CN220662827U - Multifunctional underwater cruising robot - Google Patents

Abstract

The utility model relates to a multifunctional underwater cruising robot, which comprises a robot body, a sonar probe, a buoyancy regulator, two spiral barrels and two driving pieces, wherein the sonar probe is fixedly arranged at the front end of the robot body; the two spiral barrels are oppositely arranged at the left side and the right side of the robot body and can horizontally rotate around the axial direction of the robot body respectively; the two driving parts are respectively and fixedly arranged at two sides of the robot body and are respectively positioned in the two spiral barrels and are respectively used for driving the two spiral barrels to rotate; the buoyancy regulator is arranged on the robot body and used for regulating the buoyancy of the robot body in water. The utility model has the beneficial effects of simple structure and reasonable design, provides a pipeline which can move forwards, backwards, turn left and right and float upwards and downwards, can be fixed in depth and has multiple functions so as to detect the pipeline with water inside.

Description

Multifunctional underwater cruising robot

Technical Field

The utility model relates to the technical field of pipeline detection, in particular to a multifunctional underwater cruising robot.

Background

The existing method applied to the detection of the high water level/full pipe water pipeline adopts an unpowered floating valve carrying sonar and a mode of manually dragging a high-pressure gun rope. The mode is high in limitation, ropes cannot be threaded under many working conditions, the gestures of the sonar are difficult to control when the sonar is manually dragged, and the pipe joints/branch pipe joints and the like are easy to clamp. The sonar probe is difficult to control in the advancing posture in the tube, so that the sonar imaging effect is poor.

Disclosure of Invention

The utility model aims to solve the technical problem of the prior art by providing a multifunctional underwater cruising robot.

The technical scheme for solving the technical problems is as follows:

the multifunctional underwater cruising robot comprises a robot body, a sonar probe, a buoyancy regulator, two spiral barrels and two driving pieces, wherein the sonar probe is fixedly arranged at the front end of the robot body; the two spiral barrels are oppositely arranged at the left side and the right side of the robot body and can horizontally rotate around the axial direction of the robot body respectively; the two driving parts are respectively and fixedly arranged at two sides of the robot body, are respectively positioned in the two spiral barrels and are respectively used for driving the two spiral barrels to rotate; the buoyancy regulator is installed on the robot body and used for regulating the buoyancy of the robot body in water.

The beneficial effects of the utility model are as follows: in the detection process, the two spiral barrels are driven to rotate through the two driving parts respectively, so that the whole robot can move in the pipeline, the buoyancy of the whole robot is regulated through the buoyancy regulator, and the normal moving of the robot is ensured;

in addition, the rotating speeds of the two spiral barrels are changed through the two driving parts, so that the forward, backward, left-turning and right-turning of the robot are realized, and the functions are various;

in the process, the sonar probe emits sound waves and receives the sound waves reflected by the pipeline, so that whether the pipeline is deformed or damaged is judged, the thickness of the sludge in the pipeline is obtained, and the detection is convenient.

The utility model has simple structure and reasonable design, and provides the pipeline which can move forwards, backwards, turn left and turn right and has various functions so as to detect the pipeline with water inside.

On the basis of the technical scheme, the utility model can be improved as follows.

Further, the buoyancy regulator comprises two buoyancy regulating cabins, the two buoyancy regulating cabins are oppositely arranged on the robot body and are respectively positioned above the two spiral barrels; the two buoyancy regulating cabins can move and position in the front-back direction respectively, and the two buoyancy regulating cabins can turn over and position in the left-right direction.

The beneficial effect of adopting above-mentioned further scheme is simple structure, reasonable in design, through changing the position of two buoyancy adjustment warehouses in fore-and-aft and left-right direction to adjust the buoyancy of pipeline interior water to whole robot, it is convenient to adjust.

Further, two mounting shafts are respectively and fixedly arranged on two sides of the front end and the rear end of the robot body in a relative manner, and the four mounting shafts extend in the front-rear direction respectively; two buoyancy regulating bin's both ends respectively with the one end fixed connection of connecting rod, four the other end of connecting rod overlaps respectively and establishes four on the installation axle, it can be respectively along four the axial displacement of installation axle is fixed a position, and can be respectively around four the installation axle rotates and fixes a position.

The beneficial effect of adopting above-mentioned further scheme is simple structure, reasonable in design, and the both ends in two buoyancy adjustment storehouse are connected with the installation axle through the connecting rod respectively to realize the adjustment in the position of even buoyancy adjustment storehouse, and then adjust the buoyancy of whole robot.

Further, the interiors of the two buoyancy regulating cabins are respectively hollow.

The beneficial effect of adopting above-mentioned further scheme is that the hollow design in two buoyancy regulating bin can alleviate the weight of whole robot, guarantees that the robot can advance in water.

Further, the two ends of the robot body are respectively and fixedly provided with a floating and diving propeller.

The further scheme has the beneficial effects that the floating and diving propeller can be used for realizing the ascending, diving and depth fixing of the robot, and the robot is more convenient to travel.

Furthermore, the two ends of the robot body are respectively and fixedly provided with a floating propeller guide cover, and the two floating propeller guide covers are respectively positioned below the two floating propellers.

The beneficial effect of adopting above-mentioned further scheme is that the in-process that the robot marched carries out the water conservancy diversion effect through two buoyancy propeller kuppe, reduces the resistance of robot in the in-process of marcing, and the robot marches more smoothly.

Further, the front end of the robot body is also fixedly provided with a front-view camera.

The beneficial effect of adopting above-mentioned further scheme is that in the testing process, the accessible foresight camera gathers the image of the place ahead of the corresponding robot of pipeline, further judges whether the pipeline takes place to warp or damage, and the accuracy is higher.

Further, an upward-looking camera is fixedly arranged on the upper side of the robot body.

The beneficial effect of adopting above-mentioned further scheme is that in the testing process, the accessible looks at the camera and gathers the image that the pipeline corresponds the robot top position, further judges whether the pipeline takes place to warp or damage, and the accuracy is higher.

Further, the front end of the robot body and/or the upper side of the robot body are/is respectively fixedly provided with an illuminating lamp.

The beneficial effect of adopting above-mentioned further scheme is through the luminance in the light increase pipeline, further improves the accuracy that detects.

Further, the robot body is fixedly provided with a water pressure sensor and a pressure indicator lamp.

The water pressure sensor can be used for determining the underwater position of the robot, and meanwhile, the pressure indicator lamp can be used for judging whether the robot leaks or not.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a front view of the present utility model;

FIG. 3 is a top view of the present utility model;

FIG. 4 is a front view of the present utility model;

FIG. 5 is a rear view of the present utility model;

fig. 6 is a schematic structural view of the screw barrel and the driving member in the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

1. a robot body; 2. a sonar probe; 3. a screw barrel; 4. a buoyancy adjusting bin; 5. a mounting shaft; 6. a connecting rod; 7. a floating and submerged propeller; 8. a floating and submerged propeller air guide sleeve; 9. a front view camera; 10. a top view camera; 11. a lighting lamp; 12. a water pressure sensor; 13. a pressure indicator light; 14. an anti-collision bracket; 15. waterproof aviation plug; 16. a movable shaft; 17. a fixed shaft; 18. a floating travel motor.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

The utility model will be described in detail below with reference to the drawings in connection with embodiments.

Example 1

As shown in fig. 1 to 6, the present embodiment provides a multifunctional underwater cruise robot, which comprises a robot body 1, a sonar probe 2, a buoyancy regulator, two screw barrels 3 and two driving pieces, wherein the sonar probe 2 is fixedly installed at the front end of the robot body 1; the two spiral barrels 3 are oppositely arranged at the left side and the right side of the robot body 1 and can horizontally rotate around the axial direction of the robot body respectively; the two driving parts are respectively and fixedly arranged at two sides of the robot body 1 and are respectively positioned in the two spiral barrels 3 and are respectively used for driving the two spiral barrels 3 to rotate; the buoyancy regulator is installed on the robot body 1 and is used for regulating the buoyancy of the robot body 1 in water.

In the detection process, the two spiral barrels 3 are driven to rotate through the two driving parts respectively, so that the whole robot can move in the pipeline, the buoyancy of the whole robot is regulated through the buoyancy regulator, and the normal moving of the robot is ensured;

in addition, the rotation speed of the two spiral barrels 3 is changed through the two driving parts, so that the forward, backward, left rotation and right rotation of the robot are realized, and the functions are various;

in the process, the sonar probe 2 emits sound waves and receives the sound waves reflected by the pipeline, so that whether the pipeline is deformed or damaged is judged, the thickness of the sludge in the pipeline is obtained, and the detection is convenient.

Preferably, in the embodiment, each spiral barrel 3 is of a structure with thin two ends and thick middle part, and the structure is simple, the design is reasonable, and the whole robot can conveniently travel in water or sludge.

In addition, each screw 3 is specifically installed in the following manner: each side of the robot body 1 is provided with a movable shaft 16 and a fixed shaft 17, the movable shaft 16 and the fixed shaft 17 extend along the front-rear direction respectively, one end of the movable shaft 16 away from the fixed shaft 17 is rotationally connected with the robot body 1, and one end of the fixed shaft 17 away from the movable shaft 16 is fixedly connected with the robot body 1; each spiral barrel 3 is positioned between the corresponding movable shaft 16 and the corresponding fixed shaft 17, two ends of each spiral barrel 3 are respectively sleeved on the movable shaft 16 and the fixed shaft 17, one end of each spiral barrel 3 is rotationally connected with the fixed shaft 17, and the other end of each spiral barrel is fixedly connected with the movable shaft 16; each driving member is a floating travelling motor 18, and the floating travelling motor 18 is fixedly mounted on one end of the fixed shaft 17, which is close to the movable shaft 16, and the driving end of the driving member extends along the axial direction of the movable shaft 16 and is fixedly connected with one end of the movable shaft 16, which is close to the fixed shaft 17. The scheme is simple in structure and reasonable in design, the two movable shafts 16 are driven to rotate by the aid of the two floating travelling motors 18, so that the two movable shafts 16 drive the two spiral barrels 3 to rotate respectively, and the whole robot floats and travels in a pipeline.

Preferably, in this embodiment, the front end of the robot body 1 is further fixedly provided with an anti-collision bracket 14, the anti-collision bracket 14 includes two rings, the two rings are coaxially distributed and connected by a plurality of connecting rods uniformly distributed at intervals, one of the rings is fixedly installed at the front end of the robot body 1, and the sonar probe 2 is located in an area surrounded by the two rings and the plurality of connecting rods.

The sonar probe 2 is a prior art.

Based on the above scheme, the rear end of the robot body 1 is fixedly provided with the waterproof aviation plug 15, and the waterproof aviation plug 15 is connected with external equipment such as a computer through a cable and is connected with the sonar probe 2 through a line.

The embodiment has simple structure and reasonable design, and provides a pipeline which can move forwards, backwards, turn left and turn right and has multiple functions so as to detect water in the pipeline.

Example 2

On the basis of embodiment 1, in this embodiment, the buoyancy regulator includes two buoyancy regulating bins 4, and the two buoyancy regulating bins 4 are relatively installed on the robot body 1 and are respectively located above the two spiral barrels 3; the two buoyancy adjusting cabins 4 can move and position in the front-back direction respectively, and the two buoyancy adjusting cabins 4 can turn over and position up and down in the left-right direction.

This scheme simple structure, reasonable in design adjusts the position of storehouse 4 in front and back and left and right directions through changing two buoyancy to adjust the buoyancy of pipeline interior water to whole robot, it is convenient to adjust.

Example 3

In this embodiment, two mounting shafts 5 are respectively and fixedly mounted on two sides of the front end and the rear end of the robot body 1, and the four mounting shafts 5 extend in the front-rear direction; two ends of the buoyancy regulating bin 4 are fixedly connected with one end of a connecting rod 6 respectively, the other ends of the four connecting rods 6 are sleeved on the four mounting shafts 5 respectively, and the two ends of the buoyancy regulating bin can move and position along the axial directions of the four mounting shafts 5 respectively and can rotate and position around the four mounting shafts 5 respectively.

This scheme simple structure, reasonable in design, the both ends in two buoyancy adjustment storehouse 4 are connected with installation axle 5 through connecting rod 6 respectively to realize the adjustment in the position of the buoyancy adjustment storehouse 4 of linking, and then adjust the buoyancy of whole robot.

Preferably, in this embodiment, a through hole extending back and forth is provided at the other end of each connecting rod 6, and the corresponding mounting shaft 5 is inserted into the through hole; the other end of each connecting rod 6 is provided with a screw hole communicated with the through hole, and a locking screw is connected in the screw hole in a threaded manner. During adjustment, the connecting rod 6 can be manually slid back and forth to a set position and rotated to a set angle, and then the locking screw is manually tightened until one end of the locking screw abuts against or loosens the corresponding mounting shaft 5, so that the corresponding mounting shaft 5 is fixed or loosened.

In addition, one end of each connecting rod 6 may be fixedly connected to the corresponding end of the corresponding buoyancy adjustment bin 4, or one end of each connecting rod 6 may be fixedly sleeved on the corresponding end of the corresponding buoyancy adjustment bin 4.

Example 4

In this embodiment, the insides of the buoyancy adjustment chambers 4 are hollow, respectively, on the basis of any one of embodiments 2 to 4.

The hollow design of the two buoyancy regulating cabins 4 can reduce the weight of the whole robot and ensure that the robot can travel in water.

Preferably, in the embodiment, each buoyancy adjusting bin 4 is of a cylindrical structure, so that the buoyancy adjusting bin is simple in structure, reasonable in design and convenient for the whole robot to travel in water or sludge.

Example 5

On the basis of the above embodiments, in this embodiment, the floating thrusters 7 are fixedly installed at two ends of the robot body 1, respectively.

The scheme can realize the ascending, the descending and the depth setting of the robot by utilizing the floating and diving propeller 7, and the running is more convenient.

It should be noted that, each of the above-mentioned submersible thrusters 7 is a conventional technology, and the specific structure and principle thereof will not be described herein.

Example 6

In this embodiment, on the basis of embodiment 5, two ends of the robot body 1 are further fixedly provided with a buoyancy propeller air guide sleeve 8, and two buoyancy propeller air guide sleeves 8 are respectively located below two buoyancy propellers 7.

In the running process of the robot, the diversion effect is carried out through the diversion covers 8 of the two floating and diving propellers, so that the resistance of the robot in the running process is reduced, and the running of the robot is smoother.

Example 7

On the basis of the above embodiments, in this embodiment, the front end of the robot body 1 is also fixedly provided with a front-view camera 9.

In the detection process, the front-view camera 9 can be used for collecting the image of the front part of the pipeline corresponding to the robot, so that whether the pipeline is deformed or damaged can be further judged, and the accuracy is higher.

Preferably, in this embodiment, the front-view camera 9 is preferably a high-definition camera in the prior art, so that the resolution and accuracy of the acquired image are higher.

Example 8

In this embodiment, an upward-looking camera 10 is fixedly installed on the upper side of the robot body 1, based on embodiment 7.

In the detection process, the upward-looking camera 10 can be used for collecting the image of the position above the pipeline corresponding to the robot, so that whether the pipeline is deformed or damaged can be further judged, and the accuracy is higher.

Preferably, in this embodiment, the above-mentioned upper view camera 10 is preferably a high definition camera in the prior art, so that the resolution and accuracy of the acquired image are higher.

Example 9

In this embodiment, on the basis of embodiment 8, the front end of the robot body 1 and/or the upper side of the robot body 1 are respectively fixedly provided with an illumination lamp 11.

This scheme increases the luminance in the pipeline through light 11, further improves the accuracy of detection.

Preferably, in this embodiment, two illumination lamps 11 are fixedly installed at the positions of the robot body 1 corresponding to the left and right sides of the front-view camera 9 respectively, so that the design is reasonable, and the definition of the images collected by the front-view camera 9 is further ensured.

In addition, the robot body 1 is fixedly provided with two illuminating lamps 11 at the positions corresponding to the left side and the right side of the upward-looking camera 10 respectively, so that the design is reasonable, and the definition of the image acquired by the upward-looking camera 10 is further ensured.

Example 10

On the basis of the above embodiments, in this embodiment, the robot body 1 is fixedly provided with a water pressure sensor 12 and a pressure indicator 13.

The scheme can determine the position of the robot under water through the water pressure sensor 12, and meanwhile, the pressure indicator lamp 13 can judge whether the robot leaks or not.

The robot body 1 is filled with high-pressure gas, the pressure in the robot body 1 is kept constant by the high-pressure gas, and when the pressure indicator lamp 13 flashes, the pressure in the robot body 1 is indicated to change, so that the robot body 1 is indicated to leak water.

When water exists in the pipeline, the pressure of a certain depth in the water is constant, the pressure of the robot at the depth can be detected by the water pressure sensor 12, the pressure corresponds to the set depth, and the position of the robot can be obtained by the pressure.

The water pressure sensor 12 and the pressure indicator 13 are both of the prior art.

Based on the above scheme, the interior of the robot body 1 is hollow, and a battery is fixedly installed in the interior of the robot body, each electronic component is respectively connected with the battery, and the battery supplies power to each component.

The working principle of the utility model is as follows:

in the detection process, the two spiral barrels 3 are driven to rotate through the two driving parts respectively, so that the whole robot can move in the pipeline, the buoyancy of the whole robot is regulated through the buoyancy regulator, and the normal moving of the robot is ensured;

in addition, the rotation speed of the two spiral barrels 3 is changed through the two driving parts, so that the forward, backward, left rotation and right rotation of the robot are realized, and the functions are various;

in addition, the floating and diving propeller 7 can be utilized to realize the ascending, diving and depth setting of the robot, and the running is more convenient;

in the process, the sonar probe 2 emits sound waves and receives the sound waves reflected by the pipeline, so that whether the pipeline is deformed or damaged is judged, the thickness of the sludge in the pipeline is obtained, and the detection is convenient;

meanwhile, the front view camera 9 and the upper view camera 10 can be used for respectively collecting images of the front part and the upper part of the pipeline corresponding to the robot, so that whether the pipeline is deformed or damaged can be further judged, and the accuracy is higher.

The utility model can solve the problems of high pipeline water level/full pipeline water depth setting, intelligent cruising, video and sonar detection.

The utility model adopts the screw barrel to push and control the robot to advance, retreat, turn left and turn right, adopts the screw propeller to control the machine to float and submerge, and adopts the pressure sensing to control the float and submerge depth and the gesture of the robot by matching with the screw propeller, thereby realizing the depth-fixing detection; and the robot can travel according to the set course angle through the self-contained electronic compass module.

It should be noted that, all the electronic components related to the present utility model adopt the prior art, and the above components are electrically connected to each other and to the controller, and the control circuit between the controller and the components is the prior art.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims (10)

1. The utility model provides a multi-functional underwater cruising robot which characterized in that: the intelligent robot comprises a robot body (1), a sonar probe (2), a buoyancy regulator, two spiral barrels (3) and two driving pieces, wherein the sonar probe (2) is fixedly arranged at the front end of the robot body (1); the two spiral barrels (3) are oppositely arranged at the left side and the right side of the robot body (1) and can horizontally rotate around the axial direction of the robot body; the two driving parts are respectively and fixedly arranged at two sides of the robot body (1), are respectively positioned in the two spiral barrels (3) and are respectively used for driving the two spiral barrels (3) to rotate; the buoyancy regulator is arranged on the robot body (1) and is used for regulating the buoyancy of the robot body (1) in water.

2. The multi-function underwater cruise robot of claim 1 wherein: the buoyancy regulator comprises two buoyancy regulating cabins (4), wherein the two buoyancy regulating cabins (4) are oppositely arranged on the robot body (1) and are respectively positioned above the two spiral barrels (3); the two buoyancy regulating cabins (4) can move and position along the front-back direction respectively, and the two buoyancy regulating cabins (4) can turn over and position along the left-right direction.

3. The multi-function underwater cruise robot of claim 2 wherein: two sides of the front end and the rear end of the robot body (1) are respectively and fixedly provided with two mounting shafts (5) in a relative manner, and the four mounting shafts (5) extend in the front-rear direction respectively; two ends of the buoyancy adjusting bin (4) are fixedly connected with one end of the connecting rod (6) respectively, the other ends of the four connecting rods (6) are sleeved on the four mounting shafts (5) respectively, and the two ends of the buoyancy adjusting bin can move and position along the axial direction of the four mounting shafts (5) respectively and can rotate and position around the four mounting shafts (5) respectively.

4. The multi-function underwater cruise robot of claim 2 wherein: the inside of each buoyancy regulating bin (4) is hollow.

5. The multifunctional underwater cruise robot according to any one of claims 1-4, characterized in that: both ends of the robot body (1) are respectively fixedly provided with a floating propeller (7).

6. The multi-function underwater cruise robot of claim 5 wherein: the two ends of the robot body (1) are fixedly provided with floating propeller fairings (8) respectively, and the two floating propeller fairings (8) are respectively positioned below the two floating propellers (7).

7. The multifunctional underwater cruise robot according to any one of claims 1-4, characterized in that: the front end of the robot body (1) is also fixedly provided with a front-view camera (9).

8. The multi-function underwater cruise robot of claim 7 wherein: an upward-looking camera (10) is fixedly arranged on the upper side of the robot body (1).

9. The multi-function underwater cruise robot of claim 8 wherein: the front end of the robot body (1) and/or the upper side of the robot body (1) are/is fixedly provided with illuminating lamps (11) respectively.

10. The multifunctional underwater cruise robot according to any one of claims 1-4, characterized in that: the robot body (1) is fixedly provided with a water pressure sensor (12) and a pressure indicator lamp (13).