CN219770145U - Ship lock underwater exploration flexible robot - Google Patents
Ship lock underwater exploration flexible robot Download PDFInfo
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- CN219770145U CN219770145U CN202320078177.8U CN202320078177U CN219770145U CN 219770145 U CN219770145 U CN 219770145U CN 202320078177 U CN202320078177 U CN 202320078177U CN 219770145 U CN219770145 U CN 219770145U
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- flexible
- flexible joint
- artificial muscle
- fixedly connected
- pneumatic artificial
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- 238000007789 sealing Methods 0.000 claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- 239000002002 slurry Substances 0.000 claims abstract description 6
- 210000003205 muscle Anatomy 0.000 claims description 70
- 239000004816 latex Substances 0.000 claims description 4
- 229920000126 latex Polymers 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
Abstract
The utility model discloses a ship lock underwater exploration flexible robot, which relates to the technical field of flexible robots and comprises a first flexible joint and a second flexible joint, wherein a sealing gasket is fixedly connected between the first flexible joint and the second flexible joint, driving components are arranged on the inner side of the first flexible joint and the inner side of the second flexible joint, flexible connecting layers are fixedly connected on the inner wall of the first flexible joint and the inner wall of the second flexible joint, and sealing covers are fixedly connected on one side of the first flexible joint and one side of the second flexible joint in a clamping way, so that the ship lock underwater exploration flexible robot has the beneficial effects that: the underwater lamp is convenient to illuminate the underwater environment through the underwater lamp, the use of the underwater camera is facilitated, meanwhile, the driving slurry is convenient to drive through the submersible motor to rotate, auxiliary driving acting force is convenient to provide for the space between the first flexible joint and the second flexible joint, and the first flexible joint and the second flexible joint are convenient to assist in pushing to move at the bottom of the water.
Description
Technical Field
The utility model relates to a flexible robot, in particular to a ship lock underwater exploration flexible robot, and belongs to the technical field of flexible robots.
Background
The detection of the ship lock underwater facilities mainly comprises a valve, a gate, a lock head, a lock chamber, an access door groove, a guard and the like, the part to be detected of the gate mainly comprises a bottom pivot and water stop, the part to be detected of the valve mainly comprises a valve main rail, a main roller and water stop, wherein the valve rail is easy to wear under high water head pressure, the valve underwater structure is relatively complex, the traditional detection mode is to carry out fixed-point detection and maintenance under the submergence of a diver through special training, the problems of long time, multiple water flows in an area, narrow working space, dangerousness and the like exist, therefore, the flexible robot is required to operate, the underwater flexible robot disclosed by application number CN202021979581.5 is an increasingly mature technology, and the buoyancy adjusting device is used for adjusting the buoyancy of the underwater flexible robot so as to realize the floating and submergence of the underwater flexible robot in water. The tail driver is used for driving the tail of the flexible shell to swing left and right so as to realize the swimming of the underwater flexible robot in water, and the application number is CN202220441765.9, namely the underwater robot driven by the bidirectional flexible pump, which is arranged through a specific technical structure, practically solves the technical defects that the working noise of an air pump is large, the surrounding living things are influenced during working, and the like, but the two flexible robots have the following defects in the use process:
1) The flexibility of the robot is not beneficial to further improving when in actual use;
2) An auxiliary structure is not arranged, so that underwater observation is not facilitated.
Disclosure of Invention
The utility model aims to provide a ship lock underwater exploring flexible robot, which is used for solving the problem that the flexibility of the robot is not beneficial to further improving in actual use.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a flexible robot is surveyed under water to ship lock, includes first flexible joint and second flexible joint, first flexible joint with fixedly connected with is sealed between the second flexible joint fills up, first flexible joint's inboard with the articulated inboard of second all is equipped with drive assembly, first flexible joint's inner wall with the articulated inner wall of second is fixedly connected with flexonics layer, first flexible joint's one side with the equal block of one side of second flexible joint is connected with sealed lid, two the equal fixedly connected with camera of one side of sealed lid, two the equal fixedly connected with underwater lamp of one side of sealed lid.
Preferably, the two drive assembly all includes pneumatic artificial muscle skin, a plurality of flexible bracing piece, two pneumatic artificial muscle inlayer and coupling assembling, two pneumatic artificial muscle skin respectively with two the inboard fixed connection of flexible coupling layer, two a plurality of supporting slot has all been seted up to the outer inboard of pneumatic artificial muscle, every flexible bracing piece is fixed respectively and is set up in every the inboard of supporting slot, two pneumatic artificial muscle inlayer is fixed respectively and is set up two the outer inboard of pneumatic artificial muscle.
Preferably, the two pneumatic artificial muscle outer layers, each flexible support rod and the two pneumatic artificial muscle inner layers are made of latex materials.
Preferably, the two connecting components comprise two connecting pieces, each two connecting pieces are respectively and fixedly arranged at two ends of each pneumatic artificial muscle inner layer, and one side of each connecting piece is communicated with a communicating pipe.
Preferably, through holes are formed in the surfaces of the two sealing covers, and the two communicating pipes correspond to the two through holes respectively.
Preferably, a sealing layer is fixedly connected to the inner side of the sealing pad, and two ends of the sealing layer are respectively and fixedly connected with the inner side of the first flexible joint and the inner side of the second flexible joint.
Preferably, one side of one sealing cover is fixedly connected with a submersible motor, and a transmission shaft of the submersible motor is fixedly connected with driving slurry.
Compared with the related art, the ship lock underwater exploring flexible robot provided by the utility model has the following beneficial effects:
1. the utility model provides a flexible robot is surveyed under water to ship lock, be convenient for support pneumatic artificial muscle skin whole through a plurality of flexible bracing piece, simultaneously be convenient for promote the softness when first flexible joint and the whole use of second flexible joint through pneumatic artificial muscle skin, flexible bracing piece and pneumatic artificial muscle inlayer of latex material, and the pneumatic artificial muscle body that comprises pneumatic artificial muscle skin, flexible bracing piece, pneumatic artificial muscle inlayer and connecting piece and communicating pipe etc. is by the compressed air drive push-and-pull action that provides of outside, its process is like the muscle motion of human, it can provide very big strength, but weight is less, minimum pneumatic artificial muscle body weight is only ten grams, pneumatic artificial muscle body can automatic braking when reaching the push-and-pull limit, can not predetermined scope, a plurality of breakthrough pneumatic artificial muscle bodies can be according to arbitrary direction, the position combination, do not need neat range, convenient to use;
2. the utility model provides a flexible robot is touched under water to ship lock, is convenient for obtain the target information in the muddy water environment through muddy water camera, is convenient for throw light on the underwater environment through the lamp under water, does benefit to muddy water camera's use, is convenient for drive the thick liquid rotation through the submersible motor simultaneously, is convenient for provide auxiliary drive effort for between first flexible joint and the flexible joint of second, is convenient for assist and promotes first flexible joint and the flexible joint of second and remove at the bottom of the water, is convenient for work.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic side plan view of the interior of the present utility model;
FIG. 3 is a schematic side view of a portion of the present utility model;
fig. 4 is a schematic view of a partial structure of the present utility model.
In the figure: 1. a first flexible joint; 2. a drive assembly; 21. pneumatic artificial muscle outer layer; 22. a support groove; 23. a flexible support rod; 24. pneumatic artificial muscle inner layer; 25. a connection assembly; 251. a connecting piece; 252. a communicating pipe; 3. a second flexible joint; 4. a sealing gasket; 5. a sealing layer; 6. a flexible connection layer; 7. sealing cover; 8. a through hole; 9. a muddy water camera; 10. an underwater light; 11. a submersible motor; 12. driving the slurry.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Example 1:
referring to fig. 1-4, the utility model provides a ship lock underwater exploration flexible robot, which comprises a first flexible joint 1 and a second flexible joint 3, wherein a sealing gasket 4 is fixedly connected between the first flexible joint 1 and the second flexible joint 3, a driving assembly 2 is respectively arranged on the inner side of the first flexible joint 1 and the inner side of the second flexible joint 3, a flexible connecting layer 6 is respectively fixedly connected on the inner wall of the first flexible joint 1 and the inner wall of the second flexible joint 3, sealing covers 7 are respectively clamped and connected on one side of the first flexible joint 1 and one side of the second flexible joint 3, a muddy water camera 9 is respectively fixedly connected on one side of the two sealing covers 7, and an underwater lamp 10 is respectively fixedly connected on one side of the two sealing covers 7;
the inner side of the sealing gasket 4 is fixedly connected with a sealing layer 5, and two ends of the sealing layer 5 are respectively and fixedly connected with the inner side of the first flexible joint 1 and the inner side of the second flexible joint 3, so that the sealing performance is convenient to improve;
one side of one sealing cover 7 is fixedly connected with a submersible motor 11, and a transmission shaft of the submersible motor 11 is fixedly connected with driving slurry 12, so that auxiliary driving force is conveniently provided for the first flexible joint 1 and the second flexible joint 3;
referring to fig. 1-4, the underwater exploration flexible robot of the ship lock further comprises a driving assembly 2, wherein the two driving assemblies 2 comprise pneumatic artificial muscle outer layers 21, a plurality of flexible supporting rods 23, two pneumatic artificial muscle inner layers 24 and a connecting assembly 25, the two pneumatic artificial muscle outer layers 21 are fixedly connected with the inner sides of the two flexible connecting layers 6 respectively, a plurality of supporting grooves 22 are formed in the inner sides of the two pneumatic artificial muscle outer layers 21, each flexible supporting rod 23 is fixedly arranged on the inner side of each supporting groove 22 respectively, and the two pneumatic artificial muscle inner layers 24 are fixedly arranged on the inner sides of the two pneumatic artificial muscle outer layers 21 respectively;
the two pneumatic artificial muscle outer layers 21, each flexible supporting rod 23 and the two pneumatic artificial muscle inner layers 24 are made of latex materials;
specifically, as shown in fig. 2 and 4, the pneumatic artificial muscle body is integrally formed by the pneumatic artificial muscle outer layer 21, the flexible support rod 23, the pneumatic artificial muscle inner layer 24, the connecting piece 251 and the communicating pipe 252, which are included in the driving assembly, and the pneumatic artificial muscle outer layer 21 and the pneumatic artificial muscle inner layer 24 are integrally in a slender cylindrical shape, so that the structure is compact, and the diameters of the first flexible joint 1 and the second flexible joint 3 can be reduced.
Example 2:
the two connecting components 25 comprise two connecting pieces 251, each two connecting pieces 251 are fixedly arranged at two ends of each pneumatic artificial muscle inner layer 24 respectively, and one side of each connecting piece 251 is communicated with a communicating pipe 252;
the surfaces of the two sealing covers 7 are provided with through holes 8, and the two communicating pipes 252 respectively correspond to the two through holes 8;
specifically, as shown in fig. 2 and fig. 4, the pneumatic artificial muscle outer layer 21, the flexible support rod 23, the pneumatic artificial muscle inner layer 24, the connecting piece 251 and the communicating pipe 252, which are included in the driving assembly, are integrally formed into a pneumatic artificial muscle body, the pneumatic artificial muscle outer layer 21 and the pneumatic artificial muscle inner layer 24 are integrally in a slender cylindrical shape, the structure is compact, the diameters of the first flexible joint 1 and the second flexible joint 3 are reduced, the pneumatic artificial muscle body is a flexible direct driving element, the driving of compressed air is adopted, larger output displacement can be generated, namely, the pneumatic artificial muscle body is driven by the compressed air provided by the outside to perform push-pull action, the process is just like the muscle movement of a human body, the pneumatic artificial muscle body can provide great force, the weight is relatively small, the minimum pneumatic artificial muscle body only has ten grams, the pneumatic artificial muscle body can be automatically braked when the push-pull limit is reached, the predetermined range is not broken, the pneumatic artificial muscle bodies can be combined in any direction and position, the arrangement is not needed, the use is convenient, and the flexible locus of the first flexible joint 1 and the second flexible joint 3 can be controlled by controlling the flexible track of the first flexible joint through the compressed air.
Working principle: when the ship lock underwater exploring flexible robot is particularly used, firstly, the pneumatic artificial muscle outer layer 21, the flexible supporting rod 23, the pneumatic artificial muscle inner layer 24, the connecting piece 251 and the communicating pipe 252 which are contained in the driving assembly integrally form a pneumatic artificial muscle body, the pneumatic artificial muscle outer layer 21 and the pneumatic artificial muscle inner layer 24 are integrally in a slender cylindrical shape, the structure is compact, the diameters of the first flexible joint 1 and the second flexible joint 3 are reduced, the pneumatic artificial muscle body is a flexible direct driving element, the pneumatic artificial muscle body is driven by compressed air and can generate larger output displacement, namely, the pneumatic artificial muscle body is driven by the compressed air provided by the outside to act as push-pull action, the process is like the muscle movement of a human body, the pneumatic artificial muscle body can provide great strength, the weight is smaller, and the weight of the minimum pneumatic artificial muscle body is only ten grams, the pneumatic artificial muscle bodies can automatically brake when reaching the push-pull limit, the predetermined range can not be broken, a plurality of pneumatic artificial muscle bodies can be combined according to any direction and position, the arrangement is not needed, the pneumatic artificial muscle bodies are convenient to use, then the movement track of the first flexible joint 1 and the second flexible joint 3 can be controlled through compressed air by connecting the communicating pipe 252 with an external structure, the combined use of the first flexible joint 1 and the second flexible joint 3 is controlled, the muddy water camera 9 with the model number of ty-T33 is controlled to be started through an external main switch, the target information in the muddy water environment is obtained, the underwater can be illuminated through controlling the starting of the underwater lamp 10, the using effect of the muddy water camera 9 is assisted to be improved, the driving slurry 12 is driven to rotate through the submersible motor 11 with the model number of YQS, the driving force of the first flexible joint 1 and the second flexible joint 3 is assisted to be lifted, so that the first flexible joint 1 and the second flexible joint 3 can work conveniently.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a flexible robot is surveyed under water to lock, includes first flexible joint (1) and second flexible joint (3), its characterized in that: the novel underwater lamp comprises a first flexible joint (1) and a second flexible joint (3), wherein a sealing gasket (4) is fixedly connected between the first flexible joint (1) and the second flexible joint (3), a driving assembly (2) is arranged on the inner side of the first flexible joint (1) and the inner side of the second flexible joint (3), a flexible connecting layer (6) is fixedly connected on the inner wall of the first flexible joint (1) and the inner wall of the second flexible joint (3), sealing covers (7) are fixedly connected on one side of the first flexible joint (1) and one side of the second flexible joint (3), a muddy water camera (9) is fixedly connected on one side of each sealing cover (7), and underwater lamps (10) are fixedly connected on one sides of the two sealing covers (7).
2. The ship lock underwater exploration flexible robot of claim 1, wherein: the two driving components (2) comprise a pneumatic artificial muscle outer layer (21), a plurality of flexible supporting rods (23), two pneumatic artificial muscle inner layers (24) and a connecting component (25), wherein the pneumatic artificial muscle outer layers (21) are fixedly connected with the inner sides of the flexible connecting layers (6) respectively, the pneumatic artificial muscle outer layers (21) are respectively internally provided with a plurality of supporting grooves (22), each flexible supporting rod (23) is fixedly arranged on each supporting groove (22) respectively, and the pneumatic artificial muscle inner layers (24) are fixedly arranged on the inner sides of the pneumatic artificial muscle outer layers (21) respectively.
3. A ship lock underwater exploration flexible robot according to claim 2, wherein: the two pneumatic artificial muscle outer layers (21), each flexible supporting rod (23) and the two pneumatic artificial muscle inner layers (24) are made of latex materials.
4. A ship lock underwater exploration flexible robot according to claim 2, wherein: the two connecting components (25) comprise two connecting pieces (251), each two connecting pieces (251) are respectively and fixedly arranged at two ends of each pneumatic artificial muscle inner layer (24), and one side of each connecting piece (251) is communicated with a communicating pipe (252).
5. The ship lock underwater exploration flexible robot of claim 4, wherein: through holes (8) are formed in the surfaces of the two sealing covers (7), and the two communicating pipes (252) correspond to the two through holes (8) respectively.
6. The ship lock underwater exploration flexible robot of claim 1, wherein: the inner side of the sealing gasket (4) is fixedly connected with a sealing layer (5), and two ends of the sealing layer (5) are respectively fixedly connected with the inner side of the first flexible joint (1) and the inner side of the second flexible joint (3).
7. The ship lock underwater exploration flexible robot of claim 1, wherein: one side of one sealing cover (7) is fixedly connected with a submersible motor (11), and a transmission shaft of the submersible motor (11) is fixedly connected with driving slurry (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320078177.8U CN219770145U (en) | 2023-01-10 | 2023-01-10 | Ship lock underwater exploration flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320078177.8U CN219770145U (en) | 2023-01-10 | 2023-01-10 | Ship lock underwater exploration flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219770145U true CN219770145U (en) | 2023-09-29 |
Family
ID=88135641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320078177.8U Active CN219770145U (en) | 2023-01-10 | 2023-01-10 | Ship lock underwater exploration flexible robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219770145U (en) |
-
2023
- 2023-01-10 CN CN202320078177.8U patent/CN219770145U/en active Active
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