CN217575561U

CN217575561U - Floated underwater robot

Info

Publication number: CN217575561U
Application number: CN202123444478.8U
Authority: CN
Inventors: 吴广蔚; 叶柯宇; 陈东杰
Original assignee: Zhejiang Police College
Current assignee: Zhejiang Police College
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-10-14
Anticipated expiration: 2031-12-31

Abstract

The utility model relates to the technical field of robot, a floated underwater robot is disclosed, which comprises a bod, the propulsion structure that the promotion organism that sets up on the organism advances is carried out the camera structure that long-range video detected and is carried out to the detection area to the treatment that sets up on the organism, the propulsion structure includes on the organism outer wall to the organism top extend the installation pole that sets up and keep away from the one of organism in the installation pole and serve the direction adjustable propeller that sets up, be provided with the control propeller between propeller and the installation pole and rotate the control structure who adjusts the direction, the control structure is including ordering about the propeller and using installation pole axial to adjust the structure and ordering about the propeller and using perpendicular installation pole axial direction as rotation center pivoted flip structure, this floated underwater robot, avoid stirring rivers or silt of below when guaranteeing to search under water, guarantee the field of vision clear, practice thrift search time lifting efficiency.

Description

Floated underwater robot

Technical Field

The utility model relates to the technical field of robot, specifically be a floated underwater robot.

Background

The waters in southeast regions of China are densely distributed, and places with high case occurrence such as a plurality of scenic spots are often adjacent to water sources, so that a plurality of cases need to be salvaged or evidence obtained by a policeman in person, however, in the practical process, the manpower searching mode has the phenomenon of low efficiency caused by the fact that a policeman cannot go down in the face of unknown waters, and has certain dangerousness, and extremely dangerous situations such as drowning of the basic policeman which goes down can be caused in serious situations, so that the underwater searching robot is generated.

Chinese patent with application number CN202021300172.8 discloses an underwater robot applied to drainage and tunneling engineering and capable of running in a crawler suspension manner, which comprises an underwater robot body, and a crawler walking structure, a lead counterweight device and a propeller propulsion system which are arranged on the underwater robot body, wherein the crawler walking structure is arranged on two sides of the bottom of the underwater robot body, the lead counterweight device is arranged in the center of the bottom of the underwater robot body, and the propeller propulsion system is arranged on the upper part of the underwater robot body.

This underwater robot realizes the robot walking by track walking structure, realizes the suspension of robot by the cooperation of lead counterweight device and screw propulsion system, nevertheless because track walking structure's setting, must cause rivers or silt to receive the stirring in the region that the robot moved, leads to the sight fuzzy, can't in time search this regional interior material evidence that drops, need wait that rivers are static or can search after the clarification, work efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a floated underwater robot avoids stirring rivers or silt of below when guaranteeing to search under water, guarantees that the field of vision is clear, practices thrift search time lifting efficiency.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a floated underwater robot, which comprises a bod, the propelling movement structure that the promotion organism that sets up was marchd to the detection area of treating that sets up on the organism carries out the structure of making a video recording that long-range video detected and set up on the organism, the propelling movement structure includes to the installation pole that extends the setting above the organism on the organism outer wall and in the direction adjustable propeller that the organism was served and sets up of installation pole, be provided with the control propeller between propeller and the installation pole and rotate the control structure who adjusts the direction, the control structure is including ordering about the propeller and order about the propeller and use the installation pole axial to order about the propeller and use the propeller to install the axial direction of pole as rotation center pivoted flip structure perpendicularly.

By adopting the scheme, compared with the prior art that the arrangement of the crawler walking structure inevitably causes the water flow or silt in the area moved by the robot to be stirred, thereby causing blurred vision and being incapable of searching the material evidence falling in the area in time, the work efficiency is low when the water flow is static or clarified, in the scheme, the propelling part is arranged above the machine body, when the propelling part works, only the water flow above the machine body is stirred, the range that the water bottom below the machine body is not stirred or stirred is smaller, the clarity of the water bottom is ensured, the robot can conveniently search the material evidence falling to the water bottom through the camera shooting structure, the searching time is saved, the efficiency is improved, and the propeller is rotatably arranged on the mounting rod, rotating-structure orders about the propeller and uses the installation pole axial to rotate as rotation center, the propeller rotates to the thrust and can orders about whole organism lift perpendicularly with the last top surface of organism, the propeller rotates to the thrust and can order about whole organism and go forward or retreat with the last top surface parallel of organism, rotating-structure orders about the propeller and can order about the upset as rotation center with the axial direction of perpendicular installation pole, rotating-structure control propeller upset sets up the lateral wall that the installation pole was perpendicular to thrust and organism and can order about whole organism and remove, can realize the robot to each direction operation through propeller and control structure cooperation, the cost is practiced thrift when guaranteeing to search under water, meanwhile, still can avoid stirring rivers or silt of below, guarantee the field of vision is clear, practice thrift search time lifting efficiency.

Further, the rotating structure comprises a rotating rod sleeved outside the installation rod and a driving structure for driving the rotating rod to rotate by taking the axial direction of the installation rod as a rotating center, and the propeller and one end, far away from the installation rod, of the rotating rod are rotatably connected through a turnover structure.

Adopt above-mentioned scheme, drive structure orders about the dwang and uses the installation pole axial to rotate as rotation center to order about flip structure and propeller and use the installation pole axial to rotate as rotation center, the propeller rotates to the last top surface of thrust and organism perpendicular can order about whole organism lift, the propeller rotates to the parallel whole organism of can ordering about of last top surface of thrust and organism and advance or retreat.

Furthermore, the driving structure comprises a first motor which is arranged in the mounting rod and drives the rotating rod to rotate.

Adopt above-mentioned scheme, the output shaft and the dwang of first motor are connected, open first motor, and the dwang rotates along with the output shaft synchronization of first motor to it carries out angle modulation to drive the propeller rotation.

Further, flip structure includes the protruding lug of establishing on the propeller, in the lug be close to the pivot that sets up along perpendicular installation pole axial on one side of installation pole one side, in the dwang keep away from the fixed confession pivot that sets up on one side of installation pole insert pivoted installation piece and order about pivot pivoted second motor.

Adopt above-mentioned scheme, pivot and installation piece alternate the cooperation and make propeller and dwang link together, and the output shaft and the pivot of second motor are connected, open the second motor, and the pivot rotates along with the output shaft synchronization of second motor to drive the propeller upset and carry out the angle modulation.

Furthermore, the propeller comprises a flow guide pipe and a propeller which is arranged in the flow guide pipe in a rotating mode by taking the axial direction of the flow guide pipe as a rotating center, and the convex block is arranged on the outer annular wall of the flow guide pipe.

By adopting the scheme, the propeller rotates to provide power for the robot to advance, and the thrust can be further increased by arranging the guide pipe.

Furthermore, the propelling structure is provided with at least two on the organism around organism circumference even interval.

Adopt above-mentioned scheme, impel the structure and need at least two to guarantee the balance when whole organism is marchd, even interval sets up a plurality ofly can further increase the equilibrium, and sets up a plurality of propulsion structures and can make the action that the robot goes up and down, advances and retreat and translation go on simultaneously, raises the efficiency.

Furthermore, a grabbing structure for grabbing the object is arranged on the machine body, and the grabbing structure comprises a mechanical arm arranged on the outer wall of the machine body and a mechanical claw arranged at one end, far away from the machine body, of the mechanical arm and used for grabbing the object.

Adopt above-mentioned scheme, compare in after the material evidence is searched for to the structure of making a video recording, make the police offal again and pick up, the operation is inconvenient and comparatively dangerous, set up in this scheme and snatch the structure and can search for the material evidence back to the structure of making a video recording, the position that directly adjusts the gripper through controlling the arm makes the gripper be close to the material evidence that needs snatch, snatchs the material evidence through controlling the gripper, efficient and more safe.

Further, be provided with the angle modulation structure of adjusting the contained angle between snatching structure and the organism between arm and the organism, the angle modulation structure includes the chassis that sets up on the lower bottom surface of organism, rotates the base that sets up on the chassis and orders about base pivoted third motor, and the arm sets up on the base.

By adopting the scheme, the base is driven to rotate through the third motor, the mechanical arm is driven to rotate to adjust the angle, and the applicability of the grabbing structure is improved.

Furthermore, the structure of making a video recording includes the connecting rod that sets up in the arm homonymy on the base and keep away from camera and the auxiliary lighting structure that one of base was served and is set up in the connecting rod.

By adopting the scheme, the camera and the base synchronously rotate to realize synchronous rotation with the mechanical arm, the real-time dynamic state of the mechanical claw is observed when the mechanical claw works, the object can be conveniently grabbed, the real-time image of the advancing direction of the machine body is provided for an operator in the advancing process of the robot, and the auxiliary lighting structure provides enough lighting for the underwater working environment.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

1. propelling part sets up in the organism top, at propelling part during operation, only stir the rivers of organism top, the range that the submarine that is located the organism below can not receive to stir or receive to stir is less, guarantee submarine clarity, be convenient for the robot through the structure search of making a video recording fall in submarine material evidence, practice thrift search time lifting efficiency, the propeller rotates and sets up on the installation pole, rotating-structure control propeller rotates and can order about whole organism lift to the last top surface of thrust and organism perpendicularly, thrust and the last top surface parallel of organism can order about whole organism and advance or retreat, rotating-structure control propeller upset can order about whole removal organism perpendicularly to the lateral wall that thrust and organism set up the installation pole, can realize the robot through propeller and control structure cooperation and move to each direction, avoid stirring rivers or silt of below when guaranteeing to search under water, guarantee the field of vision clear, practice thrift search time lifting efficiency.

2. Set up and snatch the structure and can search for the material evidence back at the structure of making a video recording, the position that directly adjusts the gripper through controlling the arm makes the gripper be close to the material evidence that needs snatch, snatch the material evidence through controlling the gripper, can avoid police's offal to pick up, and is efficient and more safe, through above-mentioned 2 advantages, avoid stirring rivers or silt of below when guaranteeing to search under water, guarantee the field of vision clear, practice thrift search time lifting efficiency.

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:

figure 1 is an isometric view of a suspended underwater robot of an embodiment;

FIG. 2 is a front view of a suspended underwater robot in an embodiment;

FIG. 3 is a top view of a suspended underwater robot in an embodiment;

FIG. 4 isbase:Sub>A cross-sectional view taken at A-A of FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 4;

figure 6 is an exploded view of a suspended underwater robot in accordance with an embodiment;

fig. 7 is an enlarged view at C in fig. 6.

In the figure: 1. a body; 2. mounting a rod; 3. a propeller; 301. a flow guide pipe; 302. a propeller; 4. rotating the rod; 5. a first motor; 6. a bump; 7. a rotating shaft; 8. mounting blocks; 9. a mechanical arm; 10. a gripper; 11. a chassis; 12. a base; 13. a camera; 14. a connecting rod.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

Examples

A suspended underwater robot, refer to fig. 1 to 7, including a body 1 and a propelling structure disposed on the body 1 for propelling the body 1, in this embodiment, the body 1 is rectangular, there are 4 propelling structures disposed on two side walls of the body 1 with longer length, and the 4 propelling structures are disposed on the side walls near 4 vertex points of the top surface of the body 1, the propelling structure includes a mounting rod 2 extending above the body 1 on the outer wall of the body 1, in this embodiment, one end of the mounting rod 2 far from the body 1 is bent to be horizontal, i.e., the axial direction of the mounting rod 2 far from the body 1 is perpendicular to the side wall on which the mounting rod 2 is disposed, an adjustable-direction propeller is disposed on the end of the mounting rod 2 far from the body 1, a control structure for controlling the propeller 3 to rotate and adjust the direction is disposed between the propeller 3 and the mounting rod 2, the control structure includes a rotating structure for driving the propeller 3 to rotate with the mounting rod 2 axially as the rotating center and a rotating structure for driving the propeller 3 to rotate with the rotating rod 2 axially as the rotating center, the rotating structure includes a rotating rod 4 disposed in the rotating groove formed in the mounting rod 2, and a groove formed in the groove for driving the motor for driving the rotating structure, the rotating rod 2, the rotating structure, the rotating rod 2 is disposed in the groove 4, the groove for driving the motor 2, and the output shaft of the first motor 5 extends out of the accommodating groove and is connected with the bottom of the groove; the flip structure includes the installation piece of fixed setting on one side of keeping away from installation pole 2 at dwang 4, in this embodiment, one end that dwang 4 kept away from organism 1 is improved level and is outwards equipped with two installation pieces 8, one end that dwang 4 kept away from organism 1 is improved level and outwards is equipped with two installation pieces 8, form the accommodation space between two installation pieces 8, be provided with a lug 6 in the accommodation space, lug 6 is close to and is outwards protruding pivot 7 of being equipped with perpendicularly on the both ends of installation pole 2 one side, the axial of pivot 7 and the axial vertical of installing pole 2 and keeping away from organism 1 one end are promptly, installation piece 8 is located and has offered on the lateral wall of lug 6 both sides and supplies pivot 7 to insert pivoted circular slot, make lug 6 and dwang 4 realize rotating the connection, the rotation of pivot 7 is controlled by the second motor, the second motor is prior art, do not sign in the figure, do not repeated here, lug 6 keeps away from one side of installation pole 2 and is connected with 3, propeller 3 includes honeycomb duct 301 and uses the honeycomb duct 301 axial to rotate as the rotation center in honeycomb duct 301 and is provided with 302, lug 6 is connected perpendicularly with the outer annular wall of honeycomb duct 301, the axial of honeycomb duct 301, promptly the perpendicular with the pivot 7.

Adjust 4 propellers 3 on the robot to the thrust that propeller 3 produced is vertical downwards, the robot puts into the aquatic after, sink under self action of gravity, sink and start two propellers 3 that set up to the diagonal angle on organism 1 after suitable position, because the thrust that propeller 3 produced is downward, order about whole organism 1 to rise, the thrust of control propeller 3 equals with gravity, guarantee that the robot suspends in target height, first motor 5 in two remaining propulsion structures opens, order about dwang 4 to rotate and drive whole propeller 3 and rotate to the opposite direction that the thrust direction orientation that propeller 3 produced needs the direction of advance, start these two propellers 3, order about whole organism 1 steady advance, advance to near target position, close these two propellers 3, open the second motor of these two propellers 3 of control, order about propeller 3 to revolve 7 axial rotation to propeller 3 produce the direction and perpendicular with the lateral wall that organism 1 sets up installation pole 2, control whole organism 1 lateral shifting, adjust the robot and go to target position, realize the robot moves to each direction through the direction of adjusting propeller 3, guarantee that the robot runs to target position while saving silt and set up in the propeller 1 below, and save the cost of silt and promote the efficiency of water flow, and avoid stirring.

The machine body 1 is provided with a grabbing structure for grabbing objects, the grabbing structure comprises a mechanical arm 9 arranged on the outer wall of the machine body 1 and a mechanical claw 10 arranged at one end of the mechanical arm 9 far away from the machine body 1 for grabbing objects, an angle adjusting structure for adjusting an included angle between the grabbing structure and the machine body 1 is arranged between the mechanical arm 9 and the machine body 1, the angle adjusting structure comprises a chassis 11 arranged on the lower bottom surface of the machine body 1, a base 12 rotatably arranged on the chassis 11 and a third steering engine for driving the base 12 to rotate, the base 12 is connected with an output shaft of the third steering engine, the third steering engine is the prior art and is not marked in the figure, the mechanical arm 9 is arranged on the base 12, the mechanical arm 9 comprises a large arm rotatably connected with the base 12, a large arm arranged between the large arm and the base 12 for driving the large arm to overturn up and down, a small arm rotatably arranged at one end of the large arm far away from the base 12 and a small arm arranged between the small arm and the large arm for driving the small arm to overturn up and down, the end of the small arm far away from the large arm is provided with a mechanical claw 10 for grabbing objects, the mechanical claw 10 comprises a claw base which is rotatably arranged on the small arm, a claw steering engine which is arranged between the claw base and the small arm and drives the claw base to turn up and down, and a mounting seat which is arranged below the claw base, one side of the mounting seat far away from the small arm is hinged with claw tips, the number of the claw tips is 4, the number of the claw tips is uniformly arranged around the circumference of the claw base at intervals, a moving structure which drives the claw tips to mutually approach or separate is arranged between the mounting seat and the claw tips, the moving structure comprises a threaded hole which is concentrically arranged on the mounting seat and is in a lifting way, a screw rod which is arranged in the threaded hole and is in threaded fit with the threaded hole, a claw worm gear motor which drives the screw rod to rotate, a lifting block which is arranged on one end of the screw rod far away from the mounting seat, and a claw rod which is arranged between the lifting block and the claw tips, the both ends of claw pole set up with elevator and claw point are articulated respectively, be provided with a rotation groove in the elevator, it is provided with a stopper to rotate the inslot rotation, the stopper is connected with the one end that the mount pad was kept away from to the lead screw, set up on the top surface of elevator only to supply the lead screw to pass through and the pivoted hole of dodging, order about the lead screw through claw worm gear motor and rotate and order about the lead screw and go up and down, because the existence of stopper drives the elevator and go up and down, thereby it is close to or keep away from each other to drive the claw point through the claw pole, realize that gripper 10 snatchs the action of article, through the cooperation motion of big arm steering wheel and forearm steering wheel, realize gripper 10 and overturn from top to bottom on vertical plane, from this realize snatching the back putting into the action of accomodating in the basket with article, accomodate the basket and set up the top surface in organism 1.

Be provided with the structure of making a video recording that carries out remote video detection to waiting to detect the region on 1, the structure of making a video recording includes connecting rod 14 that sets up in arm 9 homonymy on base 12 and in connecting rod 14 keep away from camera 13 and the auxiliary lighting structure that one of base 15 served and set up, the auxiliary lighting structure is the light in this embodiment, be provided with the steering wheel of making a video recording of ordering about camera 13 and light upset from top to bottom in vertical plane on connecting rod 14, third steering wheel rotates, order about base 12 and rotate for 1 level of organism, the steering wheel of making a video recording orders about camera 13 and light upset from top to bottom, enlarge the field of vision, thereby enlarge gripper 10 and snatch the scope of article, promote the suitability, whole robot all is water repellent, be convenient for the robot in operation under water.

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 floated underwater robot, includes organism (1), treat that the detection area carries out the structure of making a video recording that long-range video detected and the propulsion structure that promotes organism (1) and march that sets up on organism (1), its characterized in that: the propelling structure comprises an installation rod (2) extending above the machine body (1) on the outer wall of the machine body (1) and a propeller (3) with adjustable direction, wherein the propeller (3) is arranged at one end of the installation rod (2) far away from the machine body (1), a control structure for controlling the propeller (3) to rotate and adjust the direction is arranged between the propeller (3) and the installation rod (2), and the control structure comprises a rotating structure which drives the propeller (3) to rotate by taking the axial direction of the installation rod (2) as the rotating center and a turnover structure which drives the propeller (3) to rotate by taking the axial direction of the vertical installation rod (2) as the rotating center.

2. A suspended underwater robot as claimed in claim 1, wherein: the rotating structure comprises a rotating rod (4) sleeved outside the installation rod (2) and a driving structure for driving the rotating rod (4) to rotate by taking the axial direction of the installation rod (2) as a rotating center, and the propeller (3) and one end, far away from the installation rod (2), of the rotating rod (4) are connected in a rotating mode through a turning structure.

3. A suspended underwater robot as claimed in claim 2, wherein: the driving structure comprises a first motor (5) which is arranged in the mounting rod (2) and drives the rotating rod (4) to rotate.

4. A suspended underwater robot as claimed in claim 2, wherein: the overturning structure comprises a convex block (6) convexly arranged on the propeller (3), a rotating shaft (7) axially arranged along the vertical installation rod (2) on at least one end of one side, close to the installation rod (2), of the convex block (6), a rotating shaft (7) fixedly arranged on one side, far away from the installation rod (2), of the rotating rod (4), a mounting block (8) for inserting the rotating shaft (7) into the rotating shaft and a second motor for driving the rotating shaft (7) to rotate.

5. A suspended underwater robot as claimed in claim 4, wherein: the propeller (3) comprises a guide pipe (301) and a propeller (302) which is arranged in the guide pipe (301) in a rotating mode by taking the axial direction of the guide pipe (301) as a rotating center, and the convex block (6) is arranged on the outer annular wall of the guide pipe (301).

6. A suspended underwater robot as claimed in claim 1, wherein: the propulsion structure is provided with at least two propulsion structures on the machine body (1) at even intervals around the circumference of the machine body (1).

7. A suspended underwater robot as claimed in claim 1, wherein: the machine body (1) is provided with a grabbing structure for grabbing objects, and the grabbing structure comprises a mechanical arm (9) arranged on the outer wall of the machine body (1) and a mechanical claw (10) which is arranged at one end of the mechanical arm (9) far away from the machine body (1) and used for grabbing the objects.

8. A suspended underwater robot as claimed in claim 7, wherein: an angle adjusting structure for adjusting an included angle between the grabbing structure and the machine body (1) is arranged between the mechanical arm (9) and the machine body (1), the angle adjusting structure comprises a chassis (11) arranged on the lower bottom surface of the machine body (1), a base (12) arranged on the chassis (11) in a rotating mode and a third steering engine for driving the base (12) to rotate, and the mechanical arm (9) is arranged on the base (12).

9. A suspended underwater robot as claimed in claim 8, wherein: the camera shooting structure comprises a connecting rod (14) arranged on the same side of the mechanical arm (9) on the base (12), and a camera (13) and an auxiliary lighting structure which are arranged at one end, far away from the base (12), of the connecting rod (14).