CN216424710U - Underwater robot - Google Patents
Underwater robot Download PDFInfo
- Publication number
- CN216424710U CN216424710U CN202123030392.0U CN202123030392U CN216424710U CN 216424710 U CN216424710 U CN 216424710U CN 202123030392 U CN202123030392 U CN 202123030392U CN 216424710 U CN216424710 U CN 216424710U
- Authority
- CN
- China
- Prior art keywords
- underwater
- ring
- control cabin
- frame
- sealing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an underwater robot, which consists of a frame, a sealed control cabin, an underwater propeller, a handle, a floating material, a balancing weight, a control cabin and a fixed corner fitting; the sealed control cabin is fixed in the frame through a fixed corner fitting, the floating material is fixed on the frame through a handle, the balancing weight is fixed at the bottom of the frame, and the buoyancy state of the underwater robot in water can be adjusted by installing different numbers of configuration blocks at different positions on the bottom plate; the control system is arranged in the sealed control cabin; the two underwater propellers are horizontally arranged on two sides of the tail part of the frame, and the two underwater propellers are arranged on two sides of the middle part of the frame; simple structure and low cost.
Description
Technical Field
The utility model belongs to the underwater robot field, specifically speaking relate to an underwater robot.
Background
Underwater exploration is one of the core subjects of the 21 st century, and underwater robots are one of the advantages of underwater exploration. At present, most of underwater robots on the market are cable remote control type unmanned underwater vehicles, and the underwater vehicles greatly improve the underwater exploration efficiency and safety of people. But due to the limitations of processes and materials, etc., the manufacturing cost is generally high; moreover, most industrial-grade underwater robots on the market are large and heavy at present, while consumer-grade underwater robots are low in cost and small in size, but low in reliability, are integrally sealed by glue pouring (difficult to assemble, disassemble and transform), have no source for software and hardware data, and are not beneficial to learning and understanding of the underwater robots by people. Therefore, an underwater robot with low cost, high reliability, small size, convenience, convenient use and easy disassembly and transformation is needed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an overcome not enough of current underwater robot, provide a low cost of a section, high reliability, small and exquisite convenient, convenient to use, easy dismouting modified education level open source underwater robot.
In order to solve the above problems, the utility model discloses a realize through following technical scheme:
an underwater robot comprises a frame 1, a sealed control cabin 2, an underwater propeller 3, a handle 4, a floating material 5, a balancing weight 6, an electrical component 7 and a fixed corner fitting 8.
Wherein the frame 1 consists of a side plate 11, an anti-collision side plate 12, a bottom plate 13 and a fixing ring 14; the side plates 11 are rectangular square plates integrally and are made of polyethylene; the anti-collision side plate 12 is in an open arc shape, is hollow inside and is made of polyethylene; the anti-collision side plate 12 is fixedly connected to the middle position of the side plate 11; the whole bottom plate 13 is of an irregular sheet plate structure and is made of polyethylene; the whole fixed ring 14 is in a semi-arc shape; two side plates 11 are fixedly connected to two sides of the bottom plate 13 through bolts, and the anti-collision side plate 12 is fixedly connected to the side plates 11 through bolts; four fixing rings 14 are arranged and are respectively fixed on the side plates 11 through bolts; wherein, the openings of the two fixing rings 14 are upward and fixed at the bottom of the side plate 11; the other two fixing rings 14 are opened downwards and fixedly connected to the upper part of the side plate 11;
the sealed control cabin 2 consists of a transparent spherical cover 21, a spherical cover pressure ring 22, a sealed flange ring 23, a transparent acrylic end cover 24, a blank threading bolt 25, a transparent acrylic cabin body 26 and a ventilating bolt 27; the transparent spherical cover 21 is fixedly connected to the sealing flange ring through the spherical cover pressing ring 22, the nut is screwed tightly, and the sealing ring is pressed tightly on the sealing flange ring 23, so that the end face sealing of the mounting position of the transparent spherical cover 21 can be realized; 2 sealing rings coated with silicone grease are arranged in the groove of the shaft surface of the sealing flange ring 23 and are pressed into the transparent acrylic cabin body 26, and the shaft surface of the sealing flange ring 23 can be sealed by pressing the sealing rings; the sealing ring coated with the silicone grease is arranged at the groove of the vent bolt 27, then the vent bolt 27 passes through a through hole reserved on the transparent acrylic end cover 24, the nut is screwed tightly, and the sealing ring is pressed tightly on the transparent acrylic end cover 24, so that the end face sealing of the mounting position of the vent bolt 27 can be realized; the blank threading bolt 28 is installed and fixed in the same way as the ventilating bolt 27; the transparent acrylic end cover 24 is fixed on a sealing flange ring (a sealing ring coated with silicone grease is arranged in an end surface groove) through a nut, the nut is screwed, and the sealing ring is pressed tightly on the sealing flange ring 23, so that the end surface sealing of the mounting position of the transparent acrylic end cover 24 can be realized; the sealing of the sealing control cabin mainly adopts an extrusion sealing ring to achieve the sealing effect.
The sealed control cabin 2 is fixedly connected to a sealed flange ring 23 on the sealed control cabin 2 and a fixed ring 14 on the frame 1 through a fixed corner fitting 8 by bolts respectively, so that the sealed control cabin 2 is firmly fixed in the robot body;
the floating material 5 is made of polyurethane material and provides buoyancy for the robot; the whole body is a cuboid, the bottom surface is provided with an arc-shaped notch matched with the sealing control cabin 2 in shape, the arc-shaped notch is convenient to be attached to the sealing control cabin 2, and a bolt hole is formed in the arc-shaped notch; the floating material 5 is positioned on the sealed control cabin 2;
the handle 4 is a C-shaped aluminum piece for carrying, and bolt holes are respectively formed in two ends of the handle; the handle 4 is positioned on the floating material 5;
the handle 4, the floating material 5 and the fixing ring 14 are fixedly connected together through bolts;
the counterweight block 6 is a lead block, is fixed at the bottom of the frame through bolts, and can adjust the buoyancy state of the underwater robot in water by installing different numbers of configuration blocks at different positions on the bottom plate;
the electrical component 7 is fixedly arranged in the sealed control cabin 2;
four underwater propellers 3 are arranged, two of the four underwater propellers are fixedly arranged on two sides of the tail of the frame 1, and the direction of the propellers is consistent with the direction of the body of the robot; the other two underwater propellers 3 are fixedly arranged on two sides of the middle part of the frame 1 and are arranged in a hollow-out position in the middle of the anti-collision side plate 12, and the propellers of the underwater propellers are vertical to the direction of the robot body;
a cable of the underwater propeller 3 passes through an end cover of the sealed control cabin 2, glue pouring and sealing treatment is carried out at an interface, and the cable is electrically connected with the electrical component 7;
the utility model discloses an electrical component 7, by master controller 71, embedded host computer 72, lithium cell 73, brushless electricity controller 74, underwater switch 75, charge interface 76 (take waterproof cover), depth sensor 77, water leakage sensor 78, power meter 79, net twine 80, camera cloud platform 81, camera 82, relay 83, step-down module 84 is constituteed; the underwater switch 75, the charging interface 76 (with a waterproof cover), the depth sensor 77 and the network cable 80 are installed and fixed in the same way as the vent bolt 27. The network cable is mainly used for connecting a computer and the underwater robot to carry out data communication, so that a real-time picture shot by a robot camera 82 can be seen from the computer end, the depth and the temperature of the position where the robot is located are detected by a depth sensor 77, whether water leakage in the cabin is detected by a water leakage sensor 78 or not is detected, the current output voltage, the current output current and the current output power of the lithium battery 73, which are detected by a power meter 79, are detected, and the current navigation attitude and direction of the robot are detected by an onboard sensor of a main controller 71 are detected; the voltage reduction module 84 is used for providing 5V power supply for the servo channel of the main controller 71 and the embedded host 72; the brushless electric motor 74 is used for driving the underwater propeller 3; the main controller 71 is mainly used for controlling the motion of the underwater robot and providing PWM output for the brushless electric controller 74 and the camera pan-tilt 81; the camera 82 is arranged on the camera cloud deck 81 and can swing 45 degrees in pitch; the embedded host 72 is mainly used for communicating with upper computer software and transmitting real-time images of the camera, sensor data and control commands; the relay 83, the lithium battery 73 and the underwater switch 75 are matched to realize a convenient and safe power-on and power-off mode; the charging interface 76 (with waterproof cover) is used to charge the on-board lithium battery 73.
The main controller controls the vertically arranged underwater propellers 3 to control the robot to ascend or descend; and controlling the horizontally arranged underwater propeller 3 to control the robot to advance or retreat.
The utility model has the advantages that the installation and fixation between each part are all realized by adopting a bolt and nut fixing mode, and the device is easy to disassemble and assemble and can be repeatedly disassembled and refitted; simple structure and low cost.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a rear supplementary view of the overall structure of the present invention.
Fig. 3 is a schematic structural diagram of the frame 1 of the present invention.
Fig. 4 is an isometric view of the frame 1 of the present invention.
Fig. 5 is a schematic sectional view of the structure of the sealed control cabin 2 of the present invention.
Fig. 6 is a rear supplementary view of the structure of the sealed control cabin 2 of the present invention.
Fig. 7 is a schematic cross-sectional view of the frame 1 of the present invention, the handle 4 and the float 5.
Fig. 8 is a schematic view of the overall bottom structure of the present invention.
Fig. 9 is a schematic top view of the present invention.
Fig. 10 is a schematic connection diagram of the electrical component 7 according to the present invention.
Fig. 11 is a rear view of the electric component 7 according to the present invention.
Fig. 12 is a schematic view of the connection used by the present invention.
In the figure, 1-frame, 2-sealed control cabin, 3-underwater propeller, 4-handle, 5-floating material, 6-counterweight block, 7-control system, 8-fixed corner piece, 11-side plate, 12-crashproof side plate, 13-bottom plate, 14-fixed ring, 21-transparent spherical cover, 22-spherical cover press ring, 23-sealed flange ring, 24-transparent acrylic end cover, 25-blank threading screw, 26-transparent acrylic cabin, 27-ventilating bolt, 71-master controller, 72-embedded host computer, 73-lithium battery, 74-brushless electric controller, 75-underwater switch, 76-charging interface (with waterproof cover), 77-depth sensor, 78-water leakage sensor, 79-power meter, 80-network cable, 81-camera holder, 82-camera, 83-relay and 84-voltage reduction module.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
fig. 1 shows an underwater robot, which comprises a frame 1, a sealed control cabin 2, an underwater propeller 3, a handle 4, a floating material 5, a balancing weight 6, an electrical component 7 and a fixed corner fitting 8.
Wherein the frame 1 consists of a side plate 11, an anti-collision side plate 12, a bottom plate 13 and a fixing ring 14; the side plates 11 are rectangular square plates integrally and are made of polyethylene; the anti-collision side plate 12 is in an open arc shape, is hollow inside and is made of polyethylene; the anti-collision side plate 12 is fixedly connected to the middle position of the side plate 11; the whole bottom plate 13 is of an irregular sheet plate structure and is made of polyethylene; the whole fixed ring 14 is in a semi-arc shape; two side plates 11 are fixedly connected to two sides of the bottom plate 13 through bolts, and the anti-collision side plate 12 is fixedly connected to the side plates 11 through bolts; four fixing rings 14 are arranged and are respectively fixed on the side plates 11 through bolts; wherein, the openings of the two fixing rings 14 are upward and fixed at the bottom of the side plate 11; the other two fixing rings 14 are opened downwards and fixedly connected to the upper part of the side plate 11;
the sealed control cabin 2 consists of a transparent spherical cover 21, a spherical cover pressure ring 22, a sealed flange ring 23, a transparent acrylic end cover 24, a blank threading bolt 25, a transparent acrylic cabin body 26 and a ventilating bolt 27; the transparent spherical cover 21 is fixedly connected to the sealing flange ring through the spherical cover pressing ring 22, the nut is screwed tightly, and the sealing ring is pressed tightly on the sealing flange ring 23, so that the end face sealing of the mounting position of the transparent spherical cover 21 can be realized; 2 sealing rings coated with silicone grease are arranged in the groove of the shaft surface of the sealing flange ring 23 and are pressed into the transparent acrylic cabin body 26, and the shaft surface of the sealing flange ring 23 can be sealed by pressing the sealing rings; the sealing ring coated with the silicone grease is arranged at the groove of the vent bolt 27, then the vent bolt 27 passes through a through hole reserved on the transparent acrylic end cover 24, the nut is screwed tightly, and the sealing ring is pressed tightly on the transparent acrylic end cover 24, so that the end face sealing of the mounting position of the vent bolt 27 can be realized; the blank threading bolt 28 is installed and fixed in the same way as the ventilating bolt 27; the transparent acrylic end cover 24 is fixed on a sealing flange ring (a sealing ring coated with silicone grease is arranged in an end surface groove) through a nut, the nut is screwed, and the sealing ring is pressed tightly on the sealing flange ring 23, so that the end surface sealing of the mounting position of the transparent acrylic end cover 24 can be realized; the sealing of the sealing control cabin mainly adopts an extrusion sealing ring to achieve the sealing effect.
The sealed control cabin 2 is fixedly connected to a sealed flange ring 23 on the sealed control cabin 2 and a fixed ring 14 on the frame 1 through a fixed corner fitting 8 by bolts respectively, so that the sealed control cabin 2 is firmly fixed in the robot body;
the floating material 5 is made of polyurethane material and provides buoyancy for the robot; the whole body is a cuboid, the bottom surface is provided with an arc-shaped notch matched with the sealing control cabin 2 in shape, the arc-shaped notch is convenient to be attached to the sealing control cabin 2, and a bolt hole is formed in the arc-shaped notch; the floating material 5 is positioned on the sealed control cabin 2;
the handle 4 is a C-shaped aluminum piece for carrying, and bolt holes are respectively formed in two ends of the handle; the handle 4 is positioned on the floating material 5;
the handle 4, the floating material 5 and the fixing ring 14 are fixedly connected together through bolts;
the counterweight block 6 is a lead block and is fixed at the bottom of the frame through bolts, and the buoyancy state of the underwater robot in water can be adjusted by installing different numbers of configuration blocks at different positions on the bottom plate;
the electrical component 7 is fixedly arranged in the sealed control cabin 2;
four underwater propellers 3 are arranged, two of the four underwater propellers are fixedly arranged on two sides of the tail of the frame 1, and the direction of the propellers is consistent with the direction of the body of the robot; the other two underwater propellers 3 are fixedly arranged on two sides of the middle part of the frame 1 and are arranged in a hollow-out position in the middle of the anti-collision side plate 12, and the propeller directions of the underwater propellers are vertical to the direction of the robot body;
a cable of the underwater propeller 3 passes through an end cover of the sealed control cabin 2, glue pouring and sealing treatment is carried out at an interface, and the cable is electrically connected with the electrical component 7;
fig. 4 shows an electrical component 7 of the present invention, which is composed of a main controller 71, an embedded host 72, a lithium battery 73, a brushless electronic controller 74, an underwater switch 75, a charging interface 76 (with a waterproof cover), a depth sensor 77, a water leakage sensor 78, a power meter 79, a network cable 80, a camera cradle head 81, a camera 82, a relay 83, and a voltage reduction module 84; the underwater switch 75, the charging interface 76 (with a waterproof cover), the depth sensor 77 and the network cable 80 are installed and fixed in the same way as the ventilating bolt 27. The network cable is mainly used for connecting a computer and the underwater robot to carry out data communication, so that a real-time picture shot by a robot camera 82 can be seen from the computer end, the depth and the temperature of the position where the robot is located are detected by a depth sensor 77, whether water leakage in the cabin is detected by a water leakage sensor 78 or not is detected, the current output voltage, the current output current and the current output power of the lithium battery 73, which are detected by a power meter 79, are detected, and the current navigation attitude and direction of the robot are detected by an onboard sensor of a main controller 71 are detected; the voltage reduction module 84 is used for providing 5V power supply for the servo channel of the main controller 71 and the embedded host 72; the brushless electric motor 74 is used for driving the underwater propeller 3; the main controller 71 is mainly used for controlling the motion of the underwater robot and providing PWM output for the brushless electric controller 74 and the camera pan-tilt 81; the camera 82 is arranged on the camera cloud deck 81 and can swing 45 degrees in pitch; the embedded host 72 is mainly used for communicating with upper computer software and transmitting real-time images of the camera, sensor data and control commands; the relay 83, the lithium battery 73 and the underwater switch 75 are matched to realize a convenient and safe power-on and power-off mode; the charging interface 76 (with waterproof cover) is used to charge the on-board lithium battery 73.
The main controller controls the vertically arranged underwater propellers 3 to control the robot to ascend or descend; and controlling the horizontally arranged underwater propeller 3 to control the robot to advance or retreat.
The unexplained parts related to the present invention are the same as or implemented by using the prior art.
Claims (4)
1. An underwater robot, comprising: the device comprises a frame (1), a sealed control cabin (2), an underwater propeller (3), a handle (4), a floating material (5), a balancing weight (6), an electrical component (7) and a fixed corner fitting (8);
wherein the frame (1) consists of a side plate (11), a bottom plate (13) and a fixed ring (14); wherein the side plate (11) is a rectangular square plate as a whole; the whole bottom plate (13) is of an irregular sheet plate structure; the whole fixed ring (14) is in a semi-arc shape; two side plates (11) are fixedly connected to two sides of the bottom plate (13) through bolts; four fixing rings (14) are arranged and are respectively fixed on the side plates (11) through bolts; wherein the two fixing rings (14) have upward openings and are fixed at the bottom of the side plate (11); the other two fixing rings (14) have downward openings and are fixedly connected to the upper parts of the side plates (11);
the sealing control cabin (2) consists of a transparent spherical cover (21), a spherical cover pressing ring (22), a sealing flange ring (23), a transparent acrylic end cover (24), a blank threading bolt (25), a transparent acrylic cabin body (26) and a ventilation bolt (27); the transparent spherical cover (21) is fixedly connected to the sealing flange ring through a spherical cover compression ring (22), the nut is screwed, and the sealing ring is pressed tightly on the sealing flange ring (23); a sealing ring is arranged at the groove of the vent bolt (27), the vent bolt (27) penetrates through a through hole reserved on the transparent acrylic end cover (24), a nut is screwed tightly, and the sealing ring is pressed tightly on the transparent acrylic end cover (24);
the sealed control cabin (2) is fixedly connected to a sealed flange ring (23) on the sealed control cabin (2) and a fixed ring (14) on the frame (1) through a fixed angle piece (8) and bolts respectively;
the whole floating material (5) is a cuboid, an arc-shaped notch matched with the sealing control cabin (2) in shape is formed in the bottom surface of the floating material, the floating material is convenient to attach to the sealing control cabin (2), and bolt holes are formed in the floating material; the floating material (5) is positioned on the sealed control cabin (2);
the handle (4) is a C-shaped aluminum piece for carrying, and bolt holes are respectively formed in two ends of the C-shaped aluminum piece; the handle (4) is positioned on the floating material (5);
the handle (4), the floating material (5) and the fixing ring (14) are fixedly connected together through bolts;
the counterweight block (6) is a lead block, is fixed at the bottom of the frame through bolts, and can adjust the buoyancy state of the underwater robot in water by installing different numbers of counterweight blocks at different positions on the bottom plate;
the electric appliance component (7) is fixedly arranged in the sealed control cabin (2);
four underwater propellers (3) are arranged, two of the four underwater propellers are fixedly arranged on two sides of the tail of the frame (1), and the direction of the propellers is consistent with the direction of the robot body; the other two underwater propellers (3) are fixedly arranged on two sides of the middle part of the frame (1), and the propellers of the underwater propellers are vertical to the direction of the robot body;
the cable of the underwater propeller (3) passes through the end cover of the sealed control cabin (2), glue pouring and sealing treatment is carried out at the interface, and the cable is electrically connected with the electrical component (7).
2. The underwater robot as claimed in claim 1, wherein the frame (1) further comprises an anti-collision side plate (12), the anti-collision side plate (12) is in an open arc shape, is hollow inside and is made of polyethylene; the anti-collision side plate (12) is fixedly connected to the middle position of the side plate (11); two underwater propellers (3) which are arranged in a way that the propellers are perpendicular to the direction of the robot body are arranged in the middle hollow-out position of the anti-collision side plate (12).
3. An underwater robot as claimed in claim 1, characterized in that said side plates (11) and bottom plate (13) are made of polyethylene.
4. An underwater robot as claimed in claim 1, characterized in that the float (5) is made of a polyurethane material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123030392.0U CN216424710U (en) | 2021-12-02 | 2021-12-02 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123030392.0U CN216424710U (en) | 2021-12-02 | 2021-12-02 | Underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216424710U true CN216424710U (en) | 2022-05-03 |
Family
ID=81343439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123030392.0U Active CN216424710U (en) | 2021-12-02 | 2021-12-02 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216424710U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116198702A (en) * | 2023-04-12 | 2023-06-02 | 徐州鲁班智能科技有限公司 | Underwater robot |
-
2021
- 2021-12-02 CN CN202123030392.0U patent/CN216424710U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116198702A (en) * | 2023-04-12 | 2023-06-02 | 徐州鲁班智能科技有限公司 | Underwater robot |
| CN116198702B (en) * | 2023-04-12 | 2023-09-26 | 徐州鲁班智能科技有限公司 | Underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110374810B (en) | Self-energy-supply marine charging pile | |
| CN216424710U (en) | Underwater robot | |
| CN102963514A (en) | Portable submarine ocean environment monitoring glider | |
| CN102923286A (en) | Intelligent material IMPC-based manta ray-simulated underwater vehicle | |
| CN104149959A (en) | Sea glider driven by wave force | |
| CN105711778A (en) | Novel automatic bionic robot fish | |
| CN206243415U (en) | A kind of underwater remote-control robot | |
| CN211592892U (en) | Center-of-gravity shifting type amphibious sampling robot | |
| CN104192259A (en) | Wave-driven underwater vehicle | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN206187335U (en) | Four rotor crafts of solar energy | |
| CN111186543B (en) | Underwater robot system based on 5G communication | |
| CN105539784A (en) | Web wing type wave energy underwater gliding measurement platform and measurement method | |
| CN201882244U (en) | Open shelf type fluctuation towed vehicle close to sea bottom | |
| CN109733543A (en) | A kind of green marine locator of energy mix | |
| CN212604325U (en) | Multi-rotor amphibious unmanned aerial vehicle | |
| CN204021233U (en) | The Cast tube experiment porch that a kind of energy resource system is variable | |
| CN209757485U (en) | underwater robot for underwater environment detection | |
| CN108100177B (en) | Intelligent remote control garbage negative pressure ship | |
| CN213667914U (en) | Toy unmanned aerial vehicle's air park equipment | |
| CN213109738U (en) | Water transfer buoy device carrying underwater robot | |
| CN205801464U (en) | A kind of microminiature modularity AUV | |
| CN210852976U (en) | Unmanned aerial vehicle equipped with thermal infrared camera for monitoring sea area | |
| CN209366430U (en) | A kind of automatically controlled bionical Bluepoint ray underwater propeller | |
| CN219382779U (en) | Wave energy capturing ray of Chinese feverfew unmanned vehicles based on piezoelectric film |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |