An underwater robot for pollution tracing

Abstract

The present invention belongs to the technical field of underwater environmental monitoring, and specifically relates to an underwater robot for pollution tracing, comprising a body located underwater and a hull floating on the water, a winding mechanism being provided on the hull for automatically retracting and releasing cables connected to the body, the body controlling the depth and movement direction in the water respectively through longitudinal propellers and transverse propellers, a protective mesh cover and a transverse protective member being provided on the body to prevent debris in the water from entangled in the propellers, and in addition, a direction-changing limit ring, a direction-changing head and a baffle are designed at the connection between the body and the cable to relieve stress and prevent damage to the cable. The present invention has a reasonable structure and can operate stably and efficiently in a complex underwater environment, effectively solving the problems of inaccurate positioning, limited movement, easy entanglement of propellers with debris and easy damage of cables in the prior art.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater environment monitoring, and in particular relates to an underwater robot for pollution tracing. Background Art

[0002] With the acceleration of industrialization and the advancement of urbanization, water pollution is becoming increasingly serious, especially in rivers, lakes and offshore waters. The discharge of pollutants poses a great threat to the ecological environment and human health. In environmental monitoring and governance, how to effectively trace the source of pollution has become a key issue. Traditional water quality monitoring methods mainly rely on fixed monitoring sites, which have problems such as limited coverage, poor real-time performance and difficulty in obtaining the exact location of the pollution source. Therefore, there is an urgent need for a device that can move flexibly, accurately position and adapt to complex underwater environments, so as to efficiently and accurately trace the source of water pollution.

[0003] To solve this problem, underwater robots, as intelligent devices that can move freely in water, are gradually being used in the field of pollution tracing. However, when operating in complex underwater environments, existing underwater robots often face technical difficulties such as propellers being entangled by underwater debris, cables being damaged due to movement, and insufficient control accuracy. These problems not only affect the working efficiency of underwater robots, but may also cause equipment failures and increase maintenance costs. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide an underwater robot for pollution tracing, which can be realized by rationally designing its structure and functions so that it can operate stably and efficiently in a complex underwater environment.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An underwater robot for pollution source tracing comprises a body located underwater and a hull floating on the water;

[0007] A winding mechanism is installed on the hull, and a cable is wound on the winding mechanism, the movable end of the cable is connected to the body, and a cable connector for protecting the cable is provided at the connection between the body and the cable;

[0008] The cable connector comprises a connecting tube connected to the top of the machine body, the top of the connecting tube is connected to a direction-changing limiting ring, the inner side of the direction-changing limiting ring is rotatably connected to a direction-changing head, and the top of the direction-changing head is screwed with a connector.

[0009] Furthermore, a through hole is formed through the top of the body;

[0010] A first flange ring is fixedly connected to the outer side surface of the bottom of the connecting pipe.

[0011] Furthermore, the top of the connecting pipe is provided with thread grooves at equal intervals around its central axis;

[0012] The outer side surface of the direction-changing limiting ring is fixedly connected to a second flange ring;

[0013] The shape of the direction-changing head is set to be a truncated sphere, and the inner side surface of the direction-changing limiting ring is provided with an arc groove that fits with the outer side surface of the direction-changing head, and the direction-changing head can rotate freely in the direction-changing limiting ring.

[0014] Furthermore, a baffle plate for limiting the movable angle of the direction-changing head is fixedly connected to the top edge of the direction-changing head.

[0015] Furthermore, a through pipe is inserted through the bottom of the direction-changing head, and a connecting thread is provided on the outer side of the top of the through pipe.

[0016] Furthermore, a connector is connected to the connecting thread, and the connector is sleeved on the cable.

[0017] Furthermore, the winding mechanism is used to wind and store the cables, and the winding mechanism includes a connecting seat connected to the hull, the top of the connecting seat is fixedly connected to a limiting frame, the top center of the limiting frame is fixedly connected to a positioning column, and the positioning column is rotatably connected to a wire wheel for winding the cables.

[0018] Furthermore, a motor seat is fixedly connected to one side of the limit frame, a motor is fixedly connected to the bottom of the motor seat, and a driving wheel is connected to the output end of the motor;

[0019] The driving wheel fits the outer side of the bottom of the wire wheel, and the motor drives the driving wheel to drive the wire wheel to rotate synchronously;

[0020] A lower pressure plate is sleeved on the positioning column, and the lower pressure plate is located above the wire wheel;

[0021] A clamping piece is fixedly connected to the edge of the limiting frame in a mirror-image manner, and the cable passes through the clamping piece arranged in a mirror-image manner.

[0022] Furthermore, a pipeline connected to the cable connector is arranged inside the machine body, and longitudinal propellers are arranged longitudinally at both ends of the pipeline;

[0023] The top and bottom of the body are both provided with protective nets, and the protective nets and the axis of the longitudinal propeller are in the same straight line;

[0024] The interior of the body is symmetrically and laterally provided with transverse propellers, and transverse protective members are provided on both sides of the body, and transverse channels are provided at both ends of the interior of the transverse protective members;

[0025] The axes of the transverse guard, the transverse propeller and the transverse channel are in the same straight line.

[0026] Furthermore, a detection head is provided at the front end of the body, and a diversion wing plate is provided between the detection head and the transverse channel.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] First, the robot body of the present invention is equipped with longitudinal propellers and transverse propellers, which are used to control the depth and movement direction of the robot in the water respectively. Driven by the longitudinal propeller, the robot body can stably maintain a predetermined depth, while the transverse propeller ensures the flexible movement of the robot in the water. This design solves the problems of inaccurate underwater positioning and limited movement of existing underwater robots, and significantly improves the operational flexibility and accuracy of the robot in complex water environments.

[0029] Secondly, in order to prevent debris in the water from entangled in the propeller, the present invention sets protective mesh covers on the top and bottom of the body, and designs transverse channels and diverter wing plates in the transverse protective parts. These structural designs effectively prevent debris from entering the propeller area, thereby preventing the operation of the propeller from being obstructed. Through these protective measures, the robot can operate stably for a long time underwater, reducing the maintenance frequency and cost, and improving the efficiency and reliability of pollution tracing tasks.

[0030] In addition, the design of the winding mechanism in the present invention also has significant beneficial effects. The winding mechanism realizes the orderly winding and automatic retraction of the cable by setting components such as a limit frame, a positioning column, a wire wheel, and a driving wheel, thereby avoiding the entanglement and damage of the cable during underwater operation. At the same time, the design of the cable joint, including the change-of-direction limit ring, the change-of-direction head and the baffle, can effectively relieve the stress at the connection between the machine body and the cable, and prevent the cable from being damaged at the joint due to excessive bending or excessive tension, thereby ensuring the stable transmission of the control signal and the continuous operation of the machine body.

[0031] Finally, the invention ensures the close connection between the cable connector and the internal pipeline by optimizing the design of the internal structure of the robot, and further improves the adaptability of the robot in complex underwater environments by using protective nets and protective parts. This design not only solves the shortcomings of existing underwater robots in terms of environmental complexity and equipment fragility, but also enhances the durability and reliability of the equipment, providing effective protection for accurate pollution tracing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 The structure of the machine body of the present invention is shown in FIG. Figure 1 ;

[0034] Figure 3 Based Figure 2 The enlarged schematic diagram of point A in the middle;

[0035] Figure 4 It is a structural schematic diagram of the connecting pipe of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the direction-changing limiting ring of the present invention;

[0037] Figure 6 It is a structural schematic diagram of the direction-changing head of the present invention;

[0038] Figure 7 It is a structural schematic diagram of the winding mechanism of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the limiting frame of the present invention;

[0040] Fig. 9 The structure of the machine body of the present invention is shown in FIG. Figure 2 .

[0041] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0042] 1. Body;

[0043] 11. Protective mesh; 12. Longitudinal propeller; 13. Transverse protective piece; 14. Transverse propeller; 15. Pipeline; 16. Through hole; 17. Transverse channel; 18. Diverter wing plate; 19. Detection head;

[0044] 2. Cables;

[0045] 3. winding mechanism; 31. limiting frame; 311. motor seat; 312. positioning piece; 313. positioning column; 32. motor; 321. driving wheel;

[0046] 33. Wire wheel; 34. Lower pressure plate; 35. Connecting seat;

[0047] 4. Cable connector;

[0048] 41. Connecting pipe; 411. Threaded groove; 412. First flange ring; 42. Direction-changing limiting ring; 421. Second flange ring; 43. Direction-changing head; 431. Through pipe; 432. Baffle plate; 433. Connecting thread; 44. Joint; 5. Hull. DETAILED DESCRIPTION

[0049] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0050] See also Figure 1-9 A pollution tracing underwater robot comprises a body 1 located underwater and a hull 5 floating on the water; a winding mechanism 3 is installed on the hull 5, and a cable 2 is wound on the winding mechanism 3, the movable end of the cable 2 is connected to the body 1, and a cable connector 4 for protecting the cable 2 is provided at the connection between the body 1 and the cable 2; the cable connector 4 comprises a connecting pipe 41 connected to the top of the body 1, the top of the connecting pipe 41 is connected to a direction-changing limit ring 42, the inner side of the direction-changing limit ring 42 is rotatably connected to a direction-changing head 43, and the top of the direction-changing head 43 is screwed with a connector 44; the body 1 realizes underwater movement and depth control through the cooperation of a longitudinal propeller 12 and a transverse propeller 14, and a protective net cover 11 and a transverse protective member 13 further prevent debris from winding around the propeller to ensure the stable operation of the equipment in a complex underwater environment.

[0051] See also Figure 4 A through hole 16 is formed on the top of the body 1; the through hole 16 is used to connect with the connecting tube 41 in the cable connector 4, so that the cable 2 can pass through the body 1 smoothly and connect with the internal equipment; a first flange ring 412 is fixedly connected to the outer surface of the bottom of the connecting tube 41, and the first flange ring 412 is used to fix the interface between the connecting tube 41 and the body 1 to ensure the stability and sealing between the cable connector 4 and the body 1, thereby preventing water from entering the internal electronic equipment.

[0052] See also Figure 4-6 , the top of the connecting tube 41 is provided with thread grooves 411 at equal intervals around its axis; the thread grooves 411 are used to be tightly connected to the inner side of the direction-changing limit ring 42, so as to realize the free rotation of the direction-changing head 43 in the direction-changing limit ring 42; the outer side of the direction-changing limit ring 42 is fixedly connected with a second flange ring 421, and the second flange ring 421 further strengthens the fixed connection between the direction-changing limit ring 42 and the body 1 to ensure that it will not loosen during movement; the shape of the direction-changing head 43 is set to be a truncated sphere type, and the inner side of the direction-changing limit ring 42 is provided with an arc groove that fits the outer side of the direction-changing head 43, and the direction-changing head 43 can rotate freely in the direction-changing limit ring 42. This design can effectively reduce the pulling force of the body 1 on the cable 2 joint, and prevent the cable 2 from being damaged due to angle changes;

[0053] The shape of the direction-changing head 43 is set to be a truncated sphere, and the top part of the sphere is truncated to form a flat top edge, thereby providing a stable connection interface while maintaining the shape of the sphere. The diameter of the truncated part ranges from 20 mm to 30 mm, and the maximum diameter of the sphere ranges from 40 mm to 50 mm; the outer surface of the direction-changing head 43 is smooth and has an appropriate curvature to ensure that it can rotate freely in the direction-changing limit ring 42.

[0054] The shape of the direction-changing stop ring 42 is an annular structure, and its inner side is provided with an arc groove that fits the outer side of the direction-changing head 43. The curvature of the arc groove matches the outer surface of the direction-changing head 43, ensuring close contact between the two without hindering the rotation of the direction-changing head 43. The depth of the arc groove ranges from 5 mm to 8 mm, and the inner diameter ranges from 40 mm to 50 mm, corresponding to the maximum diameter of the sphere of the direction-changing head 43. The outer diameter ranges from 55 mm to 65 mm, ensuring structural strength and installation stability. Through these precise shape and size designs, smooth angle adjustment can be achieved between the direction-changing head 43 and the direction-changing stop ring 42, thereby effectively reducing the stress on the cable.

[0055] See also Figure 6 A baffle 432 is fixedly connected to the top edge of the changing head 43 for limiting the movable angle of the changing head 43; the baffle 432 limits the movable angle of the changing head 43, thereby preventing the changing head 43 from exceeding its designed movable range during movement, ensuring that the cable 2 will not be excessively bent during the process of retraction and release, thereby protecting the integrity and service life of the cable 2.

[0056] See also Figure 6 A through pipe 431 is inserted through the bottom of the changing head 43, and a connecting thread 433 is provided on the outer side of the top of the through pipe 431; the through pipe 431 is used for the internal connection of the cable 2 and ensures the sealing and stability of the cable 2 when connected to the changing head 43; the connecting thread 433 further fixes the connection between the through pipe 431 and the connector 44, so that the cable 2 can be smoothly connected to the internal equipment while preventing water from entering the connector 44.

[0057] See also Figure 3 and Figure 6 A connector 44 is connected to the connecting thread 433, and the connector 44 is sleeved on the cable 2; the connector 44 is used to connect the cable 2 with the internal electrical system of the body 1 to ensure stable transmission of control signals and power; the connector 44 is tightly connected to the through pipe 431 through the connecting thread 433, thereby avoiding loosening or leakage during use.

[0058] See also Figure 7-9 The winding mechanism 3 is used for winding and storing the cable 2, and the winding mechanism 3 includes a connecting seat 35 connected to the hull 5, the top of the connecting seat 35 is fixedly connected to the limiting frame 31, the top center of the limiting frame 31 is fixedly connected with a positioning column 313, and the positioning column 313 is rotatably connected with a reel 33 for winding the cable 2; through the rotation of the reel 33, the cable 2 can be orderly stored on the winding mechanism 3, avoiding the entanglement problem of the cable 2 during underwater operation.

[0059] See also Figure 7-8The motor seat 311 is fixedly connected to one side of the limit frame 31, and the motor 32 is fixedly connected to the bottom of the motor seat 311, and the output end of the motor 32 is connected to the driving wheel 321; the driving wheel 321 is in contact with the bottom outer side of the wire wheel 33, and the motor 32 drives the driving wheel 321 to drive the wire wheel 33 to rotate synchronously, thereby realizing the automatic retraction and release of the cable 2; a lower pressure plate 34 is sleeved on the positioning column 313, and the lower pressure plate 34 is located above the wire wheel 33. By applying pressure to the wire wheel 33, it is ensured that the cable 2 will not escape from the slot of the wire wheel 33 during the winding process; a retaining piece 312 is fixedly connected to the edge of the limit frame 31 in a mirror image, and the cable 2 passes through the retaining piece 312 set in a mirror image. The retaining piece 312 further ensures the stability of the cable 2 during the retraction and release process to prevent it from escaping or winding.

[0060] See also Figure 2 and Fig. 9 The body 1 is provided with a pipe 15 connected to the cable connector 4, and longitudinal propellers 12 are longitudinally provided at both ends of the pipe 15; the longitudinal propellers 12 are used to control the depth of the body 1 in the water, and cooperate with the protective net cover 11 to prevent the entanglement of debris, so as to ensure the stable operation of the body 1; the top and bottom of the body 1 are provided with protective net covers 11, and the axes of the protective net cover 11 and the longitudinal propellers 12 are in the same straight line, which further enhances the working stability of the body 1 in a complex underwater environment;

[0061] The shape of the protective mesh cover 11 is designed to be a cylindrical cover body, the diameter of the cover body ranges from 80 mm to 100 mm, and the height ranges from 30 mm to 50 mm. The outer side of the protective mesh cover 11 is evenly distributed with mesh holes, and the diameter of the mesh holes ranges from 2 mm to 5 mm. These mesh holes can effectively prevent debris in the water from entering the cover and winding around the longitudinal propeller 12, and will not significantly hinder the passage of water. The top and bottom of the protective mesh cover 11 are both provided with mounting flanges for fixing to the body 1. The thickness of the flange is 3 mm to 5 mm, and the inner diameter matches the corresponding part of the body 1 to ensure firm installation and sealing. Through these precise shape and size designs, the protective mesh cover 11 can provide effective protection in complex underwater environments and ensure the long-term stable operation of the longitudinal propeller 12.

[0062] See also Fig. 9 A detection head 19 is provided at the head end of the body 1, and a diverter wing plate 18 is provided between the detection head 19 and the transverse channel 17; the diverter wing plate 18 is used to guide the water flow during the movement of the body 1 to prevent foreign matter from entering the transverse channel 17, thereby preventing the transverse propeller 14 from being entangled by debris, and ensuring the efficient operation of the body 1 in the pollution tracing task;

[0063] The shape of the diverter wing 18 is designed to be a curved flat plate structure with a streamlined appearance so as to produce minimal resistance in the water. The length of the diverter wing 18 ranges from 50 mm to 70 mm, the width ranges from 20 mm to 30 mm, and the thickness ranges from 2 mm to 4 mm. The radius of curvature of the diverter wing 18 is set to 100 mm to 150 mm to ensure that the water flow can be smoothly diverted along the surface of the wing to prevent foreign matter in the water from entering the transverse channel. The installation angle of the diverter wing 18 is set to 20 degrees to 30 degrees relative to the axis of the body 1, so as to optimize its diversion effect in the water and further ensure the normal operation of the transverse propeller 14.

[0064] The working principle of the present invention is:

[0065] When tracing the pollution source, the body 1 is put into the water. The body 1 in the water can be driven by the longitudinal propeller 12 to control the depth of the body 1 in the water, and can be driven by the transverse propeller 14 to control its movement in the water.

[0066] The protective mesh cover 11 provided on the body 1 can prevent the debris in the water from being entangled with the longitudinal propeller 12, and the transverse channel 17 provided in the transverse protective member 13, and the diverter wing plate 18 provided between the detection head 19 and the transverse channel 17, under the cooperation of the transverse channel 17 and the diverter wing plate 18, it can prevent foreign matter from entering the transverse channel 17 when the body 1 is moving in the water, thereby preventing the transverse propeller 14 from being entangled with debris;

[0067] When the depth of the body 1 in the water changes, the motor 32 will work synchronously. Under the drive of the motor 32, the driving wheel 321 will be driven to rotate, and the driving wheel 321 will fit with the bottom edge of the line wheel 33, so that the driving wheel 321 drives the line wheel 33 to rotate synchronously. With the rotation of the line wheel 33, the cable 2 can be wound and unwound;

[0068] The clamping member 312 disposed at the edge of the limiting frame 31 can prevent the cable 2 from getting tangled during the process of retracting and releasing;

[0069] When the angle of the connection between the body 1 and the cable 2 changes, the angle between the changing head 43 and the changing limit ring 42 will also change synchronously. The shape of the changing head 43 is set to a truncated sphere, and the inner side of the changing limit ring 42 is provided with an arc groove that fits with the outer side of the changing head 43. The changing head 43 can rotate freely in the changing limit ring 42, which can reduce the pulling force of the body 1 on the cable 2 joint and avoid damage to the cable 2 at the joint; a baffle 432 for limiting the movable angle of the changing head 43 is fixedly connected to the top edge of the changing head 43, which can avoid excessive bending of the cable at the connection between the cable 2 and the body 1, thereby avoiding damage to the cable 2, and allowing the control equipment on the hull 5 to always establish a stable connection with the body 1 during the operation of the body 1, thereby accurately controlling the underwater tracing operation of the body 1.

[0070] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. An underwater robot for pollution tracing, characterized by: It includes a body (1) located underwater and a hull (5) floating on the water; A winding mechanism (3) is installed on the hull (5), and a cable (2) is wound on the winding mechanism (3); a movable end of the cable (2) is connected to the body (1), and a cable connector (4) for protecting the cable (2) is provided at the connection between the body (1) and the cable (2); The cable connector (4) comprises a connecting tube (41) connected to the top of the machine body (1); the top of the connecting tube (41) is connected to a direction-changing limiting ring (42); the inner side of the direction-changing limiting ring (42) is rotatably connected to a direction-changing head (43); the top of the direction-changing head (43) is screwed to a connector (44); The winding mechanism (3) is used to wind and store the cable (2), and the winding mechanism (3) comprises a connecting seat (35) connected to the hull (5), the top of the connecting seat (35) is fixedly connected to a limiting frame (31), a positioning column (313) is fixedly connected at the top center of the limiting frame (31), and a wire wheel (33) for winding the cable (2) is rotatably connected to the positioning column (313); A motor seat (311) is fixedly connected to one side of the limiting frame (31), a motor (32) is fixedly connected to the bottom of the motor seat (311), and an output end of the motor (32) is connected to a driving wheel (321); The driving wheel (321) is in contact with the outer side of the bottom of the wire wheel (33), and the motor (32) drives the driving wheel (321) to drive the wire wheel (33) to rotate synchronously; The positioning column (313) is sleeved with a lower pressure plate (34), and the lower pressure plate (34) is located above the wire wheel (33); A retaining piece (312) is fixedly connected to the edge of the limiting frame (31) in a mirror-image manner, and the cable (2) passes through the retaining piece (312) arranged in a mirror-image manner; A pipeline (15) connected to the cable connector (4) is arranged inside the machine body (1), and longitudinal propellers (12) are longitudinally arranged at both ends of the pipeline (15); The top and bottom of the machine body (1) are both provided with protective mesh covers (11), and the axes of the protective mesh covers (11) and the longitudinal propellers (12) are on the same straight line; The body (1) is symmetrically and laterally provided with transverse propellers (14), and transverse protective members (13) are provided through both sides of the body (1), and transverse channels (17) are provided at both ends of the transverse protective members (13); The axes of the transverse protection member (13), the transverse propeller (14) and the transverse channel (17) are on the same straight line.

2. The underwater robot for pollution tracing according to claim 1, characterized in that: A through hole (16) is formed through the top of the machine body (1); A first flange ring (412) is fixedly connected to the outer side surface of the bottom of the connecting pipe (41).

3. The underwater robot for pollution tracing according to claim 2, characterized in that: The top of the connecting pipe (41) is provided with thread grooves (411) at equal intervals around its axis. The outer side surface of the direction-changing limiting ring (42) is fixedly connected to a second flange ring (421); The direction-changing head (43) is shaped as a truncated sphere, and an arc-shaped groove that fits with the outer side of the direction-changing limit ring (42) is provided on the inner side of the direction-changing limit ring (42), so that the direction-changing head (43) can rotate freely in the direction-changing limit ring (42).

4. The underwater robot for pollution tracing according to claim 3 is characterized by: A baffle (432) for limiting the movable angle of the direction-changing head (43) is fixedly connected to the top edge of the direction-changing head (43).

5. The underwater robot for pollution tracing according to claim 4, characterized in that: A through pipe (431) is inserted through the bottom of the direction-changing head (43), and a connecting thread (433) is provided on the outside of the top of the through pipe (431).

6. The underwater robot for pollution source tracing according to claim 5, characterized in that: The connecting thread (433) is connected to a connector (44), and the connector (44) is sleeved on the cable (2).

7. The underwater robot for pollution tracing according to claim 1, characterized in that: A detection head (19) is provided at the front end of the body (1), and a flow dividing wing plate (18) is provided between the detection head (19) and the transverse channel (17).

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