CN218829915U - Signal transmission device of cableless underwater robot - Google Patents
Signal transmission device of cableless underwater robot Download PDFInfo
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- CN218829915U CN218829915U CN202320125640.XU CN202320125640U CN218829915U CN 218829915 U CN218829915 U CN 218829915U CN 202320125640 U CN202320125640 U CN 202320125640U CN 218829915 U CN218829915 U CN 218829915U
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Abstract
The utility model relates to a modern ocean equips technical field, specifically is a no cable underwater robot's signal transmission device, including cable and automatic flexible winding displacement ware, the cable is coiled in automatic flexible winding displacement ware, and outside the both ends of cable extended to automatic flexible winding displacement ware, and linked to each other with communication floater and underwater robot respectively through the watertight joint, still includes: the communication floating ball comprises an upper hemisphere and a lower hemisphere, and a counterweight chamber and a communication wire are arranged in the upper hemisphere; fixed clamping grooves are distributed in the lower hemisphere, and a 4G/5G communication module, a battery and power management module, a Beidou positioning module, a signal conversion module, a nine-axis sensor and a single chip microcomputer are respectively installed in the fixed clamping grooves. The utility model discloses the no cable underwater robot's of setting signal transmission device can realize the no cable monitoring operation of 0-5 meters shallow water district underwater robot, has characteristics such as flexible and antiwind, has greatly improved underwater robot's underwater detection flexibility and has carried the convenience.
Description
Technical Field
The utility model relates to a modern ocean equips technical field, specifically is a no cable underwater robot's signal transmission device.
Background
At present, small-size dive robot is there is the cable to connect the robot, realizes power supply and signal transmission through the cable. The underwater robot with the cable has the advantages of stable signal, lasting electric energy, large submergence depth and the like. However, due to the restriction of the length of the cable, the signal transmission quality, the weight of the cable and other factors, the observation distance is generally within 200 meters, the moving area of the robot needs to be wide and free of obstacles, and the cable is large, heavy and inconvenient to carry. The underwater cableless robot is a difficult problem in the industry, underwater signal transmission can be realized through an underwater acoustic communication technology at present, but the underwater acoustic communication module has high power and large module size, can only be equipped on a large underwater shaler, has high cost and cannot be used on a micro-miniature shaler and civil low-cost equipment.
In the marine culture district aquatic life monitoring field, most production operation depth of water is less than 3 meters, and structures such as artificial fish reef in the breed pond are many, and the operation difficulty of cabled robot is big, and flexible flexibility is poor, to this specific operation scene, needs a section urgent need to satisfy the small-size underwater monitoring robot of no cable control within 3 meters under water in the industry. The prior art is based on the acoustical signal transmission device of ultrashort wave communication and is bulky, power reaches and with high costs, can't adapt to the microminiature underwater monitoring robot field, and the communication buoy that has cable connection under the water surface has bulky, hawser thick now, can't adapt to the microminiature underwater monitoring robot field.
Therefore, in view of the above situation, there is an urgent need to develop a signal transmission device for a cableless underwater robot to overcome the disadvantages in the current practical application.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a no cable underwater robot's signal transmission device to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a no cable underwater robot's signal transmission device, includes cable and the automatic flexible winding displacement ware, the cable is coiled in the automatic flexible winding displacement ware, outside the both ends of cable extended to the automatic flexible winding displacement ware, and linked to each other with communication floater and underwater robot through the watertight joint respectively, still included:
the communication floating ball comprises an upper hemisphere and a lower hemisphere, a connecting seat with an I-shaped structure is fixed on the upper hemisphere, and a counterweight chamber and a communication wire are arranged in the upper hemisphere;
the side wall of the lower hemisphere is provided with a connecting groove matched with the connecting seat, fixed clamping grooves are distributed in the lower hemisphere, and a 4G/5G communication module, a battery and power supply management module, a Beidou positioning module, a signal conversion module, a nine-axis sensor and a single chip microcomputer are respectively installed in the fixed clamping grooves;
the connecting assembly is arranged in the lower hemisphere, one end of the connecting assembly is connected with the connecting seat, and the upper hemisphere and the lower hemisphere are connected into a whole by the connecting assembly in a manner of being matched with the connecting seat;
the sealing assembly, sealing assembly's one end is installed in first hemisphere, sealing assembly's the other end sets up the both sides at the connecting seat, sealing assembly seals the junction of first hemisphere and lower hemisphere through the mode with connecting seat and spread groove complex.
As a further aspect of the present invention: coupling assembling includes driving piece, mount pad, pivot, gear, rack and connecting piece, the driving piece sets up on the mount pad, the output of driving piece links to each other with the gear through the pivot, just the driving piece still respectively with battery and power management module and singlechip electric connection, the rack distributes on the mount pad along the gear center, just the rack is connected with gear engagement, the connecting piece is installed to the one end of rack, the one end of connecting piece extend to in the mounting groove and with the connecting hole cooperation of seting up on the connecting seat.
As a further aspect of the present invention: the sealing assembly comprises an air pump, an air pipe, a communicating pipe and a sealing air cushion, the air pump is fixed in the upper hemisphere, the output end of the air pump is communicated with the communicating pipe through the air pipe, the two ends of the communicating pipe are communicated with the sealing air cushion, and the sealing air cushion is installed on the two sides of the connecting seat.
As a further aspect of the present invention: the net buoyancy of the communication floating ball is 3-5N, the communication floating ball is of a spherical structure with the diameter smaller than 11cm, an LED warning lamp is further arranged on the communication floating ball, and when the communication signal is lower than a certain intensity or the equipment is disconnected, the LED warning lamp automatically lights and serves as a fishing mark.
As a further aspect of the present invention: the nine-axis sensor comprises a three-axis acceleration sensor, a three-axis gyroscope and a three-axis electronic compass, and accurately calculates the underwater position of the robot according to the inclination angle of the communication floating ball, the data of the Beidou positioning module and the data of the water depth sensor carried by the underwater robot.
As a further aspect of the present invention: the integral specific gravity of the cable and the automatic telescopic wire coiler is greater than the buoyancy of seawater, the cable is a 4-core tensile cable, and the diameter of the cable is smaller than 1.5mm; when the tensile force applied to the cable is greater than 1N, the automatic telescopic wire winder releases the cable; when the tensile force applied to the cable is larger than 1N, the automatic telescopic wire winder winds the cable.
As a further aspect of the present invention: the upper hemisphere is a hemispherical structure made of a plastic material, and the lower hemisphere is a hemispherical structure made of a stainless steel material.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model realizes remote wireless control by adopting the way of matching the automatic telescopic wire coiler with the cable and designing the signal transmission device and the host in a split manner, bypasses the bottleneck of fast signal attenuation in water, increases the moving distance of the underwater robot, and can realize the control distance of more than 2 km;
2. the utility model saves heavy robot communication cables, greatly improves the portability, maneuverability and playability of the underwater robot, and solves the problem of cable winding of the underwater robot;
3. the utility model arranges the positioning module on the water surface, adopts the automatic telescopic wire coiling device, and solves the precise positioning problem of the underwater robot by cooperation, and the positioning precision can be controlled within 1-2 meters according to the length of the cable;
4. the utility model can realize the core reduction and thinning of the communication cable through the built-in battery and power module of the floating ball, is convenient for the lightweight design of the automatic telescopic wire coiler and reduces the water resistance of the miniature underwater robot during navigation;
5. the utility model discloses a to the miniaturized design of signal transmission floater, water resistance when reducing microminiature underwater robot navigation.
Drawings
Fig. 1 is the appearance schematic diagram of the signal transmission device of the mid-cableless underwater robot of the utility model.
Fig. 2 is a sectional view showing the structure of the communication float ball of fig. 1.
Fig. 3 is a schematic view of the lower hemisphere of the communication float ball in fig. 2.
Fig. 4 is a schematic structural diagram of the communication floater upper hemisphere in fig. 2.
In the figure: 1-communication floating ball, 2-cable, 3-automatic telescopic wire coiler, 4-upper hemisphere, 41-connecting seat, 5-lower hemisphere, 51-connecting groove, 6-connecting component, 61-driving component, 62-mounting seat, 63-rotating shaft, 64-gear, 65-rack, 66-connecting component, 67-connecting hole, 7-counterweight chamber, 8-communication antenna, 9-fixed clamping groove, 10-sealing component, 101-air pump, 102-vent pipe, 103-communicating pipe and 104-sealing air cushion.
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.
The technical solution of the present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1 to 4, as an embodiment of the utility model provides a no cable underwater robot's signal transmission device, including cable 2 and automatic flexible coiler 3, 2 coils of cable are coiled in automatic flexible coiler 3, the both ends of cable 2 extend to outside the automatic flexible coiler 3, and link to each other with communication floater 1 and underwater robot through watertight joint respectively, still include:
the communication floating ball 1 comprises an upper hemisphere 4 and a lower hemisphere 5, a connecting seat 41 with an I-shaped structure is fixed on the upper hemisphere 4, and a counterweight chamber 7 and a communication wire 8 are arranged in the upper hemisphere 4;
the side wall of the lower hemisphere 5 is provided with a connecting groove 51 matched with the connecting seat 41, fixed clamping grooves 9 are distributed in the lower hemisphere 5, and a 4G/5G communication module, a battery and power management module, a Beidou positioning module, a signal conversion module, a nine-axis sensor and a single chip microcomputer are respectively installed in the fixed clamping grooves 9;
the connecting assembly 6 is arranged in the lower hemisphere 5, one end of the connecting assembly 6 is connected with the connecting seat 41, and the upper hemisphere 4 and the lower hemisphere 5 are connected into a whole by the connecting assembly 6 in a manner of being matched with the connecting seat 41;
a sealing assembly 10, one end of the sealing assembly 10 is installed in the upper hemisphere 4, the other end of the sealing assembly 10 is disposed at both sides of the coupling seat 41, and the sealing assembly 10 seals the joint of the upper hemisphere 4 and the lower hemisphere 5 by cooperating with the coupling seat 41 and the coupling groove 51.
In this embodiment, through communication floater 1, cable 2, flexible dish line ware 3, 4G 5G communication module, battery and power management module, big dipper orientation module, signal conversion module, nine sensors and singlechip, can realize the no cable monitoring operation of 0-5 meters shallow water district underwater robot, have characteristics such as flexible and antiwind of maneuvering, greatly improved underwater robot's underwater detection flexibility and carry the convenience.
As shown in fig. 2 and 3, as a preferred embodiment of the present invention, the connecting assembly 6 includes a driving member 61, a mounting seat 62, a rotating shaft 63, a gear 64, a rack 65 and a connecting member 66, the driving member 61 is disposed on the mounting seat 62, the output end of the driving member 61 is connected to the gear 64 through the rotating shaft 63, and the driving member 61 is further respectively connected to the battery and the power management module and the single chip microcomputer, the rack 65 is distributed on the mounting seat 62 along the center of the gear 64, and the rack 65 is engaged with the gear 64 and connected to the connecting member 66, one end of the connecting member 66 extends into the mounting groove 51 and is matched to the connecting hole 67 formed on the connecting seat 41.
As shown in fig. 2 and 4, as a preferred embodiment of the present invention, the sealing assembly 10 includes an air pump 101, a vent pipe 102, a communication pipe 103 and a sealing air cushion 104, the air pump 101 is fixed in the upper hemisphere 4, the output end of the air pump 101 is communicated with the communication pipe 103 through the vent pipe 102, two ends of the communication pipe 103 are communicated with the sealing air cushion 104, and the sealing air cushion 104 is installed on two sides of the connection seat 41.
In this embodiment, when connection hemisphere 4 and lower hemisphere 5 when needs to be connected, with connecting seat 41 and the cooperation of connecting groove 51, driving piece 61 drives pivot 63 and rotates, pivot 63 drives gear 64 and rotates, gear 64 drives rack 65 and connecting piece 66 and removes, make connecting piece 66 and the cooperation of connecting hole 67 on the connecting seat 41, thereby realize connecting upper hemisphere 4 and lower hemisphere 5 as a whole, air pump 101 passes through breather pipe 102 and communicating pipe 103 this moment, aerify processing sealed air cushion 104, make sealed air cushion 104 expand, sealed air cushion 104 is through the expanded mode, thereby carry out the shutoff to the space between connecting seat 41 and the connecting groove 51, and then realize communication floater 1's sealing function, improve the leakproofness of device, and then improve the work efficiency and the practicality of device.
In a preferred embodiment, the driving member 61 is preferably a micro motor;
the connecting member 66 is preferably a rod-like structure.
As shown in fig. 1, as a preferred embodiment of the present invention, the net buoyancy of the communication floating ball 1 is 3-5N, the communication floating ball 1 is a spherical structure with a diameter smaller than 11cm, and the communication floating ball 1 is further equipped with a LED warning light, and when the communication signal is lower than a certain intensity or the equipment is disconnected, the LED warning light automatically lights and serves as a fishing mark.
In a preferred embodiment, the communication floating ball 1 can be oval in shape.
As shown in fig. 3, as a preferred embodiment of the present invention, the nine-axis sensor includes a three-axis acceleration sensor, a three-axis gyroscope and a three-axis electronic compass, and the nine-axis sensor accurately calculates the underwater position of the robot according to the inclination of the communication floating ball 1, the data of the compass positioning module and the data of the water depth sensor carried by the underwater robot, so that the positioning accuracy of the underwater robot is always within 0.5 meter, and the underwater positioning accuracy is not affected by the length of the telescopic cable; the underwater robot is a microminiature and portable underwater monitoring robot which cannot carry a large wireless signal transmission module, and the dead weight of the robot containing a battery is less than 5kg.
As shown in fig. 1, as a preferred embodiment of the present invention, the overall specific gravity of the cable 2 and the automatic retractable wire coiler 3 is greater than the buoyancy of seawater, the cable 2 is a 4-core tensile cable 2, the diameter of the cable 2 is less than 1.5mm, the cable can bear a tensile force of more than 50Kg, the cable has a high-speed transmission capability of video signals, and the length of the cable 2 is within 5 m; when the tensile force applied to the cable is greater than 1N, the automatic telescopic wire coiler 3 releases the cable 2; when the cable receives tensile force and is greater than 1N, automatic flexible winder 3 carries out the rolling to cable 2.
As shown in fig. 2, as a preferred embodiment of the present invention, the upper hemisphere 4 is a hemisphere structure made of a plastic material, and the lower hemisphere 5 is a hemisphere structure made of a stainless material. Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The utility model provides a no cable underwater robot's signal transmission device, includes cable and the automatic flexible rolling up the line ware, the cable is coiled in the automatic flexible rolling up the line ware, outside the both ends of cable extended to the automatic flexible rolling up the line ware, and link to each other with communication floater and underwater robot through watertight joint respectively, its characterized in that still includes:
the communication floating ball comprises an upper hemisphere and a lower hemisphere, a connecting seat with an I-shaped structure is fixed on the upper hemisphere, and a counterweight chamber and a communication wire are arranged in the upper hemisphere;
seted up on the lateral wall of lower hemisphere with connecting seat complex spread groove, it has fixed slot to distribute in the lower hemisphere, install 4G 5G communication module, battery and power management module, big dipper orientation module, signal conversion module, nine sensors and singlechip in the fixed slot respectively.
2. The signal transmission device of the untethered underwater robot of claim 1, wherein the net buoyancy of the communication floating ball is 3-5N, the communication floating ball is a spherical structure with a diameter smaller than 11cm, and the communication floating ball is further provided with an LED warning light, and when the communication signal is lower than a certain intensity or the equipment is disconnected, the LED warning light automatically lights up and serves as a fishing mark.
3. The signal transmission device of the untethered underwater robot of claim 1, wherein the nine-axis sensor comprises a three-axis acceleration sensor, a three-axis gyroscope and a three-axis electronic compass, and the nine-axis sensor accurately calculates the underwater position of the robot according to the inclination angle of the communication floating ball, the data of the Beidou positioning module and the data of the water depth sensor carried by the underwater robot.
4. The signal transmission device of the untethered underwater robot of claim 1, wherein the integral specific gravity of the cable and the automatic telescopic wire coiler is greater than the buoyancy of seawater, the cable is a 4-core tensile cable, and the diameter of the cable is less than 1.5mm; when the tensile force applied to the cable is greater than 1N, the automatic telescopic wire winder releases the cable; when the tensile force applied to the cable is larger than 1N, the automatic telescopic wire winder winds the cable.
5. The signal transmission apparatus of claim 1, wherein the upper hemisphere has a hemispherical structure made of a plastic material, and the lower hemisphere has a hemispherical structure made of a stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320125640.XU CN218829915U (en) | 2023-01-16 | 2023-01-16 | Signal transmission device of cableless underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320125640.XU CN218829915U (en) | 2023-01-16 | 2023-01-16 | Signal transmission device of cableless underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN218829915U true CN218829915U (en) | 2023-04-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320125640.XU Active CN218829915U (en) | 2023-01-16 | 2023-01-16 | Signal transmission device of cableless underwater robot |
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| CN (1) | CN218829915U (en) |
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2023
- 2023-01-16 CN CN202320125640.XU patent/CN218829915U/en active Active
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