CN215043591U - Underwater observation robot and overwater free hoisting equipment - Google Patents

Abstract

The utility model relates to an underwater mechanical equipment field specifically indicates an underwater observation robot and free equipment of putting that hangs on water, an underwater observation robot, which comprises a frame, be equipped with observation equipment in the frame, observation equipment is connected with the frame through observing actuating mechanism, and observation actuating mechanism includes support frame, rotating electrical machines and rotation axis, is equipped with clamping jaw mechanism and observation every single move mechanism on the support frame, and clamping jaw mechanism includes clamping jaw motor, worm wheel axle and clamping jaw, and observation every single move mechanism includes every single move motor, drive shaft, driven shaft and mounting bracket, is equipped with cable locking fixed establishment in the frame, a free equipment of putting that hangs on water, including the water carrier, be equipped with on the water carrier the above-mentioned underwater observation robot and cable take-up and pay-off mechanism, cable take-up and pay-off mechanism includes take-up reel, take-up stand, power supply, the utility model discloses simple structure, Small volume, high flexibility, sensitive observation and reconnaissance, firm grabbing, high working efficiency, convenient operation and low use cost.

Description

Underwater observation robot and overwater free hoisting equipment

Technical Field

The utility model relates to an underwater mechanical equipment field specifically indicates an underwater observation robot and equipment of freely hanging on water.

Background

The underwater robot becomes important equipment for underwater operation due to the fact that the underwater robot is safe in work, strong in adaptability, wide in operation range, economical and efficient, and is applied to various fields of marine environment investigation, submarine geological exploration, installation and maintenance of marine structures, hydraulic and hydroelectric engineering, scientific investigation and the like, and through retrieval, Chinese patent CN107585273A discloses an underwater fishing robot which is characterized in that: composite optical cable connects composite optical cable end of a thread and host computer of installing on underwater robot, and next machine setting is internal at underwater robot, underwater robot includes gripper, arm, storing basket, track chassis, come-up gasbag and high-pressure gas cylinder, urgent buoy, accords with optical cable end of a thread, rotary platform and camera buckler, rotary platform and gripper are connected to the arm, the storing basket is installed front end on the track chassis, come-up gasbag and high-pressure gas cylinder are installed in the rotary platform bottom, urgent buoy and composite optical cable end of a thread are all installed on the base that supports rotary platform, the not enough of above-mentioned patent: firstly, the underwater robot in the patent is huge in structure and cannot enter certain areas underwater or under the sea; secondly, the underwater robot in the patent has large volume and is not flexible enough and is not sensitive enough to underwater observation and survey; thirdly, for maritime search and rescue or searching work, the existing underwater robot is inconvenient to operate and high in use cost.

Disclosure of Invention

The utility model aims at solving the prior art not enough, provide a simple structure, small, the flexibility is high, survey sensitivity, snatch firmly, work efficiency is high, convenient operation, use cost hang equipment of putting freely on water under water observation robot.

In order to achieve the above object, the utility model adopts the following technical scheme:

an underwater observation robot, characterized in that: the underwater observation device is characterized by comprising a frame, wherein an observation device is arranged on the frame, an observation driving mechanism is arranged between the observation device and the frame, and the observation device is connected with the frame through the observation driving mechanism so as to be beneficial to exploring, observing and reconnaissance underwater conditions through the observation device.

Observe actuating mechanism and include support frame, rotating electrical machines and rotation axis, the frame below is equipped with the support frame, be equipped with the rotating electrical machines in the frame, be equipped with the rotation axis on the support frame, rotation axis and support frame fixed connection, the rotation axis is driven by the rotating electrical machines, the rotating electrical machines is fixed in the frame, observation equipment fixes on the support frame to do benefit to and rotate through rotating electrical machines drive rotation axis, and then it is rotatory to drive observation equipment on the support frame, realizes that the multi-angle is surveyd and reconnaissance.

Be equipped with clamping jaw mechanism on the support frame to do benefit to and come centre gripping object through clamping jaw mechanism.

Clamping jaw mechanism includes clamping jaw motor, worm wheel, worm-wheel shaft and clamping jaw, the at least one side in support frame both sides is equipped with the link, link and support frame fixed connection, be equipped with the clamping jaw motor on the link, clamping jaw motor and link fixed connection are fixed with the worm on the output shaft of clamping jaw motor, and the output shaft bilateral symmetry of clamping jaw motor is equipped with the clamping jaw, the worm both sides are equipped with the worm wheel respectively, worm wheel and worm go up the worm-tooth meshing, the worm wheel is fixed on the worm-wheel shaft, the worm-wheel shaft is fixed on the link through the bearing, and worm wheel epaxial is fixed and is equipped with the clamping jaw to do benefit to and drive the worm rotation through clamping jaw motor, the worm is rotatory through driving the worm wheel with the worm wheel meshing, realizes opening or being closed of two clamping jaws.

Be equipped with rotation angle monitoring mechanism in the frame, rotation angle monitoring mechanism is including connecting gear, output gear, monitoring gear and rotation angle sensor, the fixed connection gear that is equipped with on the rotation axis, the rotation axis is through bearing and frame fixed connection, it is equipped with output gear to connect gear one side, and the opposite side is equipped with the monitoring gear, output gear fixes on the output shaft of rotating electrical machines, and output gear is connected with the connection gear drive, the monitoring gear is fixed on rotation angle sensor's output shaft, the monitoring gear is connected with the connection gear drive, rotation angle sensor fixes in the frame to do benefit to the rotation angle that monitors the rotation axis through rotation angle sensor, and then adjust observation equipment's angle according to the demand.

Be equipped with on the support frame and observe luffing mechanism, it includes every single move motor, drive shaft, driven shaft and mounting bracket to observe luffing mechanism, the support frame lower extreme is equipped with pitch motor, pitch motor and support frame fixed connection, the pitch motor lower extreme is equipped with the mounting bracket, pitch motor one end is equipped with the drive shaft, and the other end is equipped with the driven shaft, the drive shaft is driven by pitch motor, the driving shaft is through bearing, bearing frame and support frame fixed connection, the driven shaft is through bearing, bearing frame and support frame fixed connection, mounting bracket both ends and drive shaft and driven shaft fixed connection, observation equipment sets up on the mounting bracket to do benefit to and carry out pitching motion through observation equipment on pitch motor drives the mounting bracket, further widen the angle that observation equipment observed.

Be equipped with pitch angle monitoring mechanism on the support frame, pitch angle monitoring mechanism includes pitch angle sensor and support, be equipped with the recess in the driven shaft, pitch angle sensor arranges in the recess, pitch angle sensor's output shaft and driven shaft fixed connection, pitch angle sensor is through support and support frame fixed connection to do benefit to the rotation angle that monitors every single move motor through pitch angle sensor.

Be equipped with cable locking fixed establishment in the frame to do benefit to operating personnel and lock the fixed establishment through the cable and connect the frame, make things convenient for hanging of frame to put.

The cable locking and fixing mechanism of the utility model comprises a limiting seat, a locking seat, a base and a connecting cable, wherein the upper end of the frame is provided with the base, the locking seat and the limiting seat from bottom to top in sequence, at least one locking seat is arranged on the locking seat, the lower end of the base is fixedly connected with the frame, the upper end of the base is fixedly connected with the locking seat, a base cable perforation is arranged in the middle of the base, a first locking perforation is arranged in the middle of the locking seat, a locking sleeve is arranged on the locking seat, the lower end of the locking sleeve is fixedly connected with the locking seat, a second locking perforation is arranged in the middle of the locking sleeve, the second locking perforation is matched and communicated with the first locking perforation, the outer diameter of the locking sleeve is gradually increased from top to bottom, extrusion clamping holes are arranged at intervals on the outer wall of the locking sleeve, extrusion perforations matched with the extrusion clamping holes are arranged on the locking seat, the limiting seat is arranged on the locking sleeve, the middle of the limiting seat is provided with a limiting hole, the inner diameter of the limiting hole is gradually increased from top to bottom, the inner diameter of the upper end of the limiting hole is matched with the outer diameter of the upper end of the locking sleeve, the inner diameter of the lower end of the limiting hole is matched with the outer diameter of the lower end of the locking sleeve, the outer side of the rack is provided with a connecting cable, the connecting cable comprises a cable and a bearing layer, the outer wall of the cable is at least provided with a bearing layer, the bearing layer is woven by bearing wires, the upper end of the cable is fixedly connected with the bearing layer and is arranged on the outer side of the rack, the lower end of the cable sequentially penetrates through the limiting hole, the second locking perforation, the first locking perforation and the base cable perforation and is arranged in the rack to be connected with observation equipment, the cable is fixedly connected with the base in a sealing way, each bearing wire on the bearing layer sequentially penetrates through the limiting hole, the extrusion clamping hole and the extrusion perforation and is arranged in the extrusion perforation or below the extrusion perforation, the limiting seat is sleeved on the locking sleeve, spacing hole is through tapering and lock sleeve joint, spacing seat and locking seat fixed connection to do benefit to the base sealed fixed with the cable, spacing seat, locking seat are fixed through the bearing silk, do not receive the dragging in making the cable use in the frame, the cable is not fragile, long service life.

The cable sealing mechanism is arranged on the base, the cable sealing mechanism comprises a leather plug and a nut, a connecting sleeve is arranged in the middle of the base, supporting blocks are respectively arranged on two sides of the base, the lower end of the connecting sleeve is fixedly connected with the base, the outer wall of the connecting sleeve is provided with a thread, a cable hole is arranged in the middle of the connecting sleeve, the cable hole is matched and communicated with a base cable perforation, the lower end of the supporting block is fixedly connected with the base, the upper end of the supporting block is fixedly connected with a locking seat, two supporting blocks are oppositely buckled to form a connecting cavity between the locking seat and the base, the part of the cable, which passes through the connecting cavity of the locking seat, is provided with the leather plug and the nut, the lower end of the leather plug is radially outwards provided with a boss, the nut is sleeved on the leather plug and the connecting sleeve, the inner wall of the upper end of the nut is provided with a groove, the nut is connected with the connecting sleeve thread, so that the leather plug and the cable are tightly attached to realize the sealed and fixed connection of the cable, the sealing and fixing of the cable can be realized through the leather plug and the nut, and meanwhile, water is prevented from entering the rack.

Adapter sleeve upper end is radial outwards to be equipped with spacing platform, the nut inner wall is equipped with spacing recess, nut and adapter sleeve threaded connection, in spacing recess of spacing platform embedding to do benefit to through spacing platform and spacing recess stop nut, improve the connection stability of nut and adapter sleeve.

The rotation axis is hollow form, be equipped with the sliding ring on the rotation axis, the sliding ring is fixed on the rotation axis, the frame outside is arranged in to the lead wire of sliding ring one end, and the lead wire of the sliding ring other end passes the rotation axis to be connected with pitch motor to do benefit to and come transmission signal and supply the electric energy through the sliding ring.

Observation equipment includes sonar, light and camera, sonar, light and camera are fixed respectively on the mounting bracket to do benefit to and observe and reconnoitre the environment under water through sonar, light and camera.

Fixed light and the camera of being equipped with in the frame to do benefit to operating personnel and in time know the environment that the frame was located.

The utility model provides a freely hang equipment of putting on water, includes the water carrier, be equipped with the control box on the water carrier, be equipped with control system, its characterized in that in the control box: the underwater observation robot is characterized in that the underwater observation robot is arranged on the water carrier, a cable retracting mechanism is arranged on the water carrier, the cable retracting mechanism is fixed on the water carrier and connected with the underwater observation robot, the observation equipment and the observation driving mechanism are respectively controlled by a control system, so that the underwater observation robot is carried on the water carrier, the underwater observation robot is moved to a target sea area, and then the underwater observation robot is delivered to the water through the cable retracting mechanism to be explored and observed underwater.

Cable jack includes take-up reel, take-up reel and power supply, be equipped with the take-up reel on the water carrier, the take-up reel both sides are equipped with the take-up reel, the take-up reel is fixed on the reel, the reel both ends are through bearing and take-up reel fixed connection, take-up reel and power supply fixed connection are worn out to take-up reel one end, take-up reel and water carrier fixed connection, the take-up reel is walked around to the connecting cable upper end and is connected with control system to do benefit to and receive and release the observation robot under water according to the demand through cable jack.

The power supply is crank or spiral motor, spool one end is passed the take-up stand and is hand crank fixed connection, or spool one end is passed the take-up stand and is driven by the spiral motor to do benefit to and drive the take-up reel through manual work or motor, realize underwater observation robot receive and release.

Take-up reel one side is equipped with and receive and releases the frame, receive and release frame and take-up reel or water carrier fixed connection, it is equipped with branch to receive and release the frame to go up the interval, branch both ends and receive and release a frame fixed connection install the pulley on two adjacent branches respectively, form spacing cable passageway between two pulleys, connect the cable upper end and pass spacing cable passageway, walk around the take-up reel and be connected with control system to do benefit to and support the cable through receiving and releasing the frame, come spacing cable and make the cable receive and release smoothly through the pulley.

The carrier on water is motorboat or ship, will observe the robot under water and put on motorboat or ship, observe the robot under water through motorboat or ship and arrive the target sea area that needs put in.

The utility model discloses owing to adopt above-mentioned structure, have simple structure, small, the flexibility is high, survey the sensitivity, snatch firmly, work efficiency is high, convenient operation, use cost low grade advantage.

Drawings

Fig. 1 is a schematic structural diagram of the underwater observation robot of the present invention.

Fig. 2 is a front view of the underwater observation robot of the present invention.

Fig. 3 is a side view of the underwater observation robot of the present invention.

Fig. 4 is a sectional view of the driving mechanism of the present invention.

Fig. 5 is a sectional view of the pitching mechanism of the present invention.

Figure 6 is a cross-sectional view of the middle jaw mechanism of the present invention.

Fig. 7 is an exploded view of the cable locking mechanism of the present invention.

Fig. 8 is a cross-sectional view of the cable lock securing mechanism of the present invention.

Fig. 9 is an enlarged view of the cable sealing mechanism according to the present invention.

Fig. 10 is a schematic structural view of the free water lifting device of the present invention.

Fig. 11 is a schematic diagram of the state that the underwater observation robot of the present invention is suspended.

Reference numerals: a frame 1, an observation device 2, an observation driving mechanism 3, a support frame 4, a rotating motor 5, a rotating shaft 6, a clamping jaw mechanism 7, a clamping jaw motor 8, a worm 9, a worm wheel 10, a clamping jaw 11, a connecting frame 12, a rotating angle monitoring mechanism 13, a connecting gear 14, an output gear 15, a monitoring gear 16, a rotating angle sensor 17, an observation pitching mechanism 18, a pitching motor 19, a driving shaft 20, a driven shaft 21, a mounting frame 22, a pitching angle monitoring mechanism 23, a pitching angle sensor 24, a support 25, a cable locking and fixing mechanism 27, a sliding ring 28, a sonar 29, an illuminating lamp 30, a camera 31, a frame illuminating lamp 32, a frame camera 33, a water carrier 34, a control box 35, an underwater observation robot 36, a cable retracting mechanism 37, a winding reel 38, a winding frame 39, a power source 40, a hand crank 41, a retracting frame 42, a support rod 43, a pulley 44 and a limiting seat 45, the locking device comprises a locking seat 46, a base 47, a cable 48, a locking sleeve 49, an extrusion clamping hole 50, a limiting hole 51, a bearing layer 52, a bearing wire 53, a cable sealing mechanism 54, a leather plug 55, a nut 56, a connecting sleeve 57, a supporting block 58, a connecting cavity 59, a boss 60, a groove 61, a limiting table 62 and a limiting groove 63.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

An underwater observation robot, characterized in that: including frame 1, be equipped with observation equipment 2 in the frame 1, be equipped with between observation equipment 2 and the frame 1 and observe actuating mechanism 3, observation equipment 2 is connected with frame 1 through observing actuating mechanism 3 to do benefit to and explore through observation equipment and observe and reconnoiter the condition under water.

Observe actuating mechanism 3 and include support frame 4, rotating electrical machines 5 and rotation axis 6, frame 1 below is equipped with support frame 4, be equipped with rotating electrical machines 5 in the frame 1, be equipped with rotation axis 6 on the support frame 4, rotation axis 6 and support frame 4 fixed connection, rotation axis 6 is driven by rotating electrical machines 5, rotating electrical machines 5 is fixed in frame 1, observation equipment 2 is fixed on support frame 4 to it is rotatory to do benefit to through rotating electrical machines drive rotation axis, and then drives the observation equipment rotation on the support frame, realizes that the multi-angle is surveyd and is scouted.

Be equipped with clamping jaw mechanism 7 on support frame 4 to do benefit to and come the centre gripping object through clamping jaw mechanism.

The clamping jaw mechanism 7 of the utility model comprises a clamping jaw motor 8, a worm 9, a worm wheel 10, a worm wheel shaft and a clamping jaw 11, at least one side of the two sides of the support frame 4 is provided with a connecting frame 12, the connecting frame 12 is fixedly connected with the support frame 4, a clamping jaw motor 8 is arranged on the connecting frame 12, the clamping jaw motor 8 is fixedly connected with the connecting frame 12, a worm 9 is fixed on an output shaft of the clamping jaw motor 8, clamping jaws 11 are symmetrically arranged on two sides of the output shaft of the clamping jaw motor 8, worm wheels 10 are respectively arranged on two sides of the worm 9, the worm wheels 10 are meshed with the worm teeth on the worm 9, the worm wheel 10 is fixed on a worm wheel shaft, the worm wheel shaft is fixed on a connecting frame 12 through a bearing, a clamping jaw 11 is fixedly arranged on the worm wheel shaft, the worm is driven to rotate by the clamping jaw motor, and the worm drives the worm wheel to rotate by meshing with the worm wheel, so that the opening or closing of the two clamping jaws is realized.

The frame 1 of the utility model is provided with a rotation angle monitoring mechanism 13, the rotation angle monitoring mechanism 13 comprises a connecting gear 14, an output gear 15, a monitoring gear 16 and a rotation angle sensor 17, a connecting gear 14 is fixedly arranged on the rotating shaft 6, the rotating shaft 6 is fixedly connected with the frame 1 through a bearing, one side of the connecting gear 14 is provided with an output gear 15, the other side is provided with a monitoring gear 16, the output gear 15 is fixed on the output shaft of the rotating motor 5, the output gear 15 is in transmission connection with the connecting gear 14, the monitoring gear 16 is fixed on an output shaft of a rotation angle sensor 17, the monitoring gear 16 is in transmission connection with the connecting gear 14, the rotation angle sensor 17 is fixed on the frame 1, the angle sensor is favorable for monitoring the rotation angle of the rotation shaft, and the angle of the observation equipment is adjusted according to requirements.

The utility model is provided with an observation pitching mechanism 18 on the supporting frame 4, the observation pitching mechanism 18 comprises a pitching motor 19, a driving shaft 20, a driven shaft 21 and a mounting frame 22, the lower end of the supporting frame 4 is provided with a pitching motor 19, the pitching motor 19 is fixedly connected with the supporting frame 4, the lower end of the pitching motor 19 is provided with a mounting rack 22, one end of the pitching motor 19 is provided with a driving shaft 20, the other end is provided with a driven shaft 21, the driving shaft 20 is driven by the pitching motor 19, the driving shaft 20 is fixedly connected with the supporting frame 4 through a bearing and a bearing seat, the driven shaft 21 is fixedly connected with the support frame 4 through a bearing and a bearing seat, two ends of the mounting frame 22 are fixedly connected with the driving shaft 20 and the driven shaft 21, the observation equipment 2 is arranged on the mounting frame 22, the pitching motor is favorable for driving the observation equipment on the mounting rack to perform pitching motion, and the observation angle of the observation equipment is further widened.

Be equipped with pitch angle monitoring mechanism 23 on support frame 4, pitch angle monitoring mechanism 23 includes pitch angle sensor 24 and support 25, be equipped with the recess in the driven shaft 21, pitch angle sensor 24 arranges the recess in, pitch angle sensor 24's output shaft and driven shaft 21 fixed connection, pitch angle sensor 24 is through support 25 and 4 fixed connection of support frame to do benefit to the rotation angle that monitors pitching motor through pitch angle sensor.

Be equipped with cable locking fixed establishment 27 in frame 1 to do benefit to operating personnel and connect the frame through cable locking fixed establishment, make things convenient for hanging of frame to put.

The cable locking and fixing mechanism 27 of the utility model comprises a limiting seat 45, a locking seat 46, a base 47 and a connecting cable, wherein the upper end of the frame 1 is provided with the base 47, the locking seat 46 and the limiting seat 45 from bottom to top in sequence, at least one locking seat 46 is provided, the lower end of the base 47 is fixedly connected with the frame 1, the upper end of the base 47 is fixedly connected with the locking seat 46, the middle of the base 47 is provided with a base cable perforation, the middle of the locking seat 46 is provided with a first locking perforation, the locking seat 46 is provided with a locking sleeve 49, the lower end of the locking sleeve 49 is fixedly connected with the locking seat 46, the middle of the locking sleeve 49 is provided with a second locking perforation, the second locking perforation is matched and communicated with the first locking perforation, the outer diameter of the locking sleeve 49 is gradually increased from top to bottom, the outer wall of the locking sleeve 49 is provided with extrusion clamping holes 50 at intervals, the locking seat 46 is provided with extrusion perforations matched with the extrusion clamping holes 50, the utility model discloses a spacing locking device, including the locking cover 49, be equipped with spacing seat 45 on the locking cover 49, be equipped with spacing hole 51 in the middle of spacing seat 45, the internal diameter of spacing hole 51 is from last to crescent down, the internal diameter of spacing hole 51 upper end cooperatees with the external diameter of locking cover 49 upper end, the internal diameter of spacing hole 51 lower extreme cooperatees with the external diameter of locking cover 49 lower extreme, the frame 1 outside is equipped with the connecting cable, the connecting cable includes cable 48 and bearing layer, the cable 48 outer wall is equipped with one deck bearing layer 52 at least, bearing layer 52 is worked out by bearing silk 53, the cable 48 upper end is connected in frame 1 outside with bearing layer 52 fixed connection, and the cable 48 lower extreme passes spacing hole 51 in proper order, second locking perforation, first locking perforation, base cable perforation and places in frame 1 and is connected with observation equipment 2, cable 48 and base 47 fixed connection in a sealing, every bearing silk 53 passes spacing hole 51 in proper order on bearing layer 52, and is connected with observation equipment 2, Extrusion card hole 50, extrusion perforation are arranged in the extrusion perforation or are arranged in the extrusion perforation below, spacing seat 45 cover is on lock sleeve 49, and spacing hole 51 is through tapering and lock sleeve 49 joint, spacing seat 45 and lock seat 46 fixed connection to do benefit to the base sealed fixed with the cable, spacing seat, lock seat are fixed through the bearing silk, make not receive in the cable use in the frame to pull, and the cable is not fragile, long service life.

The utility model discloses a be equipped with cable sealing mechanism 54 on base 47, cable sealing mechanism 54 includes leather plug 55 and nut 56, be equipped with adapter sleeve 57 in the middle of base 47, base 47 both sides are equipped with supporting shoe 58 respectively, adapter sleeve 57 lower extreme and base 47 fixed connection, and adapter sleeve 57 outer wall is equipped with the screw thread, be equipped with the cable hole in the middle of adapter sleeve 57, the cable hole cooperatees with the base cable perforation and communicates, supporting shoe 58 lower extreme and base 47 fixed connection, upper end and locking seat 46 fixed connection, two supporting shoe 58 relative lock and locking seat 46, base 47 between form connecting cavity 59, the part that cable 48 passes locking seat 46 and places connecting cavity 59 is equipped with leather plug 55 and nut 56, leather plug 55 lower extreme radially outwards is equipped with boss 60, nut 56 overlaps on leather plug 55 and adapter sleeve 57, nut 56 upper end inner wall is equipped with recess 61, in the boss 60 embedding recess 61, nut 56 and adapter sleeve 57 threaded connection for skin stifled 55 closely pastes the sealed fixed connection who realizes cable 48 with cable 48 mutually, and it is fixed to do benefit to the sealed of realizing the cable through skin stifled, nut, prevents simultaneously that the frame from intaking.

Adapter sleeve 57 upper end is radially outwards equipped with spacing platform 62, nut 56 inner wall is equipped with spacing recess 63, nut 56 and adapter sleeve 57 threaded connection, spacing 62 imbeds in the spacing recess 63 to do benefit to through spacing platform and spacing recess stop nut, improve the connection stability of nut and adapter sleeve.

Rotation axis 6 is hollow form, be equipped with sliding ring 28 on the rotation axis 6, sliding ring 28 is fixed on rotation axis 6, the frame 1 outside is arranged in to the lead wire of sliding ring 28 one end, and the lead wire of the sliding ring 28 other end passes rotation axis 6 and is connected with every single move motor 19 to do benefit to and come transmission signal and supply the electric energy through the sliding ring.

Observation equipment 2 includes sonar 29, light 30 and camera 31, sonar 29, light 30 and camera 31 are fixed respectively on mounting bracket 22 to do benefit to and observe and scout through sonar, light and camera to the environment under water.

Frame 1 is gone up to fix and is equipped with frame light 32 and frame camera 33 to do benefit to operating personnel and in time know the environment that the frame was located.

The utility model provides a freely hang equipment of putting on water, includes water carrier 34, be equipped with control box 35 on the water carrier 34, be equipped with control system in the control box 35, its characterized in that: the underwater observation robot 36 is arranged on the water carrier 34, the cable retraction mechanism 37 is fixed on the water carrier 34, the cable retraction mechanism 37 is connected with the underwater observation robot 36, the observation device 2 and the observation driving mechanism 3 are respectively controlled by a control system, so that the underwater observation robot is carried by the water carrier, moves to a target sea area, and then is delivered to the water for underwater exploration and observation through the cable retraction mechanism.

Cable jack 37 includes take-up reel 38, take-up reel 39 and power supply 40, be equipped with take-up reel 38 on the water carrier 34, take-up reel 38 both sides are equipped with take-up reel 39, take-up reel 38 is fixed on the reel, the reel both ends are through bearing and take-up reel 39 fixed connection, take-up reel 39 and power supply 40 fixed connection are worn out to take-up reel one end, take-up reel 39 and water carrier 34 fixed connection, take-up reel 38 is walked around on the connecting cable and control system is connected to do benefit to and receive and release the observation robot under water according to the demand through cable jack.

Power supply 40 is crank 41 or spiral motor, spool one end is passed spool 39 and crank 41 fixed connection, or spool one end is passed spool 39 and is driven by spiral motor to do benefit to and drive the take-up reel through manual work or motor, realize underwater observation robot receive and release.

Take-up reel 38 one side is equipped with winding reel 42, winding reel 42 and 39 or 34 fixed connection of water carrier, the interval is equipped with branch 43 on winding reel 42, branch 43 both ends with winding reel 42 fixed connection, install pulley 44 on two adjacent branches 43 respectively, form spacing cable passageway between two pulley 44, connect the cable upper end and pass spacing cable passageway, walk around winding reel 38 and be connected with control system to do benefit to and support the cable through winding reel, come spacing cable through the pulley and make the cable receive and release smoothly.

The water carrier 34 is motorboat or boat, and the underwater observation robot is placed on the motorboat or boat, and the underwater observation robot is carried on the motorboat or boat to the target sea area needing to be put in.

As shown in the attached drawings 1-9, the structure of the underwater observation robot of the utility model is schematically shown, before the use, as shown in the attached drawings 10 and 11, the utility model is installed on a motorboat or a boat through a connecting cable, the connecting cable of the utility model comprises a cable and a bearing layer, at least one bearing layer is arranged outside the cable, as shown in the attached drawings 7-9, two bearing layers are arranged outside the cable, a first bearing layer is arranged outside the cable, a second bearing layer is arranged outside the first bearing layer, the bearing layers are formed by weaving bearing wires, two corresponding locking seats are arranged, the structure of the two locking seats is similar, the two locking seats are respectively used for fixing the bearing wires of the first bearing layer and the bearing wires of the second bearing layer, the bearing wires can adopt steel wires, the two locking seats are fixedly connected with a limiting seat through taper clamping and bolts, namely the bearing wires of the first bearing layer and the bearing wires of the second bearing layer can be fixed, the cable and the base are sealed and fixed, so that the cable in the rack is not pulled in the using process, the cable is not easy to damage, a handle and a guide fin can be installed on the rack of the underwater observation robot, the handle is convenient for taking and placing the underwater observation robot, the guide fin is used for guiding the direction of the underwater observation robot, a rotary motor, a clamping jaw motor, a rotary angle sensor, a pitching motor, a sliding ring, a sonar, a lighting lamp, a camera, a rack lighting lamp and a rack camera are all connected with a control system through the cable and are controlled by the control system, the control system can adopt a PLC control system, the clamping jaw can be divided into a clamping jaw front part and a clamping jaw rear part, the clamping jaw front part and the clamping jaw rear part are in threaded connection, so that the clamping jaw rear part can be replaced according to the requirement of a clamping object, the utility model discloses a support frame can rotate 360 degrees relative to the rack, a connecting gear and an output gear can be in meshed transmission or in chain link transmission, the connecting gear and the monitoring gear can be in meshing transmission or chain link transmission, the mounting frame can swing back and forth relative to the support frame, the flexibility of the underwater observation robot is improved, the angle range of reconnaissance and scanning of observation equipment is greatly enlarged, when the underwater observation robot is used, the underwater observation robot is placed on a motorboat or a ship and moves to a target sea area, then the winding roll is rotated by a hand crank to throw the underwater observation robot into the sea, an operator controls the underwater observation robot to move underwater through a control system, the underwater observation robot can carry out underwater camera observation and sonar detection, the search and rescue and reconnaissance tasks can be quickly, conveniently and effectively completed, the underwater observation robot can also grab underwater objects through the clamping jaws, the operation is very convenient, and the underwater observation robot has small structure, low use cost and flexible rotation, and can conveniently enter narrow or deeper sea areas.

The utility model discloses owing to adopt above-mentioned structure, have simple structure, small, the flexibility is high, survey the sensitivity, snatch firmly, work efficiency is high, convenient operation, use cost low grade advantage.

Claims (13)

1. An underwater observation robot, characterized in that: including frame (1), be equipped with observation equipment (2) on frame (1), be equipped with between observation equipment (2) and frame (1) and observe actuating mechanism (3), observation equipment (2) are connected with frame (1) through observing actuating mechanism (3).

2. An underwater observation robot as recited in claim 1, wherein: observe actuating mechanism (3) including support frame (4), rotating electrical machines (5) and rotation axis (6), frame (1) below is equipped with support frame (4), be equipped with rotating electrical machines (5) on frame (1), be equipped with rotation axis (6) on support frame (4), rotation axis (6) and support frame (4) fixed connection, rotation axis (6) are driven by rotating electrical machines (5), rotating electrical machines (5) are fixed in frame (1), observation equipment (2) are fixed on support frame (4).

3. An underwater observation robot as recited in claim 2, wherein: and a clamping jaw mechanism (7) is arranged on the support frame (4).

4. An underwater observation robot according to claim 3, wherein: clamping jaw mechanism (7) are including clamping jaw motor (8), worm (9), worm wheel (10), worm wheel axle and clamping jaw (11), at least one side in support frame (4) both sides is equipped with link (12), link (12) and support frame (4) fixed connection, be equipped with clamping jaw motor (8) on link (12), clamping jaw motor (8) and link (12) fixed connection are fixed with worm (9) on the output shaft of clamping jaw motor (8), and the output shaft bilateral symmetry of clamping jaw motor (8) is equipped with clamping jaw (11), worm (9) both sides are equipped with worm wheel (10) respectively, worm wheel (10) and worm (9) go up the worm tooth meshing, worm wheel (10) are fixed on the worm wheel axle, the worm wheel axle is fixed on link (12) through the bearing, is fixed on the worm wheel axle to be equipped with clamping jaw (11).

5. An underwater observation robot according to claim 2, 3 or 4, wherein: a rotating angle monitoring mechanism (13) is arranged on the frame (1), the rotating angle monitoring mechanism (13) comprises a connecting gear (14), an output gear (15), a monitoring gear (16) and a rotating angle sensor (17), a connecting gear (14) is fixedly arranged on the rotating shaft (6), the rotating shaft (6) is fixedly connected with the frame (1) through a bearing, one side of the connecting gear (14) is provided with an output gear (15), the other side is provided with a monitoring gear (16), the output gear (15) is fixed on the output shaft of the rotating motor (5), the output gear (15) is in transmission connection with the connecting gear (14), the monitoring gear (16) is fixed on an output shaft of the rotation angle sensor (17), the monitoring gear (16) is in transmission connection with the connecting gear (14), and the rotating angle sensor (17) is fixed on the rack (1).

6. An underwater observation robot according to claim 2, 3 or 4, wherein: be equipped with on support frame (4) and observe every single move mechanism (18), observe every single move mechanism (18) including every single move motor (19), drive shaft (20), driven shaft (21) and mounting bracket (22), support frame (4) lower extreme is equipped with every single move motor (19), every single move motor (19) and support frame (4) fixed connection, every single move motor (19) lower extreme is equipped with mounting bracket (22), every single move motor (19) one end is equipped with drive shaft (20), and the other end is equipped with driven shaft (21), drive shaft (20) are driven by every single move motor (19), drive shaft (20) are through bearing, bearing frame and support frame (4) fixed connection, driven shaft (21) are through bearing, bearing frame and support frame (4) fixed connection, mounting bracket (22) both ends and drive shaft (20) and driven shaft (21) fixed connection, the observation device (2) is arranged on the mounting frame (22).

7. An underwater observation robot as recited in claim 6, wherein: be equipped with pitch angle monitoring mechanism (23) on support frame (4), pitch angle monitoring mechanism (23) include pitch angle sensor (24) and support (25), be equipped with the recess in driven shaft (21), pitch angle sensor (24) are arranged in the recess, the output shaft and driven shaft (21) fixed connection of pitch angle sensor (24), pitch angle sensor (24) are through support (25) and support frame (4) fixed connection.

8. An underwater observation robot according to claim 1, 2, 3, 4 or 7, characterized in that: and a cable locking and fixing mechanism (27) is arranged on the rack (1).

9. An underwater observation robot as recited in claim 8, wherein: the cable locking and fixing mechanism (27) comprises a limiting seat (45), a locking seat (46), a base (47) and a connecting cable, wherein the upper end of the rack (1) is sequentially provided with the base (47), the locking seat (46) and the limiting seat (45) from bottom to top, at least one locking seat (46) is arranged, the lower end of the base (47) is fixedly connected with the rack (1), the upper end of the base (47) is fixedly connected with the locking seat (46), a base cable perforation is arranged in the middle of the base (47), a first locking perforation is arranged in the middle of the locking seat (46), a locking sleeve (49) is arranged on the locking seat (46), the lower end of the locking sleeve (49) is fixedly connected with the locking seat (46), a second locking perforation is arranged in the middle of the locking sleeve (49), the second locking perforation is communicated with the first locking perforation in a matching manner, and the outer diameter of the locking sleeve (49) is gradually increased from top to bottom, locking sleeve (49) outer wall interval is equipped with extrusion card hole (50), be equipped with on locking seat (46) with extrusion card hole (50) matched with extrusion perforation, be equipped with spacing seat (45) on locking sleeve (49), be equipped with spacing hole (51) in the middle of spacing seat (45), the internal diameter of spacing hole (51) is from last to crescent down, the internal diameter of spacing hole (51) upper end cooperatees with the external diameter of locking sleeve (49) upper end, the internal diameter of spacing hole (51) lower extreme cooperatees with the external diameter of locking sleeve (49) lower extreme, it includes cable (48) and bearing layer (52) to connect the cable, cable (48) outer wall is equipped with one deck bearing layer (52) at least, bearing layer (52) are worked out by bearing silk (53), cable (48) upper end and bearing layer (52) fixed connection place frame (1) outside in, cable (48) lower extreme passes spacing hole (51) in proper order, Second locking is perforated, first locking is perforated, the base cable is perforated and is arranged in frame (1) and be connected with observation equipment (2), cable (48) and base (47) sealed fixed connection, every bearing silk (53) is gone up in bearing layer (52) and is passed spacing hole (51), extrusion card hole (50), extrusion perforation in proper order and arrange extrusion perforation in or arrange extrusion perforation below in, spacing seat (45) cover is on lock sleeve (49), and spacing hole (51) are through tapering and lock sleeve (49) joint, spacing seat (45) and lock sleeve (46) fixed connection.

10. An underwater observation robot according to claim 1, 2, 3, 4, 7 or 9, characterized in that: the observation device (2) includes a sonar (29), an illumination lamp (30), and a camera (31).

11. The utility model provides an equipment is put in free lifting on water, includes water carrier (34), be equipped with control box (35) on water carrier (34), be equipped with control system, its characterized in that in control box (35): the underwater observation robot (36) of the claim 1 or 2 or 3 or 4 or 7 or 9 is arranged on the water carrier (34), a cable retracting mechanism (37) is arranged on the water carrier (34), the cable retracting mechanism (37) is fixed on the water carrier (34), the cable retracting mechanism (37) is connected with the underwater observation robot (36), and the observation equipment (2) and the observation driving mechanism (3) are respectively controlled by a control system.

12. The free aquatic lifting apparatus of claim 11, wherein: cable jack (37) include take-up reel (38), spool (39) and power supply (40), be equipped with spool (38) on carrier (34) on water, spool (38) both sides are equipped with spool (39), spool (38) are fixed on the reel, the reel both ends are through bearing and spool (39) fixed connection, spool (39) and power supply (40) fixed connection are worn out to spool one end, spool (39) and carrier (34) fixed connection on water.

13. The free aquatic lifting apparatus of claim 12, wherein: the water carrier (34) is a motorboat or a boat.

Images