CN212556731U - Robot device for underwater lifesaving - Google Patents
Robot device for underwater lifesaving Download PDFInfo
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- CN212556731U CN212556731U CN202021304701.1U CN202021304701U CN212556731U CN 212556731 U CN212556731 U CN 212556731U CN 202021304701 U CN202021304701 U CN 202021304701U CN 212556731 U CN212556731 U CN 212556731U
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
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- 238000001514 detection method Methods 0.000 description 6
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- 238000004891 communication Methods 0.000 description 3
- 208000003443 Unconsciousness Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
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Abstract
The utility model provides a robot device of lifesaving under water belongs to the robot technical field. The underwater robot solves the technical problems that the existing robot cannot realize underwater lifesaving and the like. The robot device comprises a lifesaving tube, wherein the rear end of the lifesaving tube is provided with a propeller, and two sides of the lifesaving tube close to the rear end are provided with horizontal wings; the middle part of the lifesaving tube is provided with a closed lifesaving cabin, independent transition cabins are arranged in the lifesaving tube close to the upper, lower, left and right sides and the front side, and a channel between each transition cabin and the lifesaving cabin is closed or communicated through an independent cabin door I; each transition cabin is internally provided with a drainage pump and an air inlet valve; each transition cabin is provided with a cabin door II communicated with the outside of the lifesaving cylinder; the second cabin door can be opened through external manual operation or automatically opened through an electric control system; each transition cabin is internally provided with a mechanical grabbing mechanism which can extend out of the transition cabin; cameras are arranged around the lifesaving tube. The utility model provides a robot device can carry out personnel search and rescue work, high-efficient accurate in effectual aquatic.
Description
Technical Field
The utility model belongs to the technical field of life saving equipment under water, a robot device of lifesaving under water is related to.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. The underwater robot has become an important tool for developing the ocean, utilizes the underwater robot to save the life underwater, can effectively prevent secondary accidents, improves the efficiency, and can deal with complex and severe underwater environments. The underwater robots are mainly divided into two categories, one is a cabled underwater robot, and the robot is habitually called a Remote Operated Vehicle (ROV); the other is a cableless Underwater robot, which is conventionally called Autonomous Underwater Vehicle (AUV). The autonomous underwater robot is a new-generation underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks. The existing underwater detection robot has certain underwater detection capability but does not have a lifesaving function.
Chinese patent (publication number: CN 209311678U; publication date: 2019-08-27) discloses a multifunctional underwater comprehensive detection robot system, which comprises an above-water extension and an underwater robot, wherein the above-water extension comprises a display control terminal processor, a water-surface power supply and a network bridge; the underwater robot comprises a controller arranged in a main watertight cabin, a communication terminal, a propeller arranged outside the main watertight cabin, a navigation sensor and a detector; the detector comprises an underwater high-definition camera, a forward-looking sonar, a three-dimensional scanning detection sonar and a multi-beam profile sonar; the propeller, the navigation sensor and the detector are respectively connected with the controller, and the high-definition camera and the controller are respectively connected with the communication terminal; the communication terminal is connected with the network bridge through the umbilical cable, and the network bridge is connected with the display control terminal processor.
The robot system in the above patent document is mainly used for detection and cannot be used for underwater lifesaving.
Disclosure of Invention
The utility model discloses according to the above-mentioned problem that prior art exists, a robot device of lifesaving under water is provided, the utility model aims to solve the technical problem that: how to provide a robot device capable of saving life underwater.
The purpose of the utility model can be realized through the following technical scheme:
the robot device for underwater lifesaving comprises a lifesaving tube and is characterized in that the middle of the lifesaving tube is cylindrical, two ends of the lifesaving tube are arc-shaped, a propeller is arranged at the rear end of the lifesaving tube, and horizontal wings are arranged on two sides of the lifesaving tube close to the rear end; the middle part of the lifesaving tube is provided with a closed lifesaving cabin, independent transition cabins are arranged in the lifesaving tube close to the upper, lower, left and right sides and the front side, and a channel between each transition cabin and the lifesaving cabin is closed or communicated through an independent cabin door I; each transition cabin is internally provided with a drainage pump and an air inlet valve; each transition cabin is provided with a cabin door II communicated with the outside of the lifesaving cylinder; the second cabin door can be opened through external manual operation or automatically opened through an electric control system; each transition cabin is internally provided with a mechanical grabbing mechanism which can extend out of the transition cabin; cameras are arranged on the periphery of the lifesaving tube.
The working principle is as follows: when the robot needs to go deep into water to carry out lifesaving work, the robot device dives through the propeller and the horizontal wing; shooting the surrounding environment and conditions through a camera, transmitting the surrounding environment and conditions to a control system on the shore in real time through a wireless signal, identifying and searching personnel in water, if the personnel to be saved in water are conscious (for example, space is reserved in a reversely buckled ship body for the survival of the personnel), automatically opening a cabin door II from the outside, entering a transition cabin, closing the cabin door II, and opening the cabin door I to enter a rescue capsule after water drainage and gas injection processes; if the person to be saved in water is unconscious, the position and the orientation of the lifesaving tube are adjusted after the person on the bank sees the lifesaving tube through the camera, the second cabin door is opened by the controller, the person to be saved is grabbed and pulled into the transition cabin through the mechanical grabbing mechanism, then the second cabin door is closed, and after the processes of water drainage and gas injection, the first cabin door is opened, then the first cabin door is sent into the lifesaving cabin, and then the person rises and is rescued.
In the technical scheme, the shore equipment and the controller exchange data with the electric control system in the lifesaving tube through radio waves or Bluetooth or WiFi signals.
In foretell robot device of lifesaving under water, machinery snatchs the rotation axis that the mechanism includes vertical setting, the one end of rotation axis is connected with and drives rotation axis pivoted driving motor, be connected with horizontal flexible pneumatic cylinder on the rotation axis, the one end of flexible pneumatic cylinder with the rotation axis is connected, the output shaft of flexible pneumatic cylinder has the rotary disk that can rotate, be connected with mechanical clamping jaw on the rotary disk.
In foretell robot device of lifesaving under water, the mechanical clamping jaw includes mount pad and relative left arm lock and the right arm lock that sets up, the one end of left arm lock and right arm lock all articulates on the mount pad, the rubber pad has set firmly on the relative side of left arm lock and the right arm lock other end, be equipped with the drive on the mount pad left arm lock and the right arm lock servo motor that draws close each other. Furthermore, two driving gears are synchronously driven to rotate on an output shaft of the servo motor, and driven gears meshed with the driving gears are fixedly arranged at the end parts of the left clamping arm and the right clamping arm. The driving gear is controlled to rotate through the servo motor, so that the left clamping arm and the right clamping arm are driven to synchronously swing, and clamping action is achieved.
Mechanical grabbing mechanism among this technical scheme can also adopt a mechanical grabbing device that is used for underwater robot among the chinese patent application number is CN201920954294.X, it includes the robot bottom plate, the first round shell of surface fixedly connected with under the robot bottom plate, first rotary ball has been cup jointed to the medial surface of first round shell, the first hydraulic lifting rod of lower extreme fixedly connected with of first rotary ball, first rotary ball bears the weight of the plectane through first hydraulic lifting rod fixedly connected with, the lower surface mounting who bears the weight of the plectane has the locating piece, the other end through connection of locating piece has the second screw rod, the locating piece has the driven lever through second screw rod through connection, the other end through connection of driven lever has the fourth screw rod, the driven lever has the lug through fourth screw rod through connection, one side fixedly connected with splint of lug.
In the robot device for underwater lifesaving, the robot device further comprises a remote controller, the remote controller is connected with a driving system on the lifesaving cylinder through radio waves, and a remote controller and a display are connected to the remote controller.
In the robot device for underwater lifesaving, the propeller is a double propeller, the camera is a 360-degree omnidirectional image camera, and the camera is arranged on the peripheral surface of the lifesaving cylinder through the connecting support.
The camera and relevant image system among this technical scheme can also adopt the 360 degrees omnidirectional image system of an underwater robot detection in chinese patent application number CN201920955220.8, it includes the equipment main part, the front end of equipment main part is equipped with the electrical component case, the periphery of equipment main part and electrical component case all is equipped with the pillar, the welding has the handle in the equipment main part, the bottom of electrical component case is connected with the transmission shaft, the fixing base has been cup jointed on the transmission shaft, the end-to-end connection of transmission shaft has the screw, the bottom of electrical component case and the one side that is located the transmission shaft are equipped with the camera seat, the bottom four corners department of pillar all is equipped with the back leg, the bottom pin joint of landing leg has the gyro wheel.
Compared with the prior art, the utility model provides a robot device can carry out personnel search and rescue work, and is high-efficient accurate in effectual aquatic, and can search and rescue many people simultaneously.
Drawings
Fig. 1 is a schematic perspective view of the robot apparatus.
Fig. 2 is a schematic view of the internal structure of the lifebuoy of the robot device.
Fig. 3 is a schematic structural diagram of a mechanical grasping mechanism in the present robot apparatus.
In the figure, 1, a lifesaving tube; 11. a rescue capsule; 12. a transition cabin; 13. a first cabin door; 14. a second cabin door; 2. a propeller; 3. a horizontal wing; 4. a camera; 5. a mechanical gripping mechanism; 51. a rotating shaft; 52. a drive motor; 53. a telescopic hydraulic cylinder; 54. rotating the disc; 55. a mechanical jaw; 55a, a mounting seat; 55b, a left clamping arm; 55c, a right clamping arm; 55d, a rubber pad; 55e, a servo motor.
Detailed Description
The following is a detailed description of the present invention with reference to the accompanying drawings. The present invention is not limited to these examples.
As shown in fig. 1, 2 and 3, the robot device for underwater lifesaving comprises a lifesaving tube 1, wherein the middle part of the lifesaving tube 1 is cylindrical, the two ends of the lifesaving tube 1 are arc-shaped, a propeller 2 is arranged at the rear end of the lifesaving tube 1, and horizontal wings 3 are arranged on the two sides of the lifesaving tube 1 close to the rear end; the middle part of the lifesaving tube 1 is provided with a closed lifesaving cabin 11, independent transition cabins 12 are arranged in the lifesaving tube 1 close to the upper, lower, left and right sides and the front side, and a channel between each transition cabin 12 and the lifesaving cabin 11 is closed or communicated through an independent cabin door 13; each transition chamber 12 is internally provided with a drainage pump and an air inlet valve; each transition cabin 12 is provided with a second cabin door 14 communicated with the outside of the lifesaving tube 1; the second hatch door 14 can be opened through external manual operation or automatically opened through an electric control system; a mechanical grabbing mechanism 5 capable of extending out of the transition cabin 12 is arranged in each transition cabin 12; the camera 4 is arranged around the lifesaving tube 1; the robot device also comprises a remote controller, the remote controller is connected with a driving system on the lifesaving tube 1 through radio waves, and a remote controller and a display are connected on the remote controller; propeller 2 is double screw in this embodiment, and camera 4 is 360 degrees omnidirectional image cameras 4, and camera 4 passes through linking bridge and sets up on the outer peripheral face of lifesaving section of thick bamboo 1.
When the robot needs to go deep into water to carry out lifesaving work, the robot device dives through the propeller 2 and the horizontal wing 3; shooting the surrounding environment and conditions through the camera 4, transmitting the surrounding environment and conditions to a shore control system in real time through a wireless signal, identifying and searching for personnel in water, if the personnel to be rescued in water consciously have space for the survival of the personnel in a reversed ship body, opening the second cabin door 14 from the outside automatically, entering the transition cabin 12 firstly, closing the second cabin door 14, and opening the first cabin door 13 after the processes of water drainage and gas injection to enter the rescue cabin 11; if the person to be saved in the water is unconscious, the position and the orientation of the lifesaving tube 1 are adjusted after the person on the bank sees the lifesaving tube through the camera 4, the second cabin door 14 is opened by the controller, the person to be saved is grabbed and pulled into the transition cabin 12 through the mechanical grabbing mechanism 5, then the second cabin door 14 is closed, and after the processes of water drainage and air injection, the first cabin door 13 is opened, then the person to be saved is sent into the lifesaving cabin 11, and then the person is lifted and rescued.
As shown in fig. 3, the mechanical grabbing mechanism 5 includes a vertically arranged rotating shaft 51, one end of the rotating shaft 51 is connected with a driving motor 52 capable of driving the rotating shaft 51 to rotate, the rotating shaft 51 is connected with a transverse telescopic hydraulic cylinder 53, one end of the telescopic hydraulic cylinder 53 is connected with the rotating shaft 51, an output shaft of the telescopic hydraulic cylinder 53 is connected with a rotatable rotating disc 54, and the rotating disc 54 is connected with a mechanical clamping jaw 55; the mechanical clamping jaw 55 comprises a mounting seat 55a, and a left clamping arm 55b and a right clamping arm 55c which are arranged oppositely, one end of each of the left clamping arm 55b and the right clamping arm 55c is hinged to the mounting seat 55a, a rubber pad 55d is fixedly arranged on the opposite side of the other end of each of the left clamping arm 55b and the right clamping arm 55c, and a servo motor 55e for driving the left clamping arm 55b and the right clamping arm 55c to approach each other is arranged on the mounting seat 55 a. Furthermore, an output shaft of the servo motor 55e synchronously drives the two driving gears to rotate, and the end parts of the left clamping arm 55b and the right clamping arm 55c are fixedly provided with driven gears meshed with the driving gears; the driving gear is controlled to rotate by the servo motor 55e, so that the left clamping arm 55b and the right clamping arm 55c are driven to synchronously swing, and clamping action is realized.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (5)
1. A robot device for underwater lifesaving comprises a lifesaving tube (1), and is characterized in that the middle of the lifesaving tube (1) is cylindrical, the two ends of the lifesaving tube are arc-shaped, the rear end of the lifesaving tube (1) is provided with a propeller (2), and the two sides of the lifesaving tube (1) close to the rear end are provided with horizontal wings (3); a closed rescue capsule (11) is arranged in the middle of the rescue capsule (1), independent transition capsules (12) are arranged in the rescue capsule (1) close to the upper, lower, left and right sides and the front side, and a channel between each transition capsule (12) and the rescue capsule (11) is closed or communicated through an independent capsule door I (13); a drainage pump and an air inlet valve are arranged in each transition chamber (12); each transition cabin (12) is provided with a second cabin door (14) communicated with the outside of the lifesaving cylinder (1); the second hatch door (14) can be opened through external manual operation or automatically opened through an electric control system; a mechanical grabbing mechanism (5) capable of extending out of the transition cabin (12) is arranged in each transition cabin (12); the periphery of the lifesaving tube (1) is provided with cameras (4).
2. The robot device for underwater lifesaving of claim 1, characterized in that the mechanical grabbing mechanism (5) comprises a vertically arranged rotating shaft (51), one end of the rotating shaft (51) is connected with a driving motor (52) capable of driving the rotating shaft (51) to rotate, a transverse telescopic hydraulic cylinder (53) is connected to the rotating shaft (51), one end of the telescopic hydraulic cylinder (53) is connected to the rotating shaft (51), an output shaft of the telescopic hydraulic cylinder (53) is connected with a rotatable rotating disc (54), and a mechanical clamping jaw (55) is connected to the rotating disc (54).
3. The robot device for underwater life saving according to claim 2, wherein the mechanical clamping jaw (55) comprises a mounting seat (55a) and a left clamping arm (55b) and a right clamping arm (55c) which are arranged oppositely, one end of each of the left clamping arm (55b) and the right clamping arm (55c) is hinged to the mounting seat (55a), the side surface of the other end of each of the left clamping arm (55b) and the right clamping arm (55c) opposite to each other is fixedly provided with a rubber pad (55d), and the mounting seat (55a) is provided with a servo motor (55e) which drives the left clamping arm (55b) and the right clamping arm (55c) to approach each other.
4. Robot arrangement for underwater rescue according to claim 1, 2 or 3, characterized in that the robot arrangement further comprises a remote control connected to the drive system on the rescue canister (1) by radio waves, the remote control having a remote control and a display connected thereto.
5. The robot device for underwater lifesaving according to claim 4, wherein the propeller (2) is a double propeller, the camera (4) is a 360-degree omnidirectional image camera (4), and the camera (4) is arranged on the outer peripheral surface of the lifesaving tube (1) through a connecting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021304701.1U CN212556731U (en) | 2020-07-06 | 2020-07-06 | Robot device for underwater lifesaving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021304701.1U CN212556731U (en) | 2020-07-06 | 2020-07-06 | Robot device for underwater lifesaving |
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| Publication Number | Publication Date |
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| CN212556731U true CN212556731U (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021304701.1U Expired - Fee Related CN212556731U (en) | 2020-07-06 | 2020-07-06 | Robot device for underwater lifesaving |
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| CN (1) | CN212556731U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849366A (en) * | 2021-03-19 | 2021-05-28 | 义乌市迷莲商贸有限公司 | Equipment special for rescuing in water |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| CN115071897A (en) * | 2022-07-06 | 2022-09-20 | 常州大学怀德学院 | Unmanned ship cruise fixed point grade optimization system and operation method |
-
2020
- 2020-07-06 CN CN202021304701.1U patent/CN212556731U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849366A (en) * | 2021-03-19 | 2021-05-28 | 义乌市迷莲商贸有限公司 | Equipment special for rescuing in water |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| CN114426085B (en) * | 2022-02-11 | 2022-11-08 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| CN115071897A (en) * | 2022-07-06 | 2022-09-20 | 常州大学怀德学院 | Unmanned ship cruise fixed point grade optimization system and operation method |
| CN115071897B (en) * | 2022-07-06 | 2023-06-30 | 常州大学怀德学院 | Unmanned ship fixed-point cruising system |
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Granted publication date: 20210219 Termination date: 20210706 |