CN213008673U

CN213008673U - Get thing robot under water

Info

Publication number: CN213008673U
Application number: CN202021738258.9U
Authority: CN
Inventors: 周懿; 郭峰; 赫旭; 倪平浩
Original assignee: Beijing Jiaotong University
Current assignee: Beijing Jiaotong University
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2021-04-20
Anticipated expiration: 2030-08-19

Abstract

The utility model provides a pair of get thing robot under water, with the low cost for the purpose, through placing the mode in a buoy with the remote control receiving terminal of robot, make it still can be by the remote control under deep diving or the long distance condition, still have the function that gos forward and retreat dive come-up and snatch of remote control robot, carry out automatic feedback through the singlechip procedure and adjust in addition, guaranteed the robot and snatched the stability in the front and back or the motion. The underwater object taking robot provided by the invention has low requirements on materials, has the characteristic of low cost, can be used for grabbing objects in ponds, lakes, rivers and swimming pools, and can also be used as a toy for daily entertainment and recreation.

Description

Get thing robot under water

Technical Field

The utility model relates to the technical field of robot, especially, relate to an underwater object-taking robot.

Background

The existing underwater robot development is ocean-oriented, is mostly applied to deep sea exploration, underwater work and the like, is high in cost and cable control, and is generally adopted by large-scale enterprises or military parties. And some small-size no cable civil underwater robot are used for underwater exploration mostly, do not possess the function of snatching, and the cost is also higher. Most underwater robots for entertainment are small toys in fish tanks, cannot grab and have limited entertainment places.

Most of existing underwater robots are controlled by cables and applied to the ocean for investigation, construction, salvage and other work, so that high requirements on all parts and overall water resistance are met, and the defects of high cost and high development difficulty are caused. For the wireless remote control underwater robot in the market, the robot cannot dive too deeply due to the serious damage of water to wireless signals, and the remote control distance is limited.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides an underwater object-taking robot for solve the problem that exists among the prior art.

In order to achieve the purpose, the utility model adopts the following technical scheme.

An underwater object-taking robot comprises a robot body and an overwater buoy which are mutually connected through a circuit; the water buoy is used for receiving an external control signal and sending the control signal to the robot body; the underwater object taking robot also comprises an underwater propeller, a water sump device and a mechanical claw which are respectively connected with the robot body; the robot body is internally provided with a control device, and the robot body is in circuit connection with the water buoy through the control device; the control device is also connected with the underwater propeller, the water sump device and the mechanical claw circuit;

the control device comprises a power supply circuit, a single chip circuit and a feedback adjusting circuit which are mutually connected in circuit, and also comprises a driving circuit; the single chip microcomputer circuit is connected with the underwater propeller, the water bin device and the mechanical claw through the driving circuit; the power supply circuit outputs a first level and a second level, the first level is used for supplying power to the water sump device and the mechanical claw, and the second level is used for supplying power to the single chip microcomputer circuit and the feedback adjusting circuit.

Preferably, the drive circuit comprises a current limiting resistor, a triode and a relay, wherein the relay comprises a coil and a contact; one end of the current-limiting resistor is connected with a base electrode of the triode, a collector electrode of the triode is connected with a coil of the relay, and an emitting electrode of the triode is connected with any one of the underwater propeller, the water sump device and the mechanical claw; when the coil is closed, the relay is connected with a first level, and the contact is disconnected; when the contacts are closed, the relay is connected to a second level and the coil is open.

Preferably, the control device further comprises a water level sensor; the feedback regulating circuit comprises an analog-to-digital converter, a buffer and a trigger which are respectively connected with the singlechip circuit; the analog-to-digital converter is also connected with the water level sensor circuit, and the buffer and the trigger are also respectively connected with the analog-to-digital converter circuit.

Preferably, the single chip microcomputer circuit comprises a single chip microcomputer and a crystal oscillator circuit which are mutually connected through circuits, and the single chip microcomputer is further respectively connected with the analog-to-digital converter, the buffer and the trigger circuit.

Preferably, the power circuit comprises a battery and a voltage regulating structure which are mutually connected in circuit, the voltage regulating structure is used for outputting the second level and comprises a voltage regulating chip and two electrolytic capacitors which are mutually connected in parallel; the battery is also used to output a first level.

Preferably, the gripper is connected to the robot body by means of bolts and nuts.

Preferably, the underwater propeller comprises two underwater motor sets with mutually opposite output thrusts, and each underwater motor set is provided with two underwater motors which are arranged in a staggered mode.

Preferably, the sump apparatus includes: the two water bins are arranged in a staggered manner, and both sides of each water bin are respectively connected with a water suction pump and a water discharge pump; each water sump is also provided with a vent pipe, and one end of the vent pipe is connected with the water buoy.

Preferably, the water buoy is provided with an infrared transmitting and receiving device, and the water buoy is in circuit connection with the control device through the infrared transmitting and receiving device.

By the foregoing technical scheme the embodiment of the utility model provides a can see out, the utility model provides a get thing robot under water, with the low cost for the purpose, through place the mode in a buoy with the remote control receiving terminal of robot, make it still can be by the remote control under deep diving or the long distance condition, still have the function that the marching of remote control robot retreated dive come-up and snatch, carry out automatic feedback through the singlechip procedure and adjust in addition, guaranteed the robot and snatched the stability around or in the motion. The underwater object taking robot provided by the invention has low requirements on materials, has the characteristic of low cost, can be used for grabbing objects in ponds, lakes, rivers and swimming pools, and can also be used as a toy for daily entertainment and recreation.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a block diagram of an underwater object-taking robot provided by the present invention;

fig. 2 is a circuit diagram of a driving circuit of an underwater object-taking robot provided by the present invention;

fig. 3 is a circuit diagram of a single chip circuit and a feedback adjusting circuit of an underwater object-taking robot according to the present invention;

FIG. 4 is an enlarged view of a circuit portion of the die of FIG. 3;

FIG. 5 is an enlarged view of the upper half of the feedback regulation circuit of FIG. 3;

FIG. 6 is an enlarged view of the lower half of the feedback regulation circuit of FIG. 3;

fig. 7 is a circuit diagram of a power circuit of an underwater object-taking robot provided by the present invention;

fig. 8 is a circuit diagram of a preferred embodiment of a control device of an underwater object-taking robot provided by the present invention;

fig. 9 is a front view of a waterproof coil of a control device of an underwater object-taking robot provided by the present invention;

fig. 10 is a top view of a waterproof coil of a control device of an underwater object-taking robot provided by the present invention.

In the figure:

101. the robot comprises a robot body 102, a water buoy 103, an underwater motor set 104, a water sump device 1041, a water suction pump 1042, a drainage pump 105, a mechanical claw 106 and a control device; 901. waterproof coil 9011 epoxy glue layer.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

For the convenience of understanding the embodiments of the present invention, the following description will be given by way of example only with reference to the accompanying drawings, and the embodiments are not limited thereto.

Referring to fig. 1, the present invention provides an underwater object-taking robot, which includes a robot body 101 and an above-water buoy 102, which are electrically connected to each other; the water buoy 102 floats on the water surface and is used for receiving an external control signal and transmitting the control signal to the robot body 101 through a cable, so that the remote control operation of the underwater object-taking robot is realized; in a preferred embodiment, the surface buoy 102 has an infrared transceiver;

the underwater object taking robot also comprises an underwater propeller, a water sump device 104 and a mechanical claw 105 which are respectively connected with the robot body 101; the robot body 101 is provided with a control device 106 therein, and the robot body 101 is electrically connected with the water buoy 102 through the control device 106; the control device 106 is also in circuit connection with the underwater propeller, the water sump device 104 and the mechanical claw 105;

the control device 106 includes a power supply circuit, a single chip circuit, a feedback adjusting circuit, and a driving circuit, which are electrically connected to each other; the single chip circuit is connected with the underwater propeller, the water bin device 104 and the mechanical claw 105 through the driving circuit; the power supply circuit outputs a first level, which is a high level for supplying power to the sump assembly 104 and the gripper 105, and a second level, which is a low level for supplying power to the single chip microcomputer circuit and the feedback adjustment circuit.

Because the source current and the sink current of the IO port of the single chip microcomputer are very small and are not enough to directly drive equipment such as a motor, a water pump and the like, the single chip microcomputer circuit controls the underwater propeller, the water sump device 104 and the mechanical claw 105 through the driving circuit. In some preferred embodiments, as shown in fig. 2, the drive circuit includes a current limiting resistor, a transistor, and a relay including a coil and contacts; one end of the current-limiting resistor is connected with the base electrode of the triode, the collector electrode of the triode is connected with the coil of the relay, and the emitter electrode of the current-limiting resistor is connected with any one of the underwater propeller, the water sump device 104 and the mechanical claw 105 (two light-emitting diodes D are used for replacing the underwater propeller, the water sump device 104 and the mechanical claw 105 in the figure). In this embodiment, the relay contacts are normally open, and the IO port is driven at a high level. When the coil is closed, the relay is connected with a first level (high level), the contact is disconnected, the triode is conducted, and the equipment starts to operate; when the contact is closed, the relay is connected with a second level (low level), the coil is disconnected, and the triode is cut off. By adopting the arrangement mode, the control side can be isolated from the equipment, and the control of different voltages can be realized.

The utility model provides an in the embodiment, feedback control circuit is used for making the robot can independently keep balance gesture in aqueous. 3-6, the control device 106 further includes a water level sensor; the feedback regulating circuit comprises an analog-to-digital converter, a buffer and a trigger which are respectively connected with the singlechip circuit; the analog-to-digital converter is also connected with the water level sensor circuit, and the buffer and the trigger are also respectively connected with the analog-to-digital converter circuit. In some preferred embodiments, the analog-to-digital converter is an AD0809 type 8-bit analog-to-digital converter, and the single chip circuit includes a single chip and a crystal oscillator circuit, wherein the single chip employs AT89C 52. The OUT 1-OUT 8 pins of the analog-to-digital converter are respectively connected with the P0.7/AD 7-P0.0/AD 0 pins of the single chip microcomputer. The buffer adopts two 74LS33 type four or no buffers (U3C and U3D), the trigger adopts two 74LS74 type flip-flops (U7A and U7B), and the clock of the analog-to-digital converter is obtained by the ALE signal of the single chip microcomputer through four-frequency division of the flip-flops.

The working process of the feedback regulating circuit is as follows: assuming that the digital value corresponding to the water level of the water tank in which the robot is suspended is a standard value, the analog-to-digital converter periodically detects the analog signal of the water level sensor (the analog signal is replaced by a slide rheostat in the figure), converts the analog signal into the digital value and sends the digital value to the single chip microcomputer, the single chip microcomputer detects the digital value and judges whether the digital value is the same as the standard value, if the digital value is higher than the standard value, the water level is higher, and the water bin device 104 is controlled to discharge water. Similarly, if the digital value is lower than the standard value, indicating that the water level is lower, the water sump 104 is controlled to absorb water and submerge. Through continuous detection, continuous adjustment, final liquid level can return to the standard value, makes the machine suspension, and as for the initial velocity when the machine sinks, can offset through artificial slight operation.

In the embodiment provided by the utility model, the power circuit comprises a battery and a voltage regulating structure which are mutually connected by a circuit, the battery is a small storage battery with 12V output voltage and is used for outputting a first level, and the voltage regulating structure is used for outputting a second level and comprises a voltage regulating chip and two electrolytic capacitors which are mutually connected in parallel; in this embodiment, according to the rated voltage of the device, the rated voltage of the troublesome device of the water buoy 102 is 5V, the rated voltage of the power supply of the single chip microcomputer is 5V, and the rated voltage of the underwater propeller is 5V, as shown in fig. 7, the voltage regulating chip is a 7805 voltage regulating chip, and two sides of the voltage regulating chip are respectively connected with a capacitor C3 and a capacitor C4 in parallel.

As a preferred control device 106, there is provided an overall circuit structure as shown in fig. 8, wherein the driving portion includes 7 driving circuits connected in parallel with each other (fig. 8 should be understood that the circuit of fig. 3 is combined with 7 driving circuits identical to fig. 2, each component of the 7 driving circuits is identical to that of fig. 2, and is not labeled again in fig. 8), pins P1.0 to P1.3 (identical to that of fig. 3 and 4) of the single chip are also connected to a switch, pins P1.4 to P1.7 and P3.3 to P3.5 are connected to a driving circuit, respectively, and the crystal oscillator circuit includes two capacitors C5 and C6 and a crystal oscillator X2.

The embodiment of the utility model provides an in still provide the assembly program of singlechip:

in the preferred embodiment provided by the present disclosure, the gripper 105 may be a doll claw based on an electromagnet principle and a lever principle. The claw has simple structure, can be directly driven by a 12V direct current power supply and has low cost. The remote controller sends out a signal, and the singlechip receives the signal and then outputs a low level to control the 5V relay to drive the claw to grab. And then the two aspects of waterproofness and grabbing stability are improved. According to the structure of the claw, the wire interface and the edge part of the coil are waterproof, and epoxy resin glue with excellent water-resisting performance is adopted for gap encapsulation, for example, in a waterproof coil 901 shown in fig. 9 and 10, an epoxy resin glue layer 9011 is coated on the surface of the claw. In the aspect of grabbing stability, because the original claw adopts a rivet structure, joints of the claw arm are loosened, and the claw arm is not easy to grab. Therefore, the rivet is removed, the screw and the nut are replaced for fixing, and the metal adhesive is used for fixing after the tightness is adjusted. The modified claw has the underwater grabbing function, the stability is greatly improved, and due to the underwater buoyancy factor, objects with larger mass can be grabbed under the direct drive of 12V voltage.

The utility model provides a preferred embodiment, underwater propulsor includes two output thrust mutual reverse underwater motor group 103, be located the head and the tail region of robot 101 respectively, a forward movement and the reverse movement for the robot, for example under the high-speed circumstances of moving of long distance, two preceding motors do not change, two motor rotation at the back promote the robot and advance, when arriving the destination, the rear motor stops rotatoryly, can drive two motors in the place ahead and make the robot reverse, finely tune the position of robot, make the robot reach the top of waiting to snatch the article, improve the accuracy of snatching. Each underwater motor group 103 has two underwater motors arranged in a staggered manner, and different thrust forces are generated by the differential speed (difference of driving voltage) of the underwater motors, so that the purpose of steering is achieved.

The sump device 104 includes: two water silos which are arranged in a staggered mode (on the left side and the right side), wherein the two sides of each water silo are respectively connected with a water suction pump 1041 and a drainage pump 1042; each water sump also has a vent pipe with one end extending out of the water surface to make the water sump surface pressure equal to the external atmospheric pressure, which in this embodiment is preferably integrated with the cable between the robot body 101 and the water buoy 102, for example in a hose. And the joint of the vent pipe is encapsulated by epoxy resin glue. In order to ensure that the robot keeps suspended when grabbing, the operation of the water pump is controlled by a feedback adjusting circuit.

To sum up, the underwater object-taking robot provided by the utility model comprises a robot body and an above-water buoy which are mutually connected by a circuit; the water buoy is used for receiving an external control signal and sending the control signal to the robot body; the underwater object taking robot also comprises an underwater propeller, a water sump device and a mechanical claw which are respectively connected with the robot body; the robot body is internally provided with a control device, and the robot body is in circuit connection with the water buoy through the control device; the control device is also connected with the underwater propeller, the water sump device and the mechanical claw circuit; the control device comprises a power supply circuit, a single chip circuit and a feedback adjusting circuit which are mutually connected in circuit, and also comprises a driving circuit; the single chip microcomputer circuit is connected with the underwater propeller, the water bin device and the mechanical claw through the driving circuit. The utility model provides an underwater object-taking robot has following advantage:

the robot has the advantages that a wireless and wired remote control mode is adopted, the water depth of an actual application place is used as the buoy which is connected to the water surface through cables with different lengths, and the infrared remote control receiving end is arranged on the buoy, so that the robot has the double advantages of deepening the distance navigation in a long distance;

the single chip microcomputer is used as a control center, and a simple drive circuit of a relay and a triode is used for driving equipment, so that the cost is greatly reduced;

the liquid level sensor, the ADC and other modules are utilized to design a set of automatic feedback control system, and compared with the traditional scheme, the balance and the anti-interference capability of the robot are improved, and the capabilities of popular navigation and stable grabbing are greatly improved;

the robot adopts a micro water pump to pump water for floating and submerging, and a program of direct control and automatic feedback control of a single chip microcomputer is designed, so that the robot is more stable in the floating and submerging process, and has better balance in a suspension state compared with the scheme on the market;

the gripping device adopts a scheme that a single chip microcomputer controls a relay to drive the electromagnet doll claw, and a scheme of waterproof treatment is carried out on the doll claw, so that the cost is lower compared with that of a steering engine mechanical claw on the market.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, they are described in relative terms, as long as they are described in partial descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An underwater object-taking robot is characterized by comprising a robot body and an overwater buoy which are mutually connected by a circuit; the water buoy is used for receiving an external control signal and sending the control signal to the robot body; the underwater object taking robot also comprises an underwater propeller, a water sump device and a mechanical claw which are respectively connected with the robot body; the robot body is internally provided with a control device, and the robot body is in circuit connection with the water buoy through the control device; the control device is also in circuit connection with the underwater propeller, the water bin device and the mechanical claw;

the control device comprises a power supply circuit, a single chip circuit and a feedback adjusting circuit which are mutually connected in circuit, and also comprises a driving circuit; the single chip microcomputer circuit is connected with the underwater propeller, the water bin device and the mechanical claw through the driving circuit; the power supply circuit outputs a first level for supplying power to the sump device and the gripper and a second level for supplying power to the single chip circuit and the feedback adjustment circuit.

2. The underwater object taking robot as claimed in claim 1, wherein the driving circuit includes a current limiting resistor, a transistor, and a relay including a coil and a contact; one end of the current-limiting resistor is connected with a base electrode of the triode, a collector electrode of the triode is connected with a coil of the relay, and an emitter electrode of the triode is connected with any one of the underwater propeller, the water sump device and the mechanical claw; when the coil is closed, the relay is connected with the first level, and the contact is opened; when the contacts are closed, the relay is connected to a second level and the coil is open.

3. The underwater object taking robot as claimed in claim 1, wherein the control means further comprises a water level sensor; the feedback adjusting circuit comprises an analog-to-digital converter, a buffer and a trigger which are respectively connected with the single chip circuit; the analog-to-digital converter is further connected with the water level sensor circuit, and the buffer and the trigger are further respectively connected with the analog-to-digital converter circuit.

4. The underwater object taking robot as claimed in claim 3, wherein the single chip microcomputer circuit comprises a single chip microcomputer and a crystal oscillator circuit which are mutually and electrically connected, and the single chip microcomputer is further respectively and electrically connected with the analog-to-digital converter, the buffer and the trigger.

5. The underwater object taking robot as claimed in claim 1, wherein the power circuit includes a battery and a voltage regulating structure electrically connected to each other, the voltage regulating structure for outputting the second level includes a voltage regulating chip and two electrolytic capacitors connected in parallel to each other; the battery is also configured to output the first level.

6. The underwater object taking robot according to any one of claims 1 to 5, wherein the gripper is connected to the robot body by a bolt and a nut.

7. The underwater object taking robot as claimed in any one of claims 1 to 5, wherein the underwater propeller includes two underwater motor groups having mutually opposite output thrusts, each of the underwater motor groups having two underwater motors arranged to be staggered with respect to each other.

8. The underwater object taking robot as claimed in any one of claims 1 to 5, wherein the sump device comprises: the two sides of each water sump are respectively connected with a water suction pump and a water discharge pump; each water sump is also provided with a breather pipe, and one end of the breather pipe is connected with the water buoy.

9. The underwater object taking robot as claimed in any one of claims 1 to 5, wherein the water buoy has an infrared transceiver through which the water buoy is electrically connected to the control device.