Device with function of releasing winding of underwater robot

Abstract

The utility model discloses a device with a function of removing winding of an underwater robot, which comprises a splicing rod and a cutting device connected to one end of the splicing rod, a traction rope is arranged on the cutting device and a connecting rod to control the cutting device to be closed, a high-definition camera is further arranged on the cutting device, and the high-definition camera is linearly connected with a signal transmission cable; the cutting device and the connecting rod are connected with the robot big cable through the limiting ring and extend to the position near the underwater robot. The device is mainly used for replacing a traditional diver with a cutter to dive underwater for manual cutting when a common underwater robot is wound by fishing nets, aquatic plants and the like during underwater operation; the device extends into water through a simple splicing cutting device, an underwater high-definition camera is observed, a winding part is accurately positioned, and an entanglement is cut.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a device with the function of removing the entanglement of an underwater robot. Background Art

[0002] The dams currently under construction are mainly concrete dams. Among these dams, there are nearly 20,000 dams with a water depth of more than 15 meters and more than 3,000 dams with a water depth of more than 30 meters. At present, a considerable number of dams have unsafe factors, and some have been in operation for more than 30 years or even longer. During the long-term service of the dam, the underwater part of its hydraulic structure will inevitably have defects of varying degrees such as holes, cracks, falling off, exposed steel bars, erosion (cavitation, abrasion) and deformation.

[0003] In the past, the visual inspection of deep-water and high-dam concrete cracks was mainly based on manual visual inspection and underwater exploration by divers. Manual visual inspection has many shortcomings, such as fragmented inspection results, blind inspection areas, low efficiency, and high safety risks. Currently, underwater robots have been widely used in the field of underwater inspection of hydropower stations. However, when conducting underwater inspections of hydropower stations, especially during the inspection of the water inlet of hydropower stations, underwater robots are often entangled by fishing nets, aquatic plants and other debris. In the past, divers went into the water to manually remove the entanglement of underwater robots.

[0004] Although anti-entanglement underwater robots have appeared on the market, such underwater robots are still widely used, and the market has long been dominated by the use of simple underwater robots. Therefore, the current focus is still on how to efficiently solve the problem of underwater entanglement of simple robots.

[0005] The Chinese invention patent with publication number CN111252215B discloses an underwater collection robot and collection method that prevents water grass entanglement. The Chinese invention patent with publication number CN109094757A discloses an underwater robot that prevents entanglement and removes water grass quickly. Both of the above invention patents install the cutting mechanical part on the robot to realize the autonomous cutting function when the machine is entangled. The Chinese utility model patent with publication number CN210310834U discloses an anti-entanglement protective net cover for the propeller of the underwater robot. The key point of preventing entanglement is to add a protective cover to the propeller to prevent water grass, fishing nets, etc. from entering the blades and hindering the normal operation of the underwater robot. It is also an improvement made on the internal device of the robot. Utility Model Content

[0006] In order to solve the above problems, the utility model aims to provide a device with the function of removing entanglement of an underwater robot.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a device with the function of untangling an underwater robot, comprising a splicing rod, a cutting device connected to one end of the splicing rod, a traction rope is arranged on the cutting device and the splicing rod to control the closing of the cutting device, and a high-definition camera is also arranged on the cutting device, and the high-definition camera is linearly connected to the signal transmission cable; the cutting device and the splicing rod are connected to the robot cable through a limit ring and extend into the vicinity of the underwater robot.

[0008] Preferably, the splicing rod is a solid aluminum alloy tube, one end of which is extended with a splicing bolt, and the other end is provided with a splicing thread. A limit ring and a fixing bolt hole are also provided on the splicing rod.

[0009] Preferably, the splicing bolts and splicing threads of the two splicing rods cooperate with each other, a number of splicing rods are connected and extended indefinitely, and the fixing bolt holes on the splicing rods are also equipped with retaining bolts inserted therein, and a circular ring is provided at one end of the retaining bolts.

[0010] Preferably, the cutting device comprises a "J"-shaped cutting blade head, a cutting blade cover which forms a closed shape with the hook portion of the cutting blade head is connected to the cutting blade head, a return spring is further connected between the cutting blade cover and the cutting blade head, and a direction-changing fixed pulley and a retaining double pulley are further provided on the cutting blade head;

[0011] One end of the traction rope is fixed on the cutting blade cover and passes through the direction-changing fixed pulley and the fixed double pulley in sequence to extend to the operating area.

[0012] Preferably, the traction rope is made of a steel wire core + fiber skin material, and the traction rope changes the movement direction through a variable direction fixed pulley and controls the closing of the cutting blade cover.

[0013] Preferably, a splicing bolt is provided at the tail of the non-hook end of the cutting blade head, and the splicing bolt is spliced ​​and matched with the splicing thread on the splicing rod.

[0014] Preferably, the underwater high-definition camera is arranged on the cutting head and faces the direction of the hook of the cutting head. The angle is adjusted to 45° to observe the situation near the underwater cutting head. One end of the signal transmission cable is connected to the underwater high-definition camera, and the other end passes through the ring of the retaining bolt on the splicing rod.

[0015] Preferably, the cutting device and the plurality of spliced ​​and lengthened splicing rods are provided with limit rings, the underwater robot cable passes through the limit rings, and the cutting device extends into the vicinity of the underwater robot through the underwater robot cable.

[0016] Preferably, the limiting ring includes an anchor bolt, and the anchor bolt is fixed in a reserved anchor bolt hole.

[0017] Compared with the prior art, the utility model has the following advantages: the device is mainly used to solve the problem of commonly used underwater robots being entangled by fishing nets, water plants, etc. during underwater operations, replacing the traditional divers carrying knives to dive underwater for manual cutting; the device can accurately extend the cutting device to the vicinity of the underwater robot by simply splicing the cutting device and passing through the limit ring, and then equipped with a traction rope and a cutting knife cover, and by pulling and releasing the traction rope, the cutting knife can avoid accidentally damaging the underwater robot parts, and the underwater high-definition camera can accurately find the location of the entanglement and guide the cutting knife to cut. The device is easy to operate, can replace divers in diving operations, and avoid the danger of underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the splicing rod in the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the device having the function of removing the entanglement of the underwater robot in the utility model;

[0021] In the figure, 1- splicing rod; 2- splicing bolt; 3- splicing screw thread; 4- cutting device; 5- cutting head; 6- cutting cover; 7- reset spring; 8- direction changing fixed pulley; 9- retaining double pulley; 10- limiting ring; 11- anchor bolt; 12- anchor bolt hole; 13- underwater high-definition camera; 14- fixing bolt hole; 15- retaining bolt; 16- signal transmission cable; 17- traction rope; 18- underwater robot cable. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but it should not be understood that the scope of the subject matter described in the present invention is limited to the following embodiments. Without departing from the above-mentioned technical ideas of the present invention, various modifications, substitutions and changes made according to the common technical knowledge and customary means in the field are included in the scope of the present invention.

[0023] Reference Figure 1-Figure 2The present invention provides a device for quickly removing the entanglement of an underwater robot when the underwater robot is entangled in a fishing net or aquatic plants. The device is easy to operate and can replace divers to manually remove the entanglement of underwater robots. A device with the function of removing the entanglement of an underwater robot comprises a sufficient number of splicing rods 1. A sufficient number of splicing rods 1 are determined according to the water depth in which the underwater robot is entangled. The splicing rod 1 is a solid aluminum alloy tube, the length of which is determined according to the requirements, and the diameter is 3 cm. Splicing bolts 2 and splicing screw threads 3 are reserved at both ends, respectively. A limiting ring 10 and a fixing bolt hole 14 are also provided on the circumference. The fixing bolt hole 14 is also equipped with a retaining bolt 15 inserted therein, and a circular ring is provided at one end of the retaining bolt 15.

[0024] The device with the function of untangling the underwater robot also includes a cutting device 4, which includes a "J"-shaped cutting head 5, and a cutting cover 6 is connected to the cutting head 5 to form a closed shape with the hook part of the cutting head 5. A reset spring 7 is also connected between the cutting cover 6 and the cutting head 5, and a changing fixed pulley 8 and a fixing double pulley 9 are also provided on the cutting head 5; one end of the traction rope 17 is fixed to the cutting cover 6 and passes through the changing fixed pulley 8 and the fixing double pulley 9 in sequence to extend into the operating area.

[0025] The traction rope 17 is made of steel wire core + fiber skin. The traction rope 17 changes the direction of movement through the direction-changing fixed pulley 8 and controls the closing of the cutting blade cover 6. The tail of the non-hook end of the cutting blade head 5 is provided with a splicing bolt 2, which is spliced ​​with the splicing screw 3 on the splicing rod 1. The traction rope 17 is used to control the closing of the cutting blade cover 6. Under normal circumstances, the cutting blade cover 6 is tightly fitted with the cutting blade head 5 through the reset spring 7 to prevent the robot cable 18 from being scratched during the entry of the cutting device 4 into the water.

[0026] The cutting device 4, the splicing rod 1 and the underwater robot cable 18 are connected: a limit ring 10 is provided on the cutting device 4, and the splicing bolt 2 and the splicing screw 3 at the tail of the cutting device 4 splice and lengthen the splicing rod 1 to the cutting device 4, and then the limit ring 10 connects the underwater robot cable 18 to the cutting device 4 and the splicing rod 1. The limit ring 10 can limit the entire cutting device 4 to the underwater robot cable 18, and later on, by continuously lengthening the splicing rod 1, the cutting device 4 can reach the position where the underwater robot is entangled. The limit ring 10 is composed of an anchor bolt and an anchor bolt hole 12 reserved in the device, and can be assembled.

[0027] Fixed signal transmission cable 16: The signal transmission cable 16 is a signal transmission cable of the underwater high-definition camera 13. One end of the signal transmission cable 16 is connected to the underwater high-definition camera 13, and the other end passes through the rings on the retaining bolts 15 in sequence. The underwater high-definition camera 13 is fixedly installed on the cutting knife 5, and the angle is pre-adjusted to 45° to observe the situation in the vicinity of the underwater cutting knife 5, which is convenient for cutting entanglements.

[0028] The cutting device 4 enters the water: the splicing rod 1 is spliced ​​and extended to the cutting device 4 through the splicing bolts 2 and splicing screws 3 at the tail of the cutting device 4, and the underwater robot cable 18, traction rope 17, and signal transmission cable 16 are fixed to the splicing rod 1 in sequence until the underwater cutting device 4 is near the underwater robot.

[0029] Cutting the entanglement: observe the position of the cutting knife 5 and the entanglement through the underwater high-definition camera 13 display until the cutting knife 5 is close to the entanglement, then pull the traction rope 17, open the cutting knife cover 6, insert the cutting knife 5 into the entanglement, loosen the traction rope 17, close the cutting knife cover 6, and pull the splicing rod 1 hard until the entanglement is cut off. Repeat the above operations in sequence until all the entanglements are cut off.

[0030] Application scenario: When an underwater robot is entangled by underwater fishing nets and aquatic plants during the inspection of underwater hydraulic structures in a hydropower station, the underwater robot cannot operate normally or be recovered; in order to avoid the risk of underwater operations by divers, the present invention can be used to help the underwater robot to disentangle, and is applicable to water depths within 50m.

[0031] Implementation steps:

[0032] 1) Prepare enough splicing rods 1 according to the water depth displayed by the underwater robot;

[0033] 2) While lengthening the splicing rod, fix the underwater robot cable 18, the traction rope 17, and the signal transmission cable;

[0034] 3) Turn on the underwater high-definition camera 13 display platform to control the position of the cutting head 5;

[0035] 4) Pull the traction rope 17 to put the winding into the cutting blade head 5, release the traction rope 17, and close the cutting blade cover 6;

[0036] 5) Pull the splicing rod 1 to cut off the entanglement back and forth and release the underwater robot;

[0037] 6) Recycle and disassemble the device.

[0038] The above is a detailed introduction to a device for removing the entanglement of an underwater robot provided by the utility model. This article uses specific examples to illustrate the structure and working principle of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A device capable of removing entanglement of an underwater robot, characterized in that: The invention comprises a splicing rod (1), a cutting device (4) connected to one end of the splicing rod (1), a traction rope (17) being arranged on the cutting device (4) and the splicing rod (1) to control the closing of the cutting device (4), an underwater high-definition camera (13) being also arranged on the cutting device (4), and the underwater high-definition camera (13) being linearly connected to a signal transmission cable (16); the cutting device (4) and the splicing rod (1) are connected to a robot cable (18) through a limiting ring (10) and extend into the vicinity of the underwater robot.

2. The device for removing entanglement of an underwater robot according to claim 1, characterized in that: The splicing rod (1) is a solid aluminum alloy tube, one end of which is provided with a splicing bolt (2), and the other end is provided with a splicing thread (3). A limit ring (10) and a fixing bolt hole (14) are also provided on the splicing rod (1).

3. The device for removing entanglement of an underwater robot according to claim 1, characterized in that: The splicing bolts (2) and splicing threads (3) of the two splicing rods (1) cooperate with each other, and a plurality of splicing rods (1) are connected and extended indefinitely. The fixing bolt holes (14) on the splicing rods (1) are also provided with retaining bolts (15) inserted therein, and a circular ring is provided at one end of the retaining bolts (15).

4. The device for removing entanglement of an underwater robot according to claim 1, characterized in that: The cutting device (4) comprises a "J"-shaped cutting head (5), a cutting cover (6) which is connected to the cutting head (5) and forms a closed shape with the hook portion of the cutting head (5), a return spring (7) is also connected between the cutting cover (6) and the cutting head (5), and a direction-changing fixed pulley (8) and a retaining double pulley (9) are also provided on the cutting head (5); One end of the traction rope (17) is fixed on the cutting blade cover (6) and passes through the direction-changing fixed pulley (8) and the fixed double pulley (9) in sequence and extends into the operating area.

5. The device for removing entanglement of an underwater robot according to claim 4, characterized in that: The traction rope (17) is made of a steel wire core + fiber skin material. The traction rope (17) changes its movement direction through a direction-changing fixed pulley (8) and controls the closing of the cutting blade cover (6).

6. The device for removing entanglement of an underwater robot according to claim 4, characterized in that: A splicing bolt (2) is provided at the tail of the non-hook end of the cutting blade head (5), and the splicing bolt (2) is spliced ​​and matched with a splicing thread (3) on the splicing rod (1).

7. The device for removing entanglement of an underwater robot according to claim 1, characterized in that: The underwater high-definition camera (13) is arranged on the cutting head (5) and faces the direction of the hook of the cutting head (5). The angle is adjusted to 45 degrees to observe the situation near the underwater cutting head (5). One end of the signal transmission cable (16) is connected to the underwater high-definition camera (13), and the other end passes through the ring of the retaining bolt (15) on the splicing rod (1).

8. The device for removing entanglement of an underwater robot according to claim 1, characterized in that: The cutting device (4) and the plurality of spliced ​​and lengthened splicing rods (1) are both provided with a limiting ring (10), the underwater robot cable (18) passes through the limiting ring (10), and the cutting device (4) extends into the vicinity of the underwater robot through the underwater robot cable (18).

9. A method according to claim 8, characterized in that: The limiting ring (10) comprises an anchor bolt (11), and the anchor bolt (11) is fixed in a reserved anchor bolt hole (12).

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