CN212980507U

CN212980507U - Adjustable submerged operation robot

Info

Publication number: CN212980507U
Application number: CN202021618713.1U
Authority: CN
Inventors: 彭沁; 段益群; 丛祝伟
Original assignee: Weihai Pu Whale Intelligent Equipment Co ltd
Current assignee: Weihai Pu Whale Intelligent Equipment Co ltd
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2021-04-16
Anticipated expiration: 2030-08-06

Abstract

The utility model discloses an adjustable submerged operation robot, its organism include frame, interior cavity and have operation window's box, set up the arm in the box and be connected to the adjusting device of frame, and operation window communicates interior cavity, including the work portion that is used for carrying out the operation on the arm, the box sets up in the frame with moving about stroke direction, and adjusting device includes the stroke device, and the stroke device includes the stroke portion that has the mobility at its stroke direction, and stroke portion is connected to the box. The utility model discloses an adjustable submerged operation robot, simple structure, the operation convenience is good, and the regulation through setting up satisfies can adjust the box height when the operation, and adapts to the effect demand of different operation stages or different topography etc..

Description

Adjustable submerged operation robot

Technical Field

The utility model belongs to the technical field of special operation equipment under the liquid, concretely relates to adjustable submerged operation robot is particularly suitable for adopting under multiple liquid environment such as river lake is under water, sewer, sea water and catches, maintain the device of operation such as maintenance, salvage.

Background

The submerged operation refers to the operation performed below the liquid level in the liquid environment, and generally speaking, when professional equipment is used, the relevant equipment is required to be in an immersed state, so that the quality of the corresponding equipment is higher, and the equipment is expensive and has extremely high acquisition, use and maintenance costs. The submerged operation can be performed under various complex and high-demand conditions such as underwater (including environments such as fresh water, salt water and sewage), oil and corrosive liquid (such as acid liquid, alkali liquid and the like).

Taking underwater salvage as an example, underwater salvage is an engineering for salvaging objects submerged in water, usually, when drilling underwater or even deep sea, occasionally, the situation that a drill bit is broken or falls to the water bottom occurs, at this time, a diver needs to dive into the water bottom to observe and explore, corresponding measures are made to cooperate to take out the drill bit, and objects with small weight can be directly taken out by the diver. The prior method for salvaging the drill bit or other objects mainly has the following defects:

(1) the safety is poor, a diver needs to enter deep water to grope, and great risks are brought to the personal safety of the diver.

(2) The visibility is poor, and under the state of deep water especially muddy water, the diver generally can carry lighting apparatus to get into the aquatic and carry out the reconnaissance, because the influence of aquatic suspended solid, illumination and camera effect are extremely poor, make diver's work efficiency greatly reduced, simultaneously, the time that the diver waited for in the aquatic is longer, and the risk is also higher.

(3) The diver can not see the shot image underwater, the water surface is required to command the diver to adjust the shooting angle, position, direction and the like, and the diver is difficult to conveniently adjust on the land due to the particularity of the underwater operation environment, so that the diver is difficult to obtain required image data.

(4) The operation difficulty is high, in the remote operation, the requirements of different terrain environments, different operation objects and the like need to be met, and the self adaptive capacity of the robot needs to be improved.

Similarly, current underwater fishing operations, such as marine fishing, suffer from the aforementioned problems, which severely affect the efficiency and safety of marine fishing.

Disclosure of Invention

An object of the utility model is to provide an adjustable submerged operation robot, simple structure, the operation convenience is good, and the regulation through setting up satisfies can adjust the box height when the operation, and adapts to the effect demand of different operation stages or different topography etc..

The utility model discloses an adjustable submerged operation robot, its organism includes the frame, interior cavity just has operating window's box, set up the arm in the box and be connected to the adjusting device of frame, operating window communicates interior cavity, including the work portion that is used for carrying out the operation on the arm, the box sets up in the frame in the stroke direction activity, adjusting device includes the stroke device, the stroke device includes the stroke portion that has the mobility at its stroke direction, stroke portion is connected to the box, setting and removal through stroke portion realize the box in the position control of stroke direction, and satisfy the operation or remove or keep away the demand in the aspect such as barrier. Preferably, an isolation structure for providing a working space excluding liquid (the liquid refers to the liquid of the working environment defined by the adjustable submerged working robot, such as water when working underwater) in the inner cavity of the box body is also arranged in the box body, and the improvement can further reduce the requirements of the submerged working on the equipment and effectively reduce the use and maintenance cost of the equipment.

The utility model discloses an adjustable submerged operation robot's an improvement, stroke device still have the movable region that supplies stroke portion cooperation to remove in the restriction portion including the restriction portion that is used for restricting stroke portion stroke.

The utility model discloses an adjustable submerged operation robot's an improvement, restriction portion are for having the cylinder body structure of cylindricality inner chamber, and stroke portion sets up the piston structure in cylinder body structure inner chamber including the cooperation, and piston structure is connected to the box.

The utility model discloses an adjustable submerged operation robot's an improvement, stroke portion still includes the extending structure, and one section of extending structure is connected to the piston structure, and the other end is connected to the box.

The utility model discloses an adjustable submerged operation robot's an improvement, stroke device are cylinder or hydro-cylinder including cylinder body and piston structure.

The utility model discloses an adjustable submerged operation robot's an improvement, frame and box still are provided with the activity restriction portion in cooperation junction, and the walking portion that has according to the track portion activity that the activity restriction portion set up including setting up the track portion on frame or box and correspondingly cooperate the track portion setting, and the walking portion sets up on box or frame corresponding to the track portion.

The utility model discloses an improvement of adjustable submerged operation robot, track portion still is provided with the safety portion that is used for restricting the walking portion at its stroke end.

The utility model discloses an adjustable submerged operation robot's an improvement, safe portion is the safety pin on protrusion track portion surface.

The utility model discloses an adjustable submerged operation robot's an improvement, walking portion is the walking wheel on swing joint box or the frame.

The utility model discloses an adjustable submerged operation robot's an improvement, organism are still including being used for adjusting the variable volume device of robot buoyancy size under the liquid. Preferably, the variable capacitance arrangement comprises a balloon which is compressible to amplify the change in volume.

The utility model discloses an adjustable submerged operation robot's an improvement, the gasbag is connected with and is used for aerifing or carminative ventilation structure to the gasbag.

The utility model discloses an adjustable submerged operation robot's an improvement, ventilation structure include high-pressure gas pitcher and blast pipe, all still are provided with on high-pressure gas pitcher and the blast pipe to be used for controlling the high-pressure gas pitcher to aerify to the gasbag and the carminative control valve of blast pipe.

The utility model discloses an adjustable submerged operation robot's an improvement, adjustable submerged operation robot is still including being used for driving its mobile device of walking, and this mobile device is connected with the box. Preferably, the moving device comprises a crawler-type running gear or a wheel-type running gear (the wheels comprise other special-shaped wheel structures besides the wheels in the conventional sense) arranged on the box body, a propeller running gear or a pump-jet running gear, and the like.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of one embodiment of an adjustable submerged working robot of the present application;

FIG. 2 is a schematic diagram of a forward configuration of yet another embodiment of the adjustable submerged work robot of the present application;

FIG. 3 is a schematic structural diagram of the embodiment of FIG. 2;

fig. 4 is a bottom schematic view of the embodiment of fig. 2.

Detailed Description

The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.

The following shows the working state of the present solution during the bottom sinking operation, but this does not mean that the present solution is only suitable for the bottom sinking working state.

The utility model discloses an implementation mode of an adjustable submerged operation robot,

the utility model discloses an adjustable submerged operation robot, its organism can include the frame, the frame has mainly played the effect of bearing the frame here, be used for restricting the main functional unit of robot (including directly being connected to or being connected to each other with the form of approximate series connection indirectly) on the frame, for example restrict the box on the frame (the arm in the box just is equivalent to indirectly being connected to on the frame at this moment), running gear (athey wheel etc.), detection device (such as camera etc.), controlling means (such as machine carries PLC etc.) functional structure such as, here just not example and restriction one by one, as long as can satisfy the realization of this scheme to the robot function, various current schemes that satisfy the requirement can increase and decrease as required;

the robot comprises an inner cavity, a box body, a mechanical arm and a control device, wherein the box body is provided with an operation window, the operation window is communicated with the inner cavity, the mechanical arm comprises a working part for executing operation, the main body of the box body can be of a hollow box-type structure so as to provide an operation space for the operation of the mechanical arm of the robot, and a good working environment is provided for the operation of the robot through the operation space;

in order to meet the operation requirements of the robot in different states, as shown in fig. 1, for example, in a working state, the height of an operation window of the box body can be adjusted to be lower, that is, the height of the box body is reduced, so as to provide a well-dried working environment as much as possible for the mechanical arm, in an example, water interfering with the working can be removed as much as possible, and after the working in the current area is completed, the height of the box body needs to be raised for the convenience of the robot movement, for example, marine products and the like which do not meet the capturing requirement, so that the robot can transfer positions quickly and conveniently. In order to meet the requirements, the box of the robot may further be provided with an adjusting device connected to the frame, the box is movably disposed in the frame in a stroke direction (the stroke direction refers to a direction in which the box moves to meet the requirements, for example, the direction may be parallel to a paper surface as shown in fig. 2), the adjusting device includes a stroke device, the stroke device includes a stroke portion having a moving capability in the stroke direction, the stroke portion is connected to the box, the stroke portion controllably drives the box to move when necessary, and the position of the box in the stroke direction is adjusted by the setting and moving of the stroke portion, so as to meet the requirements in the aspects of operation, moving, obstacle avoidance, and the like. Preferably, an isolation structure for providing a working space excluding liquid (the liquid refers to the liquid of the working environment defined by the adjustable submerged working robot, such as water when working underwater) in the inner cavity of the box body is also arranged in the box body, and the improvement can further reduce the requirements of the submerged working on the equipment and effectively reduce the use and maintenance cost of the equipment.

In the above scheme, in order to meet the requirement that the box body is operated in the stroke direction, namely the stroke part is limited in the capacity of guiding the box body to operate, the stroke device can also be provided with a limiting part for limiting the stroke of the stroke part, and the limiting part is provided with an active area for the stroke part to move in a matching way, so that the stroke part moves in the range limited by the limiting part, and the box body or the stroke part is not easy to derail in the operation process, and the high efficiency and the high quality of the operation are ensured. Preferably, the restriction portion may be a cylinder structure having a cylindrical inner cavity, and the stroke portion includes a piston structure fittingly disposed in the cylinder structure inner cavity, the piston structure being connected to the tank. Further preferably, the stroke part may be further provided with an extension structure (the extension structure may be a connecting rod structure connecting the piston and the box body), and one section of the extension structure is connected to the piston structure, and the other end of the extension structure is connected to the box body. To meet this requirement, the stroke device may be a cylinder or a cylinder having a cylinder and piston structure.

In the above scheme, the rack and the box body can be further provided with a movable limiting part at the matching connection part for limiting the box body to the rack, so that the box body can operate within the range limited by the rack, the movable limiting part can comprise a track part arranged on the rack or the box body and a walking part correspondingly matched with the track part and provided with a function of moving according to the track part, and the walking part is arranged on the box body or the rack corresponding to the track part, so that the box body can operate properly within the range (stroke) limited by the rack by means of the matching between the track part and the walking part. Preferably, the walking part is a walking wheel movably connected to the box body or the frame, so that the walking wheel runs on the track part, and the box body is supported to run in a stroke range. In order to meet the operation safety, the track part can be further provided with a safety part for limiting the walking part at the stroke end of the track part so as to limit the walking part such as a walking wheel to continue walking at the stroke end, and therefore the operation safety of the equipment is ensured. Preferably, the safety portion is a safety pin protruding from a surface of the track portion.

Taking seabed fishing as an example (when other operations are carried out, similar functions shown in the following set technical scheme can be realized equally), the equipment comprises a box body 01 with an inner cavity and an operation window, the box body 01 is arranged in a space formed by a frame 021, the frame is provided with a cross beam, a longitudinal beam and a vertical beam, a structure for installing and containing the box body shown in figure 1 is formed by the combined connection of the cross beam and the vertical beam, an oil cylinder 022 is arranged on the cross beam, the base part of the oil cylinder 022 is connected to the cross beam, a piston part is connected to the box body (here, the oil cylinder 022 can be directly connected through a piston or connected through a piston), the box body and the frame are movably connected, so that the box body can move to a certain degree in the vertical direction shown in figure 1, for example, a slide rail can be arranged on the vertical beam, and correspondingly, a travelling wheel matched with the slide, the base of the walking wheel is arranged on the box body, the walking wheel can slide along the sliding rail at the moment, the sliding process is limited on the movable stroke of the box body, when the robot is in bottom sinking operation, if the robot reaches an operation area on the seabed, the walking wheel is controlled firstly (the control can be controlled by manual remote control and can also be controlled by equipment such as PLC and the like, the movement of the walking wheel can be driven by a motor, the motor is controlled by a remote control device such as a control switch or the instruction of the PLC), the walking wheel can walk downwards, so that the box body moves downwards to be closer to the seabed, a mechanical arm obtains a better operation space, after the operation of the area is completed, the operation is reversed, the box body moves upwards, and the robot can move through the crawler walking device, and a new operation area is. In this case, the box 01 may have a square cabinet structure or a cylindrical cabinet structure or other structures, in which an opening-type operation window is provided at the bottom.

In order to observe the working environment of the seabed, the robot can be provided with equipment such as a video camera, a still camera and the like for acquiring seabed video image signals, and the equipment can be arranged in the box body 01 or outside the box body 01, particularly when the equipment is arranged outside, the equipment is at least arranged at the position near the operation window so as to bring the operation interface provided by the operation window into the window range of signal acquisition, thereby assisting the underwater operation to determine the position of the acquisition object. Of course, the camera and the like may be provided at other positions, for example, in the front-rear and left-right directions for observing the environment such as an obstacle when the working device moves under liquid, thereby facilitating the operation.

The isolation structure is used for providing an operation space excluding liquid in the inner cavity of the box body 01, and the isolation can be physical isolation such as an isolation plate, an isolation cover and the like, and can also be achieved through a plurality of modes of multiphase interfaces such as a water-gas interface, an oil-water interface and the like; as a possible scheme of the part of the box body 01 shown in FIG. 2, the box body 01 can be implemented in a way that the opening is positioned at the bottom and the other positions are totally closed (in order to obtain good air tightness at other positions), so that when fishing in the sea, the opening is firstly filled with enough air downwards and the inner cavity, and the process can be continuously carried out in the descending process of the working device (for example, air is supplied through an air pipe and the like by a water surface facility or a shore-based facility such as a compressed air pump, and the air pipe or the air pump can be provided with a control valve for controlling the input of the air; of course, the air can be controllably discharged through a high-pressure air bottle arranged in the inner cavity in the descending process, and the air bottle is arranged at any position in the cavity or any position outside the cavity without special requirements, so that the function of the box body can be realized, and the air pipe formed by the air bottle can also be provided with the control valve with, when the working depth is large, the box body 01 is thrown into a working space with enough air;

for the wire feeding operation, the mechanical arm 05 arranged in the box body 01 is provided with a working part 06 for executing the operation, at this time, due to the existence of the operation space filled with air, the main body of the mechanical arm 05 can be in the operation space without strong pertinence protection design, such as waterproof and anticorrosion taking immersion as a mark, the box body 01 can be sunk during the operation, at this time, the lower opening is directly attached to the seabed, and most of the mechanical arm 05 is directly positioned in the operation space filled with air; of course, the box 01 can be suspended at a proper distance from the seabed by controlling the suspension force, and at this time, the robot arm 05 can be extended out of the operation window formed by the opening, such as the robot arm or the cutting knife of the working part, or partially extended into the seabed to pick up and catch the marine products, and at this time, the design with high waterproof grade is determined according to the situation of the parts, such as the water operation (the design can be considered from various angles of structure, material, etc., and the invention is also suitable for the statement of the scheme on other parts);

in order to meet the operation under different liquid depth conditions, such as seabed conditions with different depths, the weight and buoyancy state of the equipment can be adjusted by adjusting the depth adjusting device in the implementation process, so that the operation requirements under different conditions are met. Preferably, the depth adjusting device can adopt a mode of reasonably hanging a balancing weight on the machine body (such as a mode of hanging a balancing weight lead block on the outer wall of the box body in a hook mode) to realize the balance of gravity and buoyancy borne by the operation device so as to meet the operation requirements of different depths. In fig. 1 and 3, a situation that the counterweight block is arranged on the box body is shown, the counterweight block is assembled on a counterweight seat positioned at the top of the box body in a combined unit mode, each counterweight unit (such as a lead block) can be detachably installed on the counterweight seat in a screw connection mode, so that the requirement of counterweight in the process of dealing with different sea depth areas is met, for example, in the process of working at a large depth, the situation that more counterweight units are arranged on the counterweight seat to enhance the overall weight can be selected, and in the process of working at a low sea depth area, the overall weight is reduced. In addition, in order to meet the adjusting function, a volume depth adjusting device can be adopted, namely, one or more air bags with inflation expansion/deflation contractility are arranged on the machine body, for example, a box body is provided with one or more air bags, the air of the one or more air bags is continuously released in the process that the operation device is sunk into the seabed so as to enable the air bags to contract in volume, the operation requirement of the operation device under high depth is met, the air bags are inflated when the operation device needs to float upwards, the buoyancy of the operation device is enhanced, the inflation can be realized by a high-pressure air pump arranged on a sea surface carrier through an air pipe, and the inflation can also be realized by adopting a high-pressure air bottle arranged on the box body in a controlled mode. While deflation can be controlled by placing a deflation line on the balloon. When needing to be noticed, in order to control the inflation and deflation, control valves for receiving control are arranged on the corresponding pipelines such as the outlet of the high-pressure air pump or the vent pipe communicated with the outlet of the high-pressure air pump and the deflation pipeline, the control can be remotely carried out by operators in a wired mode, and the control can also be automatically controlled by an onboard computer according to preset instructions.

In the above-mentioned embodiments, the box 01 of the working device may have other shapes as desired, as long as the box 01 is semi-closed in the working state and a good working space is obtained through the operation window, such as the same by filling gas.

In the scheme including but not limited to above, the working parts include manipulators or cutting knives or other working tools such as welding equipment repair equipment and the like, and because the working parts can be operated without being penetrated into the liquid level in the implementation process of the scheme, for example, when the bottom is sunk or a platform is operated, the liquid in the working space can be fully discharged by adjusting the box body 01 to a proper position, so that the operation requirement is met, for example, the traditional high-requirement underwater welding is changed into the operation under the gas atmosphere. Preferably, in order to realize the operation of the robot arm 05 or the manipulation of the working part, each may be further provided with a power device for supplying power to the working part and the robot arm 05. The adjustment or operation of the mechanical arm 05 is realized through the power equipment, the operation can be automatic operation or controlled operation, and the power equipment can be a motor (such as a motor driving a cutting knife to perform cutting operation) or an air cylinder or a hydraulic cylinder and the like (such as the air cylinder or the hydraulic cylinder driving the mechanical arm 05 to move or a claw of the mechanical arm to move and the like).

In the above-mentioned aspects including but not limited to, the adjustable submerged working robot further includes a moving means for driving the moving means to move or lift, and the moving means is connected to the tank 01. The moving device includes a crawler-type traveling mechanism or a wheel-type traveling mechanism, etc. provided on the case 01. It is also possible to provide several different sets of propeller propellers, such as the vertical propulsion propeller 071 providing thrust in the vertical direction and the lateral direction-changing propeller 072 for changing direction in the lateral direction shown in fig. 1, where the directions of the respective propulsion forces provided by the lateral direction-changing propeller 072 may be different, and the directions of the thrust forces provided by the vertical propulsion propeller 071 are parallel, so as to make the operation of the robot under the liquid more flexible.

As shown in fig. 1-4, there is shown a seabed fishing device, in which a box 01 is provided with a pair of crawler belt units 04 at both sides in a walking direction, a depth-adjusting unit 03 is formed at the back of the box, which may be of an air bag structure capable of being inflated and deflated, and may be disposed above a frame (as shown in fig. 2-4), or may be mounted above the crawler belt units 04, such as by being connected to corresponding positions of the side portions of the frame through a guard plate or the like (as shown in fig. 1), so as to be appropriate in terms of balance, power, buoyancy, maneuverability, etc., a working environment is formed in the box by air, the crawler belt is driven by a motor to walk, a camera 021 is further provided on the box 01, and the camera can be used for monitoring the working direction, such as the working space shown in fig. 2 and the position of a working window, thereby facilitating the operation of a robot arm 05 in an inner cavity of, thus, the automatic picking up of seafood or the remote video control picking up by an operator can be realized, the picking up operation can be performed by a mechanical claw operated by the mechanical arm 05 shown in fig. 2, and the mechanical claw 061 is realized by a driving cylinder 062 arranged at the base of the mechanical claw 061. Of course, the figures do not show a gas source for inputting gas, such as a connecting gas pipe or a gas cylinder, and these solutions can be realized, which is not limited herein.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. Adjustable submerged operation robot, its organism includes frame, inner cavity and has operation window's box and sets up the arm in the box, operation window communicates inner cavity, including the work portion that is used for carrying out the operation on the arm, its characterized in that, the robot is still including being connected to the adjusting device of frame, the box sets up in the frame in stroke direction activity, adjusting device includes the stroke device, the stroke device includes the stroke portion that has the mobility in its stroke direction, the stroke portion is connected to the box.

2. The adjustable submerged working robot of claim 1, wherein the stroke device further comprises a limiting portion for limiting the stroke of the stroke portion, and the limiting portion has an active area for the stroke portion to move cooperatively.

3. An adjustable submerged working robot according to claim 2, characterized in that the restriction is a cylinder structure having a cylindrical inner cavity, and the stroke part comprises a piston structure arranged fittingly in the inner cavity of the cylinder structure, the piston structure being connected to the tank.

4. An adjustable submerged working robot according to claim 3, characterised in that the stroke part further comprises an extension structure connected to the piston structure at one end and to the tank at the other end.

5. An adjustable submerged working robot according to any of claims 1-4, characterised in that the stroke means is a cylinder or a ram comprising a cylinder and piston arrangement.

6. The adjustable submerged operation robot according to claim 1, wherein the frame and the tank are further provided with a movement limiting portion at a matching connection portion, the movement limiting portion comprises a rail portion provided on the frame or the tank and a traveling portion correspondingly provided in cooperation with the rail portion and having a movement according to the rail portion, and the traveling portion is provided on the tank or the frame corresponding to the rail portion.

7. An adjustable submerged working robot according to claim 6, characterised in that the track section is further provided with a safety section at the end of its stroke for limiting the walking section.

8. An adjustable submerged working robot according to claim 6 or 7, characterised in that the travelling part is a travelling wheel which is movably connected to the tank or the frame.

9. The adjustable submerged operation robot of claim 7, wherein the safety feature is a safety pin that protrudes from a surface of the track portion.