CN216301435U

CN216301435U - Underwater operation robot

Info

Publication number: CN216301435U
Application number: CN202123042594.7U
Authority: CN
Inventors: 涂海文; 牟林; 王铎; 夏凯; 赵恩金; 吴怡彬
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-04-15
Anticipated expiration: 2031-12-06

Abstract

The utility model discloses an underwater operation robot. The underwater operation robot comprises a robot body, a controller, a power supply device, a driving device, a camera device and two manipulators; the driving device drives the machine body to move, the two mechanical arms are arranged on two sides of the machine body respectively, the camera device is arranged at the head of the machine body, a water tank and a sampling cabin are arranged inside the machine body, the water tank is provided with a water inlet and a water outlet, the water inlet and the water outlet are both provided with an electric valve, a water suction pump is arranged in the water tank, the water outlet end of the water suction pump is communicated with the water outlet, the sampling cabin is provided with a sampling port, the sampling port is provided with an electric cabin door, and the controller is electrically connected with the camera device, the mechanical arms, the driving device, the electric valve, the water suction pump and the electric cabin door. Through the switch of electricity hatch door, carry out the water sample, through camera device's judgement, drive arrangement drive underwater operation robot comes suitable position moreover, and the manipulator can be accurate carry out the sample of solid-state material and some underwater operation, and the sampling is accurate and efficient with the operation.

Description

Underwater operation robot

Technical Field

The utility model relates to the technical field of underwater operation, in particular to an underwater operation robot.

Background

The traditional underwater sampling method is that workers rowing to a specified place for sampling and deeply sampling, each monitoring only depends on naked eyes and a reference object for positioning, and the accuracy is poor. Heavy rain can also bring danger to workers if wind blows are encountered. The rowing sampling workload is large, and a considerable part of workers violate simplified operations, which are difficult to be effectively supervised. This method is also time consuming, labor intensive and inefficient.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a multifunctional underwater operation robot aiming at the defects in the prior art.

An underwater operation robot comprises a robot body, a controller, a power supply device, a driving device, a camera device and two manipulators; the drive arrangement drive the fuselage motion, two the manipulator set up respectively in the fuselage both sides, camera device sets up the head of fuselage, inside water tank and the sample cabin of being equipped with of fuselage, the water tank is equipped with water inlet and the outlet that is linked together with the outside, water inlet and outlet all are equipped with the electric valve door of opening or closing it, be equipped with the suction pump in the water tank, the play water end of suction pump with the outlet is linked together, the sample cabin is equipped with the sample connection, the sample connection is equipped with the electric hatch door of opening or closing it, the controller with camera device, manipulator, drive arrangement, electric valve door, suction pump and electric hatch door electricity are connected.

Furthermore, a containing groove is formed in the machine body, an electric door for opening or closing the containing groove is arranged on a notch of the containing groove, and the manipulator is installed in the containing groove.

Further, still be equipped with level sensor on the fuselage, the sample cabin is divided into a plurality of storehouses by the baffle, every store the equal sample connection that corresponds alone in storehouse, the controller with level sensor electricity is connected.

Further, drive arrangement includes first drive assembly and second drive assembly, first drive assembly sets up the fuselage bottom, the drive the fuselage walking, the second drive assembly sets up fuselage afterbody, the drive the fuselage motion.

Further, the first driving assembly comprises a track moving mechanism, the second driving assembly comprises a propeller moving mechanism, and the track moving mechanism and the propeller moving mechanism are both electrically connected with the controller.

The underwater operation robot controls the robot to lift in water through the water in the water cabin, the underwater operation robot moves in water and under the water through the driving device, water body sampling is carried out through the switch of the electric cabin door, the controller controls the driving device to drive the underwater operation robot to a proper position through the judgment of the camera device, the manipulator can accurately carry out solid substance sampling and some underwater operation operations, and the sampling and operation operations are accurate and efficient.

Drawings

Fig. 1 is a schematic structural view of an underwater operation robot of the present invention;

fig. 2 is a bottom schematic view of an underwater operation robot of the present invention.

1. A body; 2. a controller; 3. a drive device; 31. a first drive assembly; 311. a caterpillar movement mechanism; 32. a second drive assembly; 321. a propeller movement mechanism; 4. a camera device; 5. a manipulator; 6. a water tank; 61. a water inlet; 62. a water outlet; 63. an electric valve; 7. a sampling cabin; 71. a sampling port; 72. a storage bin; 73. an electric compartment door; 8. a containing groove; 81. an electric gate; 9. a water level sensor.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1 and 2, the underwater operation robot power supply device comprises a machine body 1, a controller 2 and a power supply device, wherein the power supply device supplies power to the underwater operation robot, and further comprises a driving device 3, a camera device 4 and two mechanical arms 5; the driving device 3 drives the machine body 1 to move, the two mechanical arms 5 are respectively arranged on two sides of the machine body 1, the camera device 4 is arranged at the head of the machine body 1, a water cabin 6 and a sampling cabin 7 are arranged inside the machine body 1, the water cabin 6 is provided with a water inlet 61 and a water outlet 62 which are communicated with the outside, the water inlet 61 and the water outlet 62 are both provided with electric valves 63 for opening or closing the water inlet 61 and the water outlet 62, a water suction pump (not shown in the figure) is arranged in the water cabin 6, the water outlet end of the water suction pump is communicated with the water outlet 62, the sampling cabin 7 is provided with a sampling port 71, the sampling port 71 is provided with an electric cabin door 73 for opening or closing the sampling port, and the controller 2 is electrically connected with the camera device 4, the mechanical arms 5, the driving device 3, the electric valves 63, the water suction pump and the electric cabin door 73.

The underwater operation robot controls the robot to lift in water through the water in the water cabin 6, the underwater operation robot moves in water and under the water through the driving device 3, water body sampling is carried out through the switch of the electric cabin door 73, the controller 2 controls the driving device 3 to drive the underwater operation robot to a proper position through the judgment of the camera device 4, the manipulator 5 can accurately carry out solid substance sampling and some underwater operation operations, and the sampling and operation operations are accurate and efficient.

Being equipped with a storage tank 8 on the fuselage 1, the notch of storage tank 8 is equipped with the electric door 81 of opening or closing it, and manipulator 5 installs in storage tank 8, and like this, on the one hand when underwater operation robot does not need manipulator 5, can accomodate manipulator 5 in storage tank 8, avoid it to receive destruction, and on the other hand is carrying out solid-state object sampling back, and manipulator 5 can be directly accomodate it in storage tank 8 together, avoids leading to the sample loss because of some factors at the in-process of getting back to the surface of water.

Can also be equipped with level sensor 9 on the fuselage 1, sample cabin 7 is divided into a plurality of storehouses 72 by the baffle, every storehouse 72 of storing all corresponds a sample connection 71 alone, controller 2 is connected with level sensor 9 electricity, after the robot reachs certain degree of depth under water, the sample connection 71 of opening that can correspond takes a sample, like this underwater operation robot can once only gather the water sample of arbitrary degree of depth under water as required, and separately storage has avoided the sample to mix moreover.

The structure of drive arrangement 3 has the multiple, in this embodiment, drive arrangement 3 can include first drive assembly 31 and second drive assembly 32, first drive assembly 31 sets up in fuselage 1 bottom, drive fuselage 1 walking, second drive assembly 32 sets up at fuselage 1 afterbody, drive fuselage 1 motion, first drive assembly 31 can include crawler motion mechanism 311, second drive assembly 32 can include screw motion mechanism 321, crawler motion mechanism 311 and screw motion mechanism 321 all are connected with controller 2 electricity, through setting up screw motion mechanism 321 and crawler motion mechanism 311, can be in the aquatic, submarine subaerial removal sampling, application scope is wide.

The above is not relevant and is applicable to the prior art.

While certain specific embodiments of the present invention have been described in detail by way of illustration, it will be understood by those skilled in the art that the foregoing is illustrative only and is not limiting of the scope of the utility model, as various modifications or additions may be made to the specific embodiments described and substituted in a similar manner by those skilled in the art without departing from the scope of the utility model as defined in the appending claims. It should be understood by those skilled in the art that any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. An underwater operation robot, includes fuselage (1), controller (2) and power supply unit, its characterized in that: the device also comprises a driving device (3), a camera device (4) and two manipulators (5); drive arrangement (3) drive fuselage (1) motion, two manipulator (5) set up respectively in fuselage (1) both sides, camera device (4) set up the head of fuselage (1), fuselage (1) is inside to be equipped with water cabin (6) and sample cabin (7), water cabin (6) are equipped with water inlet (61) and outlet (62) that are linked together with the outside, water inlet (61) and outlet (62) all are equipped with electric valve (63) of opening or closing it, be equipped with the suction pump in water cabin (6), the delivery end of suction pump with outlet (62) are linked together, sample cabin (7) are equipped with sample connection (71), sample connection (71) are equipped with electric hatch door (73) of opening or closing it, controller (2) with camera device (4), manipulator (5), The driving device (3), the electric valve (63), the water pump and the electric cabin door (73) are electrically connected.

2. A robot for underwater operation as claimed in claim 1, characterized in that: the machine body (1) is provided with a containing groove (8), a notch of the containing groove (8) is provided with an electric door (81) for opening or closing the containing groove, and the manipulator (5) is installed in the containing groove (8).

3. A robot for underwater operation as claimed in claim 1, characterized in that: still be equipped with level sensor (9) on fuselage (1), sample cabin (7) are divided into a plurality of storehouses (72), every by the baffle store storehouse (72) and all correspond a sample connection (71) alone, controller (2) with level sensor (9) electricity is connected.

4. A robot for underwater operation as claimed in claim 1, characterized in that: drive arrangement (3) include first drive assembly (31) and second drive assembly (32), first drive assembly (31) set up fuselage (1) bottom, drive fuselage (1) walking, second drive assembly (32) set up fuselage (1) afterbody, the drive fuselage (1) motion.

5. An underwater operation robot as claimed in claim 4, wherein: the first driving assembly (31) comprises a crawler movement mechanism (311), the second driving assembly (32) comprises a propeller movement mechanism (321), and the crawler movement mechanism (311) and the propeller movement mechanism (321) are both electrically connected with the controller (2).