CN218806365U

CN218806365U - Underwater robot with multiple propulsion modes

Info

Publication number: CN218806365U
Application number: CN202320237189.0U
Authority: CN
Inventors: 吴佳惠; 贾风光; 尚舒晴; 徐杨; 庄广兴; 包国辉; 李文天
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2023-02-15
Filing date: 2023-02-15
Publication date: 2023-04-07
Anticipated expiration: 2033-02-15

Abstract

The utility model belongs to the technical field of underwater robot, especially, be an underwater robot of many propulsion modes, including head module and joint module, the fixed butt joint piece that is provided with in the head module, the fixed butt joint seat that is provided with in the joint module, the spout has been seted up to butt joint seat inside, be provided with stop gear between spout and the butt joint piece, be provided with positioning mechanism between butt joint seat and the stop gear. As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, stop gear including set up at the inside control pedestal of spout and with a spring of control pedestal fixed connection, the utility model discloses a set up control pedestal, upset piece, spacing groove spacing head module and joint module, through setting up the convenience when having improved head module and joint module and having dismantled, stability when having improved head module and joint module butt joint through setting up locating piece and No. two springs and constant head tank.

Description

Underwater robot with multiple propulsion modes

Technical Field

The utility model belongs to the technical field of underwater robot, concretely relates to underwater robot of many propulsion modes.

Background

The ocean stores a great amount of energy and organisms, and the development of ocean resources has important significance for the sustainable development of human beings. Since the danger of human operation in the sea is high, the development of underwater robots has received much attention. The underwater robot technology improves the ocean detection efficiency and reduces the maintenance cost of submarine facilities and the casualty rate of constructors to a great extent.

Through retrieval, the utility model patent with the patent application number of CN217477531U discloses an underwater robot with multiple propulsion modes, which comprises a head module, a joint module, a lateral module and a tail module, wherein the head module, the joint module, the lateral module and the tail module are sequentially connected to form the underwater robot, the tail end of the tail module is provided with a propulsion component for pushing to advance, the underwater robot can advance through bionic swinging of a swinging mechanism of the joint module and can also advance through the propulsion component, and the underwater robot has strong adaptability and wide applicable scenes; the head module is provided with a pectoral fin, and the arrangement of the pectoral fin can control the pitching angle and the rolling angle of the underwater robot during movement, so that the underwater robot is driven to complete ascending, descending or axial rotation, the flexibility of the underwater robot is improved, and the underwater robot can perform detection and maintenance operation in an underwater narrow space.

All through bolted connection between original underwater robot head module, joint module, side direction module and the afterbody module of a many propulsion modes, under emergency, need utilize the instrument to dismantle four big modules, it is very inconvenient, influence the use.

SUMMERY OF THE UTILITY MODEL

For solving the above-mentioned problem that exists among the prior art, the utility model provides a many propulsion means's underwater robot has convenient to detach's characteristics.

In order to achieve the above object, the utility model provides a following technical scheme: the underwater robot with multiple propulsion modes comprises a head module and a joint module, wherein a butt joint block is fixedly arranged on the head module, a butt joint seat is fixedly arranged on the joint module, a sliding groove is formed in the butt joint seat, a limiting mechanism is arranged between the sliding groove and the butt joint block, and a positioning mechanism is arranged between the butt joint seat and the limiting mechanism.

As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, stop gear including set up at the inside control cabinet of spout and with a spring of control cabinet fixed connection to and deviate from the upset piece that a spring one end is connected with the control cabinet, still include with upset piece fixed connection's stopper with run through and set up the spacing groove on the piece that docks.

As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, a spring deviates from control cabinet one end and butt joint seat fixed connection, the control cabinet slides inside the spout, stopper and spacing groove are inserted and are closed.

As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, positioning mechanism include with control cabinet fixed connection's No. two springs and with No. two springs deviate from control panel one end fixed connection's control panel and with control panel fixed connection's locating piece, still including seting up at the inside constant head tank of butt joint seat.

As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, the locating piece is inserted and is closed inside the constant head tank, the control panel slides inside the control cabinet.

As the utility model discloses a preferred technical scheme of underwater robot of many propulsion modes, the upset piece is 180 rotations on the control cabinet.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a set up control seat, upset piece, spacing groove with head module spacing with joint module, through setting up the convenience when a spring has improved head module and joint module and has dismantled, through setting up the stability when locating piece and No. two springs and constant head tank have improved head module and joint module butt joint.

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:

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

FIG. 2 is a schematic structural view of the head module and the joint module of the present invention when they are disassembled;

FIG. 3 is a schematic view of the internal structure of the middle sliding chute of the present invention;

FIG. 4 is a schematic view of the connection portion of the controllable seat and the limiting plate of the present invention;

FIG. 5 is a schematic view of a part A of the present invention;

in the figure: 1. a head module; 2. a joint module; 3. a butt joint block; 4. a docking station; 5. a chute; 6. a control seat; 7. a first spring; 8. a turning block; 9. a limiting block; 10. a limiting groove; 11. a second spring; 12. a control panel; 13. positioning blocks; 14. and (6) positioning a groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: the utility model provides a many propulsion's underwater robot, including head module 1 and joint module 2, the fixed butt joint piece 3 that is provided with on the head module 1, the fixed butt joint seat 4 that is provided with on the joint module 2, butt joint seat 4 is inside to have seted up spout 5, be provided with stop gear between spout 5 and the butt joint piece 3, be provided with positioning mechanism between butt joint seat 4 and the stop gear, except being applicable to between head module 1 and the joint module 2, butt joint piece 3 and butt joint seat 4 are applicable to side module and afterbody module equally in this embodiment.

Specifically, stop gear is including setting up at the inside control seat 6 of spout 5 and with a spring 7 of control seat 6 fixed connection and with control seat 6 deviate from a upset piece 8 that spring 7 one end is connected, still include with upset piece 8 fixed connection's stopper 9 with run through the spacing groove 10 of seting up on butt joint piece 3, it is middle-sized with head module 1 and joint module 2 spacing through setting up control seat 6, upset piece 8, spacing groove 10 in this embodiment.

Specifically, a spring 7 deviates from 6 one ends of control pedestal and 4 fixed connection of butt joint seat, and control pedestal 6 slides inside spout 5, and stopper 9 is inserted with spacing groove 10 and is closed, has improved the convenience when head module 1 is dismantled with joint module 2 through setting up a spring 7 in this embodiment.

Specifically, the positioning mechanism includes a second spring 11 fixedly connected to the control seat 6, a control plate 12 fixedly connected to one end of the control plate 12 away from the second spring 11, a positioning block 13 fixedly connected to the control plate 12, and a positioning groove 14 formed in the docking seat 4.

Specifically, locating piece 13 is inserted and is closed inside locating slot 14, and control panel 12 slides inside control seat 6, has improved the stability when head module 1 docks with joint module 2 through setting up locating piece 13 and No. two spring 11 and locating slot 14 in this embodiment.

Specifically, the turning block 8 rotates 180 degrees on the control seat 6, and the convenience when the head module 1 and the joint module 2 are disassembled is improved by rotating the turning block 8 180 degrees in the embodiment.

The utility model discloses a theory of operation and use flow:

when in use: aligning the butt joint block 3 with the butt joint seat 4, pulling the positioning block 13, sliding the control plate 12 in the control seat 6 to stretch the second spring 11, separating the positioning block 13 from the positioning groove 14, separating the control seat 6 from the limit position, pulling the control seat 6, stretching the first spring 7 by the control seat 6 to slide in the chute 5, damping and overturning the overturning block 8 through a rotating shaft for 180 degrees, loosening the control seat 6, elastically resetting the control seat 6 through the first spring 7, simultaneously inserting the limit block 9 in the limit groove 10, driving the control plate 12 to elastically reset through the second spring 11, inserting the positioning block 13 in the positioning groove 14, and limiting the head module 1 and the joint module 2;

when the disassembly is carried out: pulling locating piece 13, control panel 12 slide in the inside tensile No. two spring 11 of control seat 6, and locating piece 13 breaks away from constant head tank 14 inside, and control seat 6 breaks away from spacingly this moment, and pulling control seat 6, the tensile spring 7 of control seat 6 slide in spout 5 inside, and stopper 9 breaks away from limiting groove 10 inside, will overturn 8 damping rotations 180 of piece through the pivot, and head module 1 can break away from spacingly with joint module 2.

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 above, 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 an underwater robot of many propulsion modes which characterized in that: including head module (1) and joint module (2), fixed butt joint piece (3) of being provided with on head module (1), fixed butt joint seat (4) of being provided with on joint module (2), spout (5) have been seted up to butt joint seat (4) inside, be provided with stop gear between spout (5) and butt joint piece (3), be provided with positioning mechanism between butt joint seat (4) and the stop gear.

2. A multi-propulsion underwater robot as claimed in claim 1, wherein: stop gear is including setting up in inside control seat (6) of spout (5) and with spring (7) of control seat (6) fixed connection and with control seat (6) deviate from upset piece (8) that spring (7) one end is connected, still include with upset piece (8) fixed connection's stopper (9) and run through spacing groove (10) of seting up on butt joint piece (3).

3. A multi-propulsion underwater robot as claimed in claim 2, wherein: no. one spring (7) deviates from control seat (6) one end and docks seat (4) fixed connection, control seat (6) slide inside spout (5), stopper (9) and spacing groove (10) are inserted and are closed.

4. A multi-propulsion underwater robot as claimed in claim 1, wherein: the positioning mechanism comprises a second spring (11) fixedly connected with the control seat (6), a control plate (12) deviating from one end of the control plate (12) and the second spring (11), a positioning block (13) fixedly connected with the control plate (12), and a positioning groove (14) formed in the butt joint seat (4).

5. A multi-propulsion underwater robot as claimed in claim 4, wherein: the positioning block (13) is inserted into the positioning groove (14), and the control plate (12) slides inside the control seat (6).

6. A multi-propulsion underwater robot as claimed in claim 2, wherein: the turning block (8) rotates 180 degrees on the control seat (6).