CN213414189U

CN213414189U - Tunnel barrier-crossing flexible framework of underwater robot

Info

Publication number: CN213414189U
Application number: CN202022443611.7U
Authority: CN
Inventors: 赵焜; 吴卫国; 李世桢
Original assignee: Wuhan Lihang Structure Safety Technology Co ltd
Current assignee: Wuhan Lihang Structure Safety Technology Co ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-06-11
Anticipated expiration: 2030-10-29

Abstract

The utility model provides an obstacle flexible skeleton is crossed to underwater robot tunnel, including a pair of main skeleton and robot main part, be connected with the arc between a pair of main skeleton upper end, be connected with first U type skeleton between a pair of main skeleton, the robot main part shaping is in the arc below, it has circular notch to be located to open at the preceding back both ends of arc, it has square groove to open between the front and back end circular notch, there is hoisting accessory through bolt fixed mounting in the square groove, the open end and the robot main part side fixed connection of first U type skeleton, robot main part up end is provided with second U type skeleton, all be provided with illumination frame on the open end of second U type skeleton and the tail end, whole equipment adopts skeleton formula to connect, the resistance of equipment itself has been reduced, it is more portable in aqueous to make the device, the main skeleton of setting is very soft, can bend wantonly, folding. When in use, the device has quite high strength and good elasticity, and not only can stabilize the robot body, but also can enable the device to have elasticity so as to prevent the device from being clamped.

Description

Tunnel barrier-crossing flexible framework of underwater robot

Technical Field

The utility model belongs to the technical field of underwater robot tunnel detection equipment, concretely relates to obstacle flexible skeleton is crossed to underwater robot tunnel.

Background

Generally, when an underwater robot detects a tunnel underwater, due to the fact that a tunnel wall structure is damaged, some protrusions such as a steel bar structure are difficult to avoid, and therefore a barrier-crossing flexible framework is provided to assist the underwater robot to enable the underwater robot to better pass through the tunnel. The principle of the equipment is that the robot can be greatly influenced by the flow velocity of water flow under water, firstly, the frame is used for stabilizing the robot, and the frame is easily clamped by the protrusion when passing through a tunnel, so that the robot cannot move, and therefore, the flexible part similar to a bent iron wire is arranged on the outer side of the frame under the condition of ensuring the stability of the robot, so that the underwater robot can pass through smoothly.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an obstacle flexible backbone is crossed to underwater robot tunnel aims at the problem that can be effectual among the solution prior art.

In order to achieve the above object, the utility model provides a following technical scheme: a tunnel barrier-crossing flexible skeleton of an underwater robot comprises a pair of main skeletons and a robot main body, wherein an arc-shaped plate is connected between the upper ends of the main skeletons, a first U-shaped skeleton is connected between the main skeletons, the robot main body is formed below the arc-shaped plate, circular notches are formed in the front end and the rear end of the arc-shaped plate, a square groove is formed between the circular notches at the front end and the rear end, a lifting device is fixedly installed in the square groove through bolts, the open end of the first U-shaped skeleton is fixedly connected with the side surface of the robot main body, a second U-shaped skeleton is arranged on the upper end surface of the robot main body, the opening of the second U-shaped skeleton is fixedly connected with the first U-shaped skeleton through a connecting skeleton, illumination frames are respectively arranged on the open end and the tail end of the second U-shaped skeleton, and a cross beam is arranged on the other side of the first U-shaped skeleton of, through tie-beam fixed connection between crossbeam and the main frame, there are four groups of propellers through connecting piece fixed mounting on first U type skeleton and the tie-beam, robot main part below is provided with third U type skeleton, through connecting skeleton fixed connection between third U type skeleton and a pair of main frame.

As an optimization of the utility model, the hoisting accessory includes a pair of otic placode, and is a pair of the otic placode shaping in the inside both sides of square groove, and a pair of the otic placode passes through the inner wall fixed connection of bolt and square groove. And an arc-shaped handle is welded between the ear plates, and the middle part of the arc-shaped handle is connected with a reinforcing rib.

As an optimization, the lighting fixture includes the connection pad, it has circular through-hole to open at the connection pad middle part, be provided with the internal thread on the inner wall of circular through-hole, circular through-hole has the lamp that gives a bright birth to through threaded connection, the connection pad is provided with flexible connectors along length direction's both sides, flexible connectors keeps away from the one end of connection pad and opens threaded hole, open the connection pad lower surface has the screw hole corresponding with flexible connectors, through thread fixed connection between connection pad and the flexible connectors.

As an optimization, detain including mounting panel and U type on the connecting piece, it has corresponding screw hole to buckle to open mounting panel and U type, first U type skeleton passes through the U type with the tie-beam and detains and mounting panel fixed connection, the mounting panel lower surface is provided with ring groove perpendicularly, propeller afterbody joint is in ring groove.

As an optimization of the utility model, the rear side of arc is opened with the notch, there is the detection camera through camera seat fixed mounting in the notch.

As an optimization, the top fixedly connected with polylith guide plate, the polylith of arc the mutual parallel arrangement of guide plate, be provided with the clearance layer between the guide plate.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses whole equipment adopts the skeleton type to connect, has reduced the resistance of equipment itself, makes the device more light in aqueous, and the main skeleton of setting is very soft, can be crooked wantonly, folding. When in use, the device has quite high strength and good elasticity, and not only can stabilize the robot body, but also can enable the device to have elasticity so as to prevent the device from being clamped.

2. The utility model discloses a pair of main skeleton 1 that sets up is oval, and the radian of the arc of setting is corresponding with main skeleton 1's radian, and the lower surface of arc and a pair of main skeleton 1's up end fixed connection, sets the flexible skeleton that the barrier was crossed to the robot tunnel under water into arc, and the velocity of flow impact problem that avoids rivers to bring that can be better accords with hydrodynamics, is favorable to underwater robot to keep the gesture to stabilize and move ahead in under water.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the cross section A-A in FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the structure of the lighting fixture of the present invention;

fig. 4 is a schematic top view of the present invention.

In the figure: 1. a main framework; 11. a first U-shaped framework; 12. a second U-shaped framework; 13. connecting the framework; 14. a cross beam; 15. a connecting beam; 16. a third U-shaped framework; 2. an arc-shaped plate; 21. a circular notch; 22. a square groove; 23. a recess; 24. a baffle; 3. a hoisting device; 31. an ear plate; 32. an arc-shaped handle; 33. reinforcing ribs; 4. a robot main body; 5. a lighting fixture; 51. a connecting disc; 52. a circular through hole; 53. flexible connection; 6. a running light; 7. a connecting member; 71. mounting a plate; 72. a U-shaped buckle; 73. an annular neck; 8. a propeller; 9. a camera stand; 10. a detection camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Example (b):

referring to fig. 1-4, the present invention provides the following technical solutions: a barrier-crossing flexible skeleton of an underwater robot tunnel comprises a pair of main skeletons 1 and a robot main body 4, wherein an arc-shaped plate 2 is connected between the upper ends of the main skeletons 1, a first U-shaped skeleton 11 is connected between the main skeletons 1, the robot main body 4 is formed below the arc-shaped plate 2, circular notches 21 are formed at the front end and the rear end of the arc-shaped plate 2, a square groove 22 is formed between the circular notches 21 at the front end and the rear end, a lifting device 3 is fixedly installed in the square groove 22 through bolts, the open end of the first U-shaped skeleton 11 is fixedly connected with the side surface of the robot main body 4, a second U-shaped skeleton 12 is arranged on the upper end surface of the robot main body 4, the opening of the second U-shaped skeleton 12 is fixedly connected with the first U-shaped skeleton 11 through a connecting skeleton 13, and illumination frames 5 are arranged on the open end and the tail end of the second U-shaped skeleton 12, robot main part 4 is provided with crossbeam 14 for the opposite side of first U type skeleton 11, through connecting beam 15 fixed connection between crossbeam 14 and the main frame 1, there are four groups of propellers 8 through connecting piece 7 fixed mounting on first U type skeleton 11 and the connecting beam 15, robot main part 4 below is provided with third U type skeleton 16, through connecting skeleton 13 fixed connection between third U type skeleton 16 and a pair of main frame 1.

In the embodiment of the present invention: a pair of main skeleton 1 that sets up is oval, the radian of the arc 2 of setting is corresponding with main skeleton 1's radian, and the lower surface of arc 2 and a pair of main skeleton 1's up end fixed connection, set the flexible skeleton of obstacle is crossed to the underwater robot tunnel into arc, the velocity of flow impact problem that avoids rivers to bring that can be better, accord with hydrodynamics, be favorable to underwater robot to keep the gesture stable antedisplacement in under water, the robot main part 4 of setting cooperatees through first U type skeleton 11, second U type skeleton 12 and third U type skeleton 16 and fixes between a pair of main skeleton 1.

Specifically, the lifting device 3 includes a pair of ear plates 31, the pair of ear plates 31 are formed on two sides inside the square groove 22, and the pair of ear plates 31 are fixedly connected with the inner wall of the square groove 22 through bolts. An arc-shaped handle 32 is welded between the pair of ear plates 31, and a reinforcing rib 33 is connected to the middle of the arc-shaped handle 32.

In this embodiment: the lifting device 3 is used for throwing or recovering the underwater robot, and comprises a pair of ear plates 31 and an arc-shaped handle 32, and a reinforcing rib 33 arranged in the arc-shaped handle 32 is used for reinforcing.

Specifically, lighting fixture 5 includes connection pad 51, connection pad 51 middle part is opened there is circular through-hole 52, be provided with the internal thread on circular through-hole 52's the inner wall, circular through-hole 52 has the floodlight 6 through threaded connection, connection pad 51 is provided with flexible connection spare 53 along length direction's both sides, the one end that connection pad 51 was kept away from to flexible connection spare 53 is opened threaded hole, connection pad 51 lower surface is opened has the corresponding screw hole with flexible connection spare 53, through thread fixed connection between connection pad 51 and the flexible connection spare 53.

In this embodiment: the lighting frame 5 is arranged to play a role of fixing the flood light 6, and the lumen light 6 is arranged to help the underwater robot to light obstacles.

Specifically, detain 72 including mounting panel 71 and U type on the connecting piece 7, it has corresponding screw hole to open on mounting panel 71 and the U type detain 72, first U type skeleton 11 is detained 72 and mounting panel 71 fixed connection with tie-beam 15 through the U type, mounting panel 71 lower surface is provided with ring groove 73 perpendicularly, 8 afterbody joints of propeller are in ring groove 73.

In this embodiment: in order to fix the propeller 8, the mounting plate 71 is fixedly connected with the connecting beam 15 through the arranged U-shaped buckle 72, the arranged annular clamping groove 73 plays a role of fixing the propeller 8, and the propeller 8 always keeps a horizontal state and keeps the underwater robot to stably advance.

Specifically, a notch 23 is formed in the rear side of the arc-shaped plate 2, and a detection camera 10 is fixedly mounted in the notch 23 through a camera base 9.

In this embodiment: in order to observe the underwater situation, a notch 23 is formed at the rear side of the arc-shaped plate 2, and a detection camera 10 is fixedly arranged in the notch 23 through a camera base 9.

Specifically, the top fixedly connected with polylith guide plate 24 of arc 2, the polylith guide plate 24 parallel arrangement each other, be provided with the clearance layer between the guide plate 24.

In this embodiment: in order to enable the underwater robot to move more stably in water, the guide plates 24 enable water flow to flow through gaps among the guide plates 24, the underwater robot moves along the water flow in the moving process, and the stability of the underwater robot in the moving process is greatly improved by adopting the mode.

The utility model discloses a theory of operation and use flow:

when the underwater robot is in water, the underwater robot is placed in the water through the lifting device 3, the underwater robot can freely advance in the water through the four groups of propellers 8, the main framework 1 is very soft and can be bent and folded randomly, the underwater robot has quite large strength and good elasticity during use, forced bending and shaping can be performed, the whole equipment is connected in a framework mode, the resistance of the equipment is reduced, the device is lighter in the water, the guide plate 24 can enable water flow to flow through gaps between the guide plates 24 so that the underwater robot can move along the water flow in the moving process, and the stability of the underwater robot in the moving process is greatly improved by adopting the mode.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a flexible skeleton of barrier is crossed to underwater robot tunnel, includes a pair of main frame (1) and robot main part (4), its characterized in that: an arc-shaped plate (2) is connected between the upper ends of a pair of main frameworks (1), a first U-shaped framework (11) is connected between the pair of main frameworks (1), a robot main body (4) is formed below the arc-shaped plate (2), circular notches (21) are formed in the front end and the rear end of the arc-shaped plate (2), a square groove (22) is formed between the circular notches (21) in the front end and the rear end, a lifting device (3) is fixedly installed in the square groove (22) through bolts, the open end of the first U-shaped framework (11) is fixedly connected with the side face of the robot main body (4), a second U-shaped framework (12) is arranged on the upper end face of the robot main body (4), the opening of the second U-shaped framework (12) is fixedly connected with the first U-shaped framework (11) through a connecting framework (13), and illumination frames (5) are arranged on the open end and the tail end of the second U-shaped framework (12), robot main part (4) are provided with crossbeam (14) for the opposite side of first U type skeleton (11), through tie-beam (15) fixed connection between crossbeam (14) and main skeleton (1), there are four groups of propellers (8) through connecting piece (7) fixed mounting on first U type skeleton (11) and tie-beam (15), robot main part (4) below is provided with third U type skeleton (16), through connecting skeleton (13) fixed connection between third U type skeleton (16) and a pair of main skeleton (1).

2. The underwater robot tunnel barrier-crossing flexible skeleton of claim 1, wherein: hoisting accessory (3) are including a pair of otic placode (31), and are a pair of otic placode (31) shaping in the inside both sides of square groove (22), and it is a pair of otic placode (31) pass through the inner wall fixed connection of bolt and square groove (22), and is a pair of the welding has arc handle (32) between otic placode (31), arc handle (32) middle part is connected with strengthening rib (33).

3. The underwater robot tunnel barrier-crossing flexible skeleton of claim 1, wherein: illumination frame (5) are including connection pad (51), open connection pad (51) middle part has circular through-hole (52), be provided with the internal thread on the inner wall of circular through-hole (52), circular through-hole (52) have floodlight (6) through threaded connection, connection pad (51) are provided with flexible connectors (53) along length direction's both sides, the one end that connection pad (51) were kept away from in flexible connectors (53) is opened threaded hole, connection pad (51) lower surface is opened there is the corresponding screw hole with flexible connectors (53), through thread fixed connection between connection pad (51) and flexible connectors (53).

4. The underwater robot tunnel barrier-crossing flexible skeleton of claim 1, wherein: detain (72) including mounting panel (71) and U type on connecting piece (7), it has corresponding screw hole to open on mounting panel (71) and the U type is detained (72), first U type skeleton (11) are detained (72) and mounting panel (71) fixed connection through the U type with tie-beam (15), mounting panel (71) lower surface is provided with ring groove (73) perpendicularly, propeller (8) afterbody joint is in ring groove (73).

5. The underwater robot tunnel barrier-crossing flexible skeleton of claim 1, wherein: a notch (23) is formed in the rear side of the arc-shaped plate (2), and a detection camera (10) is fixedly mounted in the notch (23) through a camera base (9).

6. The underwater robot tunnel barrier-crossing flexible skeleton of claim 1, wherein: the upper portion of arc (2) fixedly connected with polylith guide plate (24), the polylith guide plate (24) parallel arrangement each other, be provided with the clearance layer between guide plate (24).