Underwater operation robot

Abstract

According to the underwater operation robot, distance detection can be carried out through a detection ball, and when it is detected that an obstacle exists in front, a high-pressure gas tank is controlled to convey gas in the high-pressure gas tank into a buffering mechanism through a conveying guide pipe, so that the buffering mechanism expands; the buffer function of the operation robot when the operation robot collides with an obstacle is improved, the operation robot is not prone to being damaged, the deformation bag body can be promoted to turn outwards along with increase of air pressure, and therefore the width of the whole buffer mechanism is increased, and on one hand, resistance borne by the operation robot during moving can be increased; on the other hand, by increasing the width, the force generated when the operation robot collides with an obstacle can be reduced, on the other hand, the buffering effect of the buffering mechanism can be further improved, so that the robot is protected, the robot is not prone to damage during underwater operation, and the service life of the underwater operation robot is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of robots, and more particularly to an underwater operation robot. Background Art

[0002] With the rapid growth of marine resource development and underwater engineering needs, underwater operation robots have become core equipment for tasks such as deep-sea exploration, pipeline inspection, and shipwreck salvage. However, the complexity of the underwater environment poses severe challenges to the safety and reliability of robots. Traditional underwater robots mostly rely on rigid shells or passive buffer structures. When responding to sudden obstacle collisions, they often suffer equipment damage or even mission failure due to insufficient buffering capacity or delayed response. In addition, in underwater operation scenarios, robots need to frequently cross narrow passages or complex terrain. Traditional designs cannot balance flexibility and protection, resulting in low operation efficiency.

[0003] Traditional underwater robots mostly use passive buffer structures such as springs or rubber pads. Their buffering efficiency is limited by the material's deformation ability, and they cannot dynamically adjust the protection strength according to the distance to the obstacle. Under high-speed collisions or multiple impacts, the buffer material is prone to permanent deformation, resulting in a decrease in protection performance. Some robots rely on sonar or lidar for obstacle detection, but the underwater signal attenuation is serious, and the detection accuracy and response speed cannot meet the real-time obstacle avoidance needs. In addition, the sensor is directly exposed to the external environment and is easily damaged by water impact or collision, further reducing the system reliability. To improve protection capabilities, traditional robots often use thick and heavy shells, but this increases energy consumption and motion resistance; while lightweight design improves flexibility, it sacrifices impact resistance. This contradiction makes it difficult for robots to balance efficiency and safety in complex underwater environments. The high-pressure and high-corrosion environment underwater places strict requirements on material performance. Traditional metal materials are prone to rust or fatigue fracture, while polymer materials are prone to creep under long-term water pressure, leading to structural failure. Summary of the Invention

[0004] 1. Technical problems to be solved

[0005] In response to the problems existing in the prior art, the purpose of the present invention is to provide an underwater working robot. This solution can perform distance detection through a detection ball. When an obstacle is detected in front, the high-pressure gas tank is controlled to transport the gas therein to the buffer mechanism through a transmission conduit, thereby causing the buffer mechanism to expand, thereby improving the buffering effect when the working robot collides with an obstacle, making the working robot less likely to be damaged, and as the air pressure increases, the deformable capsule can be caused to flip outward, thereby increasing the width of the entire buffer mechanism. On the one hand, it can increase the resistance encountered by the working robot when moving, and reduce the force when the working robot collides with an obstacle. On the other hand, the increase in width can further improve the buffering effect of the buffer mechanism, thereby protecting the robot, making the robot less likely to be damaged when working underwater, and increasing the service life of the underwater working robot.

[0006] 2. Technical solution

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] An underwater working robot includes a working robot, wherein the outer end of the working robot is provided with two symmetrical high-pressure gas tanks, and the front and rear ends of the working robot are respectively provided with two buffer mechanisms, a transmission conduit is connected between the buffer mechanism and the high-pressure gas tank, and the high-pressure gas tank and the buffer mechanism are communicated through the transmission conduit, and the buffer mechanism includes a main sac connected to the transmission conduit, a deformable sac is connected to the main sac, a detection ball is provided in the deformable sac, and the detection ball is connected to the deformable sac with an elastic hose, and distance detection can be performed through the detection ball. When an obstacle is detected in front, the high-pressure gas tank is controlled to release the gas inside It is transported to the buffer mechanism through a transmission duct, thereby expanding the buffer mechanism and improving the buffering effect when the working robot collides with an obstacle, making the working robot less likely to be damaged. As the air pressure increases, the deformable capsule can be caused to flip outward, thereby increasing the width of the entire buffer mechanism. On the one hand, it can increase the resistance encountered by the working robot when moving and reduce the force when the working robot collides with an obstacle. On the other hand, the increase in width can further improve the buffering effect of the buffer mechanism, thereby protecting the robot, making the robot less likely to be damaged when working underwater, and increasing the service life of the underwater working robot.

[0009] Furthermore, a magnet block and a traction block are connected to the inner wall of the main sac, and the magnet block is located on the upper side of the traction block. The detection ball includes a deceleration ball, a hollow iron ball is connected to the deceleration ball, and a distance sensor is installed on the outer end of the deceleration ball. The outer end of the deceleration ball is connected to a plurality of evenly distributed shielding blocks. The distance in front can be detected by the distance sensor to predict whether there is an obstacle in front. As the air pressure in the main sac and the deformation sac continues to increase, the gas can enter the deceleration ball through the elastic hose, causing the deceleration ball to expand rapidly, and when the deformation sac flips outward, the deceleration ball is ejected. With the help of the deceleration ball, the working robot can be further decelerated, thereby reducing the possibility of the working robot colliding with obstacles. At the same time, with the expansion of the deceleration ball, the shielding blocks on its outside can be separated from each other, thereby releasing the magnetic shielding effect on the hollow iron ball, and with the help of the magnet block's attraction to the hollow iron ball, the detection ball can be urged to stick to the upper surface of the main sac, thereby further increasing the water resistance received by the buffer mechanism, thereby improving the protection effect on the working robot.

[0010] Furthermore, four support bars are connected inside the working robot, and the support bars are located on the rear side of the buffer mechanism. By providing the support bars, the buffer mechanism can be less likely to bend excessively and become overly fatigued under the support of the support bars after a collision, thereby increasing the service life of the buffer mechanism.

[0011] Furthermore, the working robot is equipped with an outer protective shell at both ends, and the outer protective shell is located on the outside of the high-pressure gas tank. By setting the outer protective shell, the high-pressure gas tank can be protected, reducing the possibility of the high-pressure gas tank being damaged by touching obstacles, thereby increasing the service life of the high-pressure gas tank.

[0012] Furthermore, a flow rate sensor is installed at the front end of the working robot, and the flow rate sensor is located between two buffer mechanisms distributed above and below.

[0013] Furthermore, an electric control valve is installed at the outer end of the transmission conduit, and the electric control valve is located at the bottle mouth of the high-pressure gas tank. By setting the electric control valve, the gas discharge in the high-pressure gas tank can be controlled, thereby improving the degree of automation of the entire underwater operation robot.

[0014] Furthermore, two symmetrical slots are opened at the outer end of the deformation sac, and the ends of the magnet block and the traction block close to each other are connected with a slot. The size of the slot is slightly larger than the slot. By setting the slot and the block, the magnet block and the deformation sac can be locked through the slot and the block before the deformation sac is turned outward.

[0015] Furthermore, the traction block and the hollow iron ball are both made of ferritic stainless steel. By using ferritic stainless steel to make the traction block and the hollow iron ball, they can be attracted by the magnet block and change their position.

[0016] Furthermore, the hollow iron ball and the distance sensor are located on the same horizontal line. By placing the hollow iron ball and the distance sensor horizontally, the hollow iron ball can be attracted by the magnet block, which can cause the distance sensor to be positioned vertically upward, thereby making the distance sensor less susceptible to damage due to collision.

[0017] Furthermore, the shielding block is formed by compounding iron-based alloy powder and insulating material.

[0018] 3. Beneficial effects

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] 1. This solution can detect the distance through the detection ball. When an obstacle is detected in front, the high-pressure gas tank is controlled to transmit the gas inside to the buffer mechanism through the transmission pipe, so that the buffer mechanism expands, improving the buffering effect when the working robot collides with the obstacle, making the working robot less likely to be damaged, and as the air pressure increases, the deformation capsule can be caused to flip outward, thereby increasing the width of the entire buffer mechanism. On the one hand, it can increase the resistance encountered by the working robot when moving and reduce the force when the working robot collides with the obstacle. On the other hand, the increase in width can further improve the buffering effect of the buffer mechanism, thereby protecting the robot, making the robot less likely to be damaged during underwater operations, and increasing the service life of the underwater working robot.

[0021] 2. The distance sensor can be used to detect the distance ahead and predict whether there are obstacles ahead. As the air pressure in the main capsule and the deformable capsule continues to increase, the gas can enter the deceleration ball through the elastic hose, causing the deceleration ball to expand rapidly, and when the deformable capsule flips outward, the deceleration ball is ejected. With the help of the deceleration ball, the working robot can be further decelerated, thereby reducing the possibility of the working robot colliding with obstacles. At the same time, as the deceleration ball expands, the shielding blocks on its outside can be separated from each other, thereby releasing the magnetic shielding effect on the hollow iron ball, and with the help of the magnet block's attraction to the hollow iron ball, the detection ball can be urged to stick to the upper surface of the main capsule, thereby further increasing the water resistance received by the buffer mechanism, thereby improving the protection effect on the working robot.

[0022] 3. The linkage design of the high-pressure gas tank and the buffer mechanism enables the underwater robot to respond quickly when encountering obstacles. Gas delivery causes the buffer mechanism to expand, significantly reducing the impact force of the collision. The outward-facing design of the deformation bladder further expands the buffering range, increasing water resistance to reduce collision speed while also enhancing buffering effectiveness through physical deformation, effectively protecting the robot's main structure.

[0023] 4. The distance sensor integrated in the detection ball can monitor obstacles in front in real time, and combined with the automatic control of the electric control valve, it can achieve precise control of gas emissions. This active defense mechanism greatly improves the robot's environmental adaptability and reduces the risk of equipment damage caused by sudden collisions.

[0024] 5. The deceleration ball expands and pops out under the action of air pressure. Through the interaction between the magnet block and the hollow iron ball, the detection ball is attached to the upper surface of the main capsule, significantly increasing the water resistance. This design not only optimizes the force distribution of the buffer mechanism, but also ensures the safety of the distance sensor through magnetic positioning, avoiding collision damage in complex underwater environments.

[0025] 6. The synergistic effect of the support bar and the outer protective shell strengthens the fatigue resistance of the buffer mechanism and the impact resistance of the high-pressure gas tank. The application of ferritic stainless steel ensures the magnetic response characteristics of the traction block and the hollow iron ball, while improving the corrosion resistance of key components and extending the service life of the equipment.

[0026] 7. The locking mechanism of the block and slot ensures the stability of the deformable capsule when not in operation, while the independent control function of the electronically controlled valve provides redundant protection for gas exhaust. This design balances system reliability and operational flexibility, reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A perspective view of the entire present invention;

[0028] Figure 2 A cross-sectional view of the high-pressure gas tank and the buffer mechanism of the present invention;

[0029] Figure 3 A cross-sectional view of the buffer mechanism portion of the present invention;

[0030] Figure 4 It is a cross-sectional view of the buffer mechanism of the present invention after inflation;

[0031] Figure 5 A three-dimensional diagram of the cushioning mechanism of the present invention after inflation;

[0032] Figure 6 This is a cross-sectional view of the detection ball of the present invention when it is deformed.

[0033] Description of the numbers in the figure:

[0034] 1. Working robot; 101. Support bar; 102. Outer protective shell; 103. Flow rate sensor; 2. High-pressure gas tank; 3. Buffer mechanism; 4. Transmission duct; 401. Electric control valve; 5. Main capsule; 6. Deformation capsule; 601. Card slot; 7. Detection ball; 8. Elastic hose; 9. Magnet block; 901. Card block; 10. Traction block; 11. Deceleration ball; 12. Hollow iron ball; 13. Distance sensor; 14. Shielding block. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention in specific circumstances.

[0038] Example:

[0039] See also Figure 1-3The underwater working robot includes an operating robot 1. Two symmetrical high-pressure gas tanks 2 are provided at the outer end of the operating robot 1. Two buffer mechanisms 3 are provided at the front and rear ends of the operating robot 1 respectively. The buoyancy change caused by the change in the shape of the buffer mechanism 3 in this application can be ignored when the operating robot 1 is operating. A transmission conduit 4 is connected between the buffer mechanism 3 and the high-pressure gas tank 2. The high-pressure gas tank 2 and the buffer mechanism 3 are connected through the transmission conduit 4. The buffer mechanism 3 includes a main capsule 5 connected to the transmission conduit 4. A deformable capsule 6 is connected to the main capsule 5. A detection ball 7 is provided in the deformable capsule 6. The detection ball 7 and the deformable capsule 6 are connected to an elastic hose 8. The buffer mechanism 3 consists of the main capsule 5, the deformable capsule 6, the detection ball 7 and the elastic hose 8. The main capsule 5 is a multi-layer composite structure with a high-strength polyurethane coating on the outer layer, a Kevlar fiber woven mesh in the middle layer, and a high-pressure resistant rubber in the inner layer. The deformation bag 6 is connected to the main bag body by hot-melt welding, and honeycomb grooves are distributed on the surface to enhance the deformation ability. The distance detection can be performed through the detection ball 7. When an obstacle is detected in front, the high-pressure gas tank 2 is controlled to transport the gas inside it to the buffer mechanism 3 through the transmission conduit 4, so that the buffer mechanism 3 expands, thereby improving the buffering effect when the working robot 1 collides with an obstacle, making the working robot 1 less likely to be damaged, and as the air pressure increases, the deformation bag 6 can be forced to flip outward, thereby increasing the width of the entire buffer mechanism 3. On the one hand, it can increase the resistance encountered by the working robot 1 when moving, and reduce the force when the working robot 1 collides with an obstacle. On the other hand, the increase in width can further improve the buffering effect of the buffer mechanism 3, thereby protecting the robot, making the robot less likely to be damaged during underwater operations, and increasing the service life of the underwater working robot.

[0040] See also Figure 4-6The inner wall of the main capsule 5 is connected to a magnet block 9 and a traction block 10. The magnet block 9 is located on the upper side of the traction block 10. The detection ball 7 includes a deceleration ball 11. A hollow iron ball 12 is connected to the deceleration ball 11. A distance sensor 13 is installed on the outer end of the deceleration ball 11. The outer end of the deceleration ball 11 is connected to multiple evenly distributed shielding blocks 14. The distance sensor 13 can detect the distance in front and predict whether there is an obstacle in front. As the air pressure in the main capsule 5 and the deformation capsule 6 continues to increase, the gas can enter the deceleration ball 11 through the elastic hose 8, causing the deceleration ball 11 to expand rapidly. When the deformation capsule 6 flips outward, the deceleration ball 11 is prompted to pop out. With the help of the deceleration ball 11, the working robot 1 can be further decelerated, thereby reducing the possibility of the working robot 1 colliding with obstacles. At the same time, as the deceleration ball 11 expands, the shielding blocks 14 on its outside can be separated from each other, thereby releasing the magnetic shielding effect on the hollow iron ball 12, and with the help of the attraction of the magnet block 9 on the hollow iron ball 12, the detection ball 7 can be prompted to stick to the upper surface of the main capsule 5, thereby further increasing the water resistance received by the buffer mechanism 3, thereby improving the protection effect on the working robot 1.

[0041] See also Figure 1 , four support bars 101 are connected inside the working robot 1, and the support bars 101 are located on the rear side of the buffer mechanism 3. By setting the support bars 101, the buffer mechanism 3 can be prevented from excessive bending and excessive fatigue under the support of the support bars 101 after a collision, thereby improving the service life of the buffer mechanism 3. The left and right ends of the working robot 1 are equipped with outer protective shells 102, and the outer protective shells 102 are located on the outside of the high-pressure gas tank 2. By setting the outer protective shell 102, the high-pressure gas tank 2 can be protected, reducing the possibility of the high-pressure gas tank 2 touching an obstacle and being damaged, thereby improving the service life of the high-pressure gas tank 2. A flow rate sensor 103 is installed at the front end of the working robot 1, and the flow rate sensor 103 is located between the two buffer mechanisms 3 distributed above and below.

[0042] See also Figure 2-4An electric-controlled valve 401 is installed at the outer end of the transmission conduit 4. The electric-controlled valve 401 is located at the bottle mouth of the high-pressure gas tank 2. By setting the electric-controlled valve 401, the gas discharge in the high-pressure gas tank 2 can be controlled, thereby improving the automation level of the entire underwater operation robot. The electric-controlled valve 401 controls the gas passage between the gas tank and the buffer mechanism through electromagnetic drive. When the distance sensor detects an obstacle, the control system sends a pulse signal to the electric-controlled valve. After the valve is opened, high-pressure gas is injected into the buffer mechanism in the form of a pulse to avoid structural overload caused by continuous gas supply. Two symmetrical slots 601 are opened at the outer end of the deformation capsule 6. The ends of the magnet block 9 and the traction block 10 that are close to each other are both connected to a block 901. The size of the block 901 is slightly larger than the slot 601. By setting the block 901 and the slot 601, the magnet block 9 and the deformation capsule 6 can be locked by the block 901 and the slot 601 when the deformation capsule 6 has not yet turned outward.

[0043] In the initial state, the shielding block 14 wraps the hollow iron ball 12 to block the external magnetic field. When the gas enters the deceleration ball 11, the viscosity of the non-Newtonian fluid decreases with the increase of the shear rate, pushing the shielding block 14 to separate, releasing the magnetic shielding, and the magnet block 9 generates an attractive force on the hollow iron ball 12, so that the detection ball 7 fits the upper surface of the main capsule 5. At the same time, the traction block 10 is locked with the slot 601 of the deformation capsule 6 through the clamping block 901 to prevent the detection ball 7 from falling off.

[0044] The support bar 101 is connected to the main body of the working robot 1 by bolts and is located 10 cm behind the buffer mechanism 3. The outer protective shell 102 is fixed to the robot body by snaps, covering 280% of the surface of the high-pressure gas tank. The data of the flow rate sensor 103 is transmitted to the main control system through the CAN bus for adjusting the speed of the robot 1.

[0045] See also Figure 6 The traction block 10 and the hollow iron ball 12 are both made of ferritic stainless steel. By using ferritic stainless steel to make the traction block 10 and the hollow iron ball 12, they can be attracted by the magnet block 9 and change their position. The hollow iron ball 12 and the distance sensor 13 are located on the same horizontal line. By placing the hollow iron ball 12 and the distance sensor 13 horizontally, after the hollow iron ball 12 is attracted by the magnet block 9, the position of the distance sensor 13 can be vertically upward, so that the distance sensor 13 is not easily damaged by collision. The shielding block 14 is composed of iron-based alloy powder and insulating material.

[0046] The above description is only a preferred specific embodiment of the present invention; however, the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved conception of the present invention shall be covered within the protection scope of the present invention.

Claims

1. An underwater operation robot, comprising an operation robot (1), characterized in that: The outer end of the working robot (1) is provided with two symmetrical high-pressure gas tanks (2), and the front and rear ends of the working robot (1) are respectively provided with two buffer mechanisms (3). A transmission conduit (4) is connected between the buffer mechanism (3) and the high-pressure gas tank (2). The high-pressure gas tank (2) and the buffer mechanism (3) are communicated through the transmission conduit (4). The buffer mechanism (3) includes a main capsule (5) connected to the transmission conduit (4), a deformable capsule (6) is connected to the main capsule (5), a detection ball (7) is provided in the deformable capsule (6), and an elastic hose (8) is connected to the detection ball (7) and the deformable capsule (6).

2. The underwater working robot according to claim 1, characterized in that: The inner wall of the main capsule (5) is connected to a magnet block (9) and a traction block (10), the magnet block (9) is located on the upper side of the traction block (10), the detection ball (7) includes a deceleration ball (11), a hollow iron ball (12) is connected inside the deceleration ball (11), a distance sensor (13) is installed at the outer end of the deceleration ball (11), and a plurality of evenly distributed shielding blocks (14) are connected to the outer end of the deceleration ball (11).

3. The underwater working robot according to claim 1, characterized in that: Four support bars (101) are connected inside the operating robot (1), and the support bars (101) are located at the rear side of the buffer mechanism (3).

4. The underwater working robot according to claim 1, characterized in that: The operating robot (1) is provided with outer protective shells (102) at both left and right ends, and the outer protective shells (102) are located outside the high-pressure gas tank (2).

5. The underwater working robot according to claim 1, characterized in that: A flow rate sensor (103) is installed at the front end of the operating robot (1), and the flow rate sensor (103) is located between two buffer mechanisms (3) distributed vertically.

6. The underwater working robot according to claim 1, characterized in that: An electric control valve (401) is installed at the outer end of the transmission conduit (4), and the electric control valve (401) is located at the bottle mouth of the high-pressure gas tank (2).

7. The underwater working robot according to claim 1, characterized in that: Two mutually symmetrical slots (601) are cut out at the outer end of the deformation capsule (6); the ends of the magnet block (9) and the traction block (10) close to each other are both connected with a slot (901); and the size of the slot (901) is slightly larger than the slot (601).

8. The underwater working robot according to claim 2, characterized in that: The traction block (10) and the hollow iron ball (12) are both made of ferrite stainless steel.

9. The underwater working robot according to claim 2, characterized in that: The hollow iron ball (12) and the distance sensor (13) are located on the same horizontal line.

10. The underwater working robot according to claim 2, characterized in that: The shielding block (14) is formed by compounding iron-based alloy powder and insulating material.

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