfaces of the two sliding rods are connected with sliding plates in a sliding mode, two sides of each sliding plate are connected with two sides inside the clamping box in a sliding mode, one side of each sliding plate is fixedly connected with two operating rods, and the top ends of the two operating rods penetrate through the clamping box and extend to one end of the clamping box to be fixedly connected with a pulling handle.
7. The power plant for underwater robots of claim 6, characterized in that: the clamping device comprises a sliding plate, a clamping box and a long rod, wherein the clamping box is fixedly connected with the other side of the sliding plate, one end of the long rod penetrates through the clamping box and extends to the outside of the clamping box, the long rod extends to the outside of the clamping box, one end of the long rod is fixedly connected with a clamping block, the inserting plate is provided with two grooves, and one side of the clamping block penetrates through the grooves and extends to the inside of the grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021092711.3U CN212243762U (en) | 2020-06-12 | 2020-06-12 | Power device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021092711.3U CN212243762U (en) | 2020-06-12 | 2020-06-12 | Power device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212243762U true CN212243762U (en) | 2020-12-29 |
Family
ID=73987056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021092711.3U Active CN212243762U (en) | 2020-06-12 | 2020-06-12 | Power device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212243762U (en) |
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2020
- 2020-06-12 CN CN202021092711.3U patent/CN212243762U/en active Active
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Effective date of registration: 20240226 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: No.14, Yongxing Road, Gangzha Economic Development Zone, Nantong City, Jiangsu Province, 226000 Patentee before: NANTONG POLYTECHNIC College Country or region before: China |
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Effective date of registration: 20240418 Address after: 242000 No.34, Daling group, Xiadu community, Xiangyang office, Xuanzhou District, Xuancheng City, Anhui Province Patentee after: Anhui Xuanxiang Construction Engineering Co.,Ltd. Country or region after: China Address before: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee before: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |