CN218400778U

CN218400778U - Dual-mode underwater wall-climbing robot

Info

Publication number: CN218400778U
Application number: CN202221745557.4U
Authority: CN
Inventors: 王丹; 李浩林
Original assignee: Shenyang University
Current assignee: Shenyang University
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2023-01-31
Anticipated expiration: 2032-07-08

Abstract

The utility model belongs to the technical field of underwater robot and specifically relates to a double mode is wall climbing robot under water is related to. The lithium ion battery pack mainly comprises a main shell, a square sealed cabin fixed in the shell, a driving module in the cabin, a voltage conversion module, a main control module and a lithium battery pack. The main control module is used for sending corresponding movement instructions to the driving module to complete the tasks of floating movement and pipe wall crawling. The antenna chamber is used for positioning. The lithium battery pack is used for providing power transmission for the whole underwater wall climbing robot to ensure the normal operation of the underwater wall climbing robot. The utility model discloses can realize the double mode underwater motion of mode of floating and the mode of crawling, compensate conventional underwater robot and can only rely on the propeller to carry out the motion problem of floating, increase underwater robot at the variety of underwater execution task. Utilize flexible mechanical leg to carry out the mode of crawling, can adsorb the pipe wall under water and crawl, carry out the pipe wall defect and patrol and examine the task, compare in the mode of floating, anti external disturbance ability is stronger.

Description

Dual-mode underwater wall climbing robot

Technical Field

The utility model belongs to the technical field of underwater robot and specifically relates to a double mode is wall climbing robot under water is related to.

Background

In order to reduce the influence of damage to underwater pipelines, both the routine patrol of submarine pipelines, the regular maintenance of ships and the inspection of water pipelines are necessary. The robot can reduce the time for manual operation underwater, and prevent the side effects such as fatigue and the like caused by manual work underwater for a long time. The existing underwater robots mostly move in a floating state, normal movement of uneven submarine topography can be influenced, the legged robots can well avoid the situation, due to the flexibility of legs of the legged robots, the legged robots can better perform tasks, and the application of the legged robots to underwater is a future development direction.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a double mode is wall climbing robot under water, different tasks of execution that its double mode's working method can be nimble. The pipe wall inspection device has the advantages that the floating mode can be used for regularly and quickly inspecting the pipe wall in a proper area, the creeping mode can be used for carefully analyzing the defects of the pipe wall under the condition that the pipe wall inspection device is not suitable for floating, the service capacity is greatly expanded, and manpower and material resources required for inspecting the defects of the pipe wall are saved.

The above object of the present invention can be achieved by the following technical solutions:

the utility model provides a double mode is wall climbing robot under water, includes the main casing body to and fix the square sealed cabin in the casing and the drive module in the cabin, voltage conversion module, host system and lithium cell group. Main casing body top is equipped with stroboscopic pilot lamp, and antenna cabin and umbilical cable connector, four flexible mechanical legs and two perpendicular propellers are installed to main casing body both sides, and main casing body forward-mounted has camera under water, and main casing body rear portion installs two horizontal propellers.

Preferably, the main shell comprises a flexible mechanical leg fixing frame and a rear propeller fixing frame which are arranged at two sides of the shell, and a sealed cabin supporting frame arranged inside the shell.

Preferably, the square sealed cabin is waterproof sealed through a sealed cabin protection cover, and the square sealed cabin is fixed inside the main shell through a sealed cabin fixing frame and is connected with an external electronic component through cable connecting ports reserved on two sides of the cabin body.

Preferably, the driving module, the voltage conversion module, the main control module and the lithium battery pack are fixed with the fixing plate through the mounting holes reserved on the module plate, and the main control module is connected with the antenna cabin on the upper portion of the main shell body and the underwater camera on the front portion of the main control module through cable connectors on two sides of the square sealed cabin. The fixing plate is pressed into the square sealed cabin to achieve waterproof sealing.

Preferably, the flexible mechanical leg mainly comprises a steering engine, a steering engine fixing frame, a motor fixing frame, a speed reduction motor, an electromagnetic chuck and an electromagnetic chuck fixing frame. The steering wheel is used for controlling the flexible mechanical leg to carry out mode conversion of crawling motion and floating motion, and the gear motor is used for controlling the electromagnetic chuck of the flexible mechanical leg to carry out flexible adsorption.

Preferably, the vertical thruster and the horizontal thruster are fixed by a thruster fixing bracket mounted on the casing.

Preferably, the underwater camera is fixed to the front of the housing, sealed by an underwater camera protective cover.

Preferably, the steering engine is fixed through a steering engine fixing frame and is connected with a lower structure through an electromagnetic chuck fixing frame and a speed reduction motor.

Preferably, the electromagnetic chuck is fixed through a threaded hole in an electromagnetic chuck fixing frame, and each section of structure is connected through a speed reduction motor.

Preferably, the dual-mode working mode is realized by controlling the steering engine to switch modes. The steering engine controls the flexible mechanical legs to move to the two sides parallel to the main shell and is converted into a floating mode depending on the movement of the underwater propeller; the steering engine controls the flexible mechanical legs to move to the two sides perpendicular to the main shell body and is changed into a crawling mode depending on the movement of the flexible mechanical legs.

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

the working mode that the traditional underwater robot depends on the underwater propeller to carry out single floating movement is improved into a double-mode working mode that the traditional underwater robot can carry out crawling movement through the flexible mechanical legs and can utilize the underwater propeller to carry out floating movement, so that the flexibility and the diversity of underwater operation are enhanced. The mode of catching a prey by simulating octopus tentacles through the plurality of electromagnetic chucks installed on the flexible mechanical leg is used for adsorbing and catching the outer side of the pipe wall, and compared with the traditional underwater wall-climbing robot which works on a curved surface, the adsorption stability and reliability are enhanced. In addition, the conventional cylindrical sealed cabin is improved into the square sealed cabin, so that the cable connecting ports can be arranged on the front side and the rear side of the cabin body, the cable connecting ports can be arranged on the two sides, the flexibility and the convenience of wiring are enhanced, and the number of the cable connecting ports is increased.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic top perspective view of the present invention;

FIG. 3 is a schematic view of the internal structure of a square sealed cabin;

FIG. 4 is a schematic diagram of a side view of a flexible mechanical leg;

FIG. 5 is a schematic diagram of a front view structure of a flexible mechanical leg;

in the figure, 1, a main housing; 2. a stroboscopic indicator light; 3. an umbilical cable connector; 4. an antenna compartment; 5. a first vertical thruster; 6. A second vertical thruster; 7. a first horizontal thruster; 8. a second horizontal thruster; 9. a propeller fixing frame; 10. a flexible mechanical leg; 11. an underwater camera protective cover; 12. an underwater camera; 13. a square sealed cabin; 14. a flange plate; 15. a sealed cabin fixing frame; 16. a flexible mechanical leg mount; 17. a lithium battery pack; 18. a main control module; 19. a voltage conversion module; 20. a drive module; 21. a sealed cabin supporting frame; 22. a cable connection port; 23. an electromagnetic chuck fixing frame; 24. a reduction motor; 25. a steering engine fixing frame; 26. a first steering engine; 27. a second steering engine; 28. a steering engine III; 29. an electromagnetic chuck; 30. a threaded hole; 31. a fixing plate; 32. a sealed cabin protection cover; 33. a motor fixing frame; 34. and connecting the bracket.

Detailed Description

In order to combine the problems of the prior art, as shown in fig. 1-5, the present invention provides a dual-mode underwater wall-climbing robot, which comprises a main housing 1, a square sealed cabin 13 disposed in the main housing 1, and a lithium battery pack 17, a main control module 18, a voltage conversion module 19, and a driving module 20, which are disposed inside the square sealed cabin. The main control module 18, the voltage conversion module 19 and the driving module 20 are integrated circuit boards. The lithium battery pack 17 is used for providing required electric power for the movement of the underwater wall climbing robot, the main control module 18 is used by stm32f429 in cooperation with arduino uno and used for issuing instructions to enable the underwater wall climbing robot to move so as to complete corresponding tasks, the voltage conversion module 19 is used by a plurality of LM2576HVS in cooperation and used for processing conversion among different voltages, and the driving module 20 is AQMD2408BLS-M and Hiwonder 24-way steering engine control panels and used for driving a steering engine and a propeller to move.

The sealed cabin supporting frames 21 on two sides of the square sealed cabin 13 are connected with a sealed cabin fixing frame 15 fixed in the main shell 1, so that the square sealed cabin 13 and the main shell 1 are kept relatively static when the underwater wall climbing robot moves; the lithium battery pack 17, the main control module 18, the voltage conversion module 19, the driving module 20 and the fixing plate 31 of the cabin bottom are sequentially fixed on the plate to form a whole, and the whole is placed in the square sealed cabin 13 and connected with the cable connecting port 22 so as to be convenient to install and maintain; the flange 14 of the sealed cabin protective cover 32 is connected with the corresponding flange 14 at the front part of the square sealed cabin 13, so that the waterproof and sealing performance of the cabin body is ensured.

The driving module 20 is used for driving a first vertical propeller 5, a second vertical propeller 6, a first horizontal propeller 7, a second horizontal propeller 8, a first steering engine 26, a second steering engine 27, a third steering engine 29 and a speed reduction motor 24 of the double-mode underwater wall climbing robot to perform underwater movement, mode conversion and climbing adsorption; the voltage conversion module 19 is used for converting the voltage provided by the lithium battery pack 17 into voltages suitable for different electronic components; the main control module 18 is used for issuing a control instruction and instructing the dual-mode underwater wall-climbing robot to complete operation instructions including mode conversion, floating mode movement, crawling mode movement, adsorption movement and the like; the lithium battery pack 17 is used for supplying energy to the whole underwater wall climbing robot.

The top of the main shell 1 is provided with a stroboscopic indicator lamp 2, an umbilical cable connecting port 3 and an antenna cabin 4. The stroboscopic indicator light 2 and the antenna cabin 4 are connected with cable connectors 22 on two sides of the square sealed cabin 13 in the main shell 1, the stroboscopic indicator light 2 is used for indicating the running condition of the underwater wall-climbing robot, and the antenna cabin 4 is used for positioning the position of the underwater wall-climbing robot; the umbilical cable is connected with the cable connectors 22 on two sides of the square sealed cabin 13 in the main shell 1 through the umbilical cable connectors 3, and is used for supplying power and performing signal transmission with the water surface to determine the running condition of the underwater wall climbing robot; an underwater camera 12 is installed in an underwater camera protection cover 11 at the front part of the main housing 1 and is used for detecting defects of an underwater pipeline. The first vertical propeller 5, the second vertical propeller 6, the first horizontal propeller 7 and the second horizontal propeller 8 are connected through a propeller fixing frame 9 arranged on the main shell 1 and connected with an internal driving module through cable connectors 22 on two sides of the square sealed cabin 13, and the driving module is used for driving the underwater wall-climbing robot to move.

The flexible mechanical leg 10 is connected and fixed with the flexible mechanical leg fixing frame 16 at both sides of the main casing 1. The flexible mechanical leg 10 mainly comprises a first steering engine 26, a second steering engine 27, a third steering engine 28 and an electromagnetic chuck 29 for pipe wall adsorption, wherein the first steering engine, the second steering engine and the third steering engine are used for controlling crawling motion. The three steering engines are connected with the steering engine fixing frame 25 according to the connection shown in the figures 4 and 5, the electromagnetic sucker 29 is connected with the electromagnetic sucker fixing frame 23 through a threaded hole 30, the speed reducing motor 24 is connected with the motor fixing frames 33 on the two sides of the electromagnetic sucker fixing frame 29, and the steering engine part is connected with the electromagnetic sucker part through a connecting support 34 and the speed reducing motor 24 fixed on the support. The first steering engine 26 and the second steering engine 27 are used for switching modes of the underwater wall climbing robot.

The conversion of the floating mode is that the main control module 18 issues a control instruction to drive the first steering engine 26 and the second steering engine 27 to rotate by corresponding angles in sequence, so that the flexible mechanical legs 10 are parallel to the two sides of the main shell 1, the speed reduction motor 24 controls the electromagnetic chuck 29 to keep static, the driving module 20 stops driving the electromagnetic chuck 29, the electromagnetic chuck 29 is guaranteed to be always in a power-off state and does not have adsorption capacity, and the initialization of the floating mode is completed. In the floating mode, two vertical propellers are used for controlling the underwater wall-climbing robot to execute tasks and float and sink at a fixed depth; the two horizontal propellers are used for controlling the advancing and retreating and the steering movement of the underwater wall climbing robot.

The conversion of the crawling mode is to issue a control command through the main control module 18, and firstly, the first steering engine 26, the second steering engine 27 and the third steering engine 28 are driven to rotate by corresponding angles, so that the flexible mechanical legs 10 are perpendicular to the two sides of the main shell 1, and the initialization of the crawling mode is completed. In the crawling mode, a corresponding four-footed gait control command is issued through the main control module 18 to control the steering engine to move, and the opening and closing of the flexible mechanical legs 10 are controlled by adjusting the angle of the first steering engine 26 to adapt to different diameters of pipelines. The electromagnetic chuck 29 grips the pipe wall under the control of the speed reduction motor 24 and the electromagnetic chuck 29 is electrified to perform pipe wall adsorption. After the flexible mechanical leg 10 moves to a designated position, the speed reducing motor 24 is controlled to enable the electromagnetic chuck 29 to be close to the outer side profile of the pipe wall, and the driving module 20 is controlled to start driving the electromagnetic chuck 29 to enable the electromagnetic chuck 29 to be adsorbed on the outer side of the pipe wall. In addition, the buoyancy required for depth setting is provided by the first vertical propeller 5 and the second vertical propeller 6. The four propellers and the flexible mechanical legs 10 are controlled in a combined mode, so that the stability and the rapidity of the underwater wall climbing machine in the pipe wall inspection process can be improved.

It should be understood that the above examples are only for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications falling within the spirit of the invention are within the scope of the invention.

Claims

1. A dual-mode underwater wall climbing robot is characterized in that: the lithium ion battery pack comprises a main shell, a square sealed cabin fixed in the shell, a driving module in the cabin, a voltage conversion module, a main control module and a lithium battery pack; main casing body top is equipped with stroboscopic pilot lamp, and antenna cabin and umbilical cable connector, four flexible mechanical legs and two perpendicular propellers are installed to main casing body both sides, and main casing body forward-mounted has camera under water, and main casing body rear portion installs two horizontal propellers.

2. The dual-mode underwater wall climbing robot of claim 1, wherein: the main casing body comprises a flexible mechanical leg fixing frame arranged on two sides of the casing body, a propeller fixing frame arranged at the rear part of the casing body and a sealed cabin supporting frame arranged in the casing body.

3. The dual-mode underwater wall climbing robot of claim 1, wherein: the square sealed cabin is waterproof sealed through the sealed cabin protection cover, and is fixed inside the main shell through the sealed cabin fixing frame and connected with external electronic components through cable connecting ports reserved on two sides of the cabin body.

4. A dual mode underwater wall climbing robot as claimed in claim 3, wherein: the driving module, the voltage conversion module, the main control module and the lithium battery pack are fixed with the fixing plate through the mounting holes reserved on the module plate, the main control module is connected with the antenna cabin on the upper portion of the main shell body and the underwater camera on the front portion of the main shell body through cable connectors on two sides of the square sealed cabin, and the fixing plate is pressed into the square sealed cabin to achieve waterproof sealing.

5. The dual-mode underwater wall climbing robot of claim 1, wherein: the flexible mechanical leg mainly comprises a steering engine, a steering engine fixing frame, a motor fixing frame, a speed reduction motor, an electromagnetic chuck and an electromagnetic chuck fixing frame, wherein the steering engine is used for controlling the flexible mechanical leg to perform mode conversion of crawling motion and floating motion, and the speed reduction motor is used for controlling the electromagnetic chuck of the flexible mechanical leg to perform flexible adsorption.

6. The dual-mode underwater wall climbing robot of claim 1, wherein: the vertical thruster and the horizontal thruster are fixed by a thruster fixing frame arranged on the shell.

7. The dual-mode underwater wall-climbing robot of claim 1, wherein: the underwater camera is fixed on the front portion of the shell and sealed through an underwater camera protection cover.

8. The dual mode underwater wall climbing robot of claim 5, wherein: the steering engine is fixed through a steering engine fixing frame and is connected with a lower structure through an electromagnetic chuck fixing frame and a speed reduction motor.

9. The dual-mode underwater wall climbing robot of claim 5, wherein: the electromagnetic chuck is fixed through a threaded hole in the electromagnetic chuck fixing frame, and each section of structure is connected through a speed reduction motor.

10. The dual mode underwater wall climbing robot of claim 5, wherein: the steering engine is controlled to carry out mode conversion, and the steering engine controls the flexible mechanical legs to move to the two sides parallel to the main shell to be converted into a floating mode depending on the movement of the underwater propeller; the steering engine controls the flexible mechanical legs to move to the two sides perpendicular to the main shell body and is changed into a crawling mode depending on the movement of the flexible mechanical legs.