Self-resetting universal suction cup structure of an under-ice robot

Abstract

The present application relates to underwater robot technical field, especially to a kind of self-resetting universal suction cup structure of ice under robot, including suction cup and universal support, wherein suction cup is installed on universal support, and universal support is connected with ice under robot.Universal support includes universal base, spring and bottom plate, wherein bottom plate is fixedly connected with ice under robot, one end of universal base is movably connected with bottom plate, the other end of universal base is connected with suction cup, and spring is arranged between universal base and bottom plate, and self-resetting function of universal base is realized by spring.The present application has compact structure, can realize the swing of suction cup within a certain angle, to be adsorbed on uneven ice bottom, after being far away from ice bottom, it can be self-resetting to horizontal state under the action of spring, improve the adaptability of ice under robot to complex ice bottom adsorption sliding.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a self-resetting universal suction cup structure of an underwater robot. Background Art

[0002] Based on the needs of detection, the ice-gliding robot is equipped with a suction cup and a sliding structure on its top. When the top suction cup is working, the suction cup's own impeller rotates to generate suction force, which adsorbs the robot to the ice bottom. The ice blade on the top of the robot contacts the ice bottom, and under the action of the robot's propeller, the robot slides along the uneven ice bottom. Due to the uneven ice bottom, this puts forward requirements for the universal directionality and layout of the suction cup structure. The suction cup structure of existing ice-gliding robots is difficult to adapt to the uneven ice bottom working conditions, resulting in unstable suction and failing to meet the requirements of ice-gliding robots under ice. Therefore, there is an urgent need for a self-resetting universal suction cup structure for ice-gliding robots to meet the operational requirements of ice-gliding robots and improve the adaptability of ice-gliding robots to uneven ice bottoms. Summary of the Invention

[0003] In response to the above problems, the purpose of the present invention is to provide a self-resetting universal suction cup structure for an under-ice robot, which realizes the function of the under-ice robot adsorbing on a complex ice bottom, has good adaptability to uneven ice bottoms, and has the characteristics of simple structure and easy implementation.

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] The present invention provides a self-resetting universal suction cup structure of an under-ice robot, comprising a suction cup and a universal bracket, wherein the suction cup is mounted on the universal bracket, and the universal bracket is connected to the under-ice robot.

[0006] The universal bracket includes a universal base, a spring and a chassis, wherein the chassis is fixedly connected to the under-ice robot, one end of the universal base is movably connected to the chassis, and the other end of the universal base is connected to the suction cup. The spring is arranged between the universal base and the chassis, and the self-resetting function of the universal base is realized by the spring.

[0007] The universal base is a T-shaped structure, and the lower end is connected to the chassis through a ball screw; the spring is sleeved on the universal base.

[0008] A mounting hole is provided at the center of the chassis; the ball screw passes through the mounting hole and is threadedly connected to the universal base. The ball screw can swing in the mounting hole, and the ball head of the ball screw cooperates with the spherical surface of the chassis.

[0009] The mounting hole is a tapered structure with a diameter gradually increasing in a direction approaching the universal base, and a spherical countersunk hole is provided at a small-diameter end of the mounting hole.

[0010] Limit rods are provided on both sides of the universal base, and limit holes for the limit rods to pass through are provided on both sides of the chassis, and the limit rods can swing in the limit holes.

[0011] The limiting hole is a tapered structure whose diameter gradually increases in a direction approaching the universal base.

[0012] The suction cup is a turbine suction cup.

[0013] The self-resetting universal suction cup structure is arranged on the top of the under-ice robot.

[0014] The self-resetting universal suction cup structure is composed of three groups, one of which is arranged at the bow of the under-ice robot, and the other two groups are arranged at the stern of the under-ice robot.

[0015] The advantages and beneficial effects of the present invention are:

[0016] 1. The present invention solves the problem of the under-ice robot adsorbing complex ice bottoms: the present invention proposes a self-resetting universal suction cup structure, with three points arranged on the top of the under-ice robot, realizing the under-ice robot's adsorption function on complex ice bottoms.

[0017] 2. The present invention has a simple structure and is easy to implement: the structure proposed in the present invention is simple, requires fewer parts, and is easy to prepare.

[0018] 3. The present invention improves the adaptability of the equipment to complex ice bottoms: The self-resetting universal suction cup structure of the present invention can adapt to local ice bottoms at different angles, thereby improving the adaptability of the under-ice robot to complex ice bottoms. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of a self-resetting universal suction cup structure of an under-ice robot according to the present invention;

[0020] Figure 2 This is an axonometric diagram of a self-resetting universal suction cup structure of an under-ice robot according to the present invention;

[0021] Figure 3 Schematic diagram of the structure of the universal bracket in the present invention;

[0022] Figure 4 This is a schematic diagram of the working state of a self-resetting universal suction cup structure of an under-ice robot according to the present invention;

[0023] Figure 5 This is a schematic diagram of the layout of a self-resetting universal suction cup structure of an under-ice robot according to the present invention.

[0024] In the figure: 1-suction cup, 2-universal base, 3-spring, 4-chassis, 401-mounting hole, 402-limiting hole, 5-ball head screw, 6-limiting rod, 100-self-resetting universal suction cup, 200-ice skates, 300-under-ice robot. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1-2 As shown, the present invention provides a self-resetting universal suction cup structure for an under-ice robot, comprising a suction cup 1 and a universal bracket, wherein the suction cup 1 is mounted on the universal bracket, which is connected to the under-ice robot. The self-resetting universal suction cup structure of the present invention can adapt to localized ice bottoms at different angles, improving the under-ice robot's ability to adapt to complex ice surfaces.

[0027] like Figure 1-2 As shown, in an embodiment of the present invention, the gimbal bracket includes a gimbal base 2, a spring 3 and a chassis 4, wherein the chassis 4 is fixedly connected to the under-ice robot, one end of the gimbal base 2 is movably connected to the chassis 4, and the other end of the gimbal base 2 is connected to the suction cup 1, and the spring 3 is arranged between the gimbal base 2 and the chassis 4, and the self-resetting function of the gimbal base 2 is realized by the spring 3.

[0028] like Figure 3 As shown, in the embodiment of the present invention, the universal base 2 has a T-shaped structure, with its lower end connected to the chassis 4 via a ball screw 5. A spring 3 is sleeved on the universal base 2 and compressed between the head of the universal base 2 and the chassis 4, thus enabling the universal base 2 to self-reset. After the under-ice robot detaches from the ice bottom, the suction cup angle can be reset to a horizontal state. Furthermore, the spring 3 limits the swing angle of the universal base 2 and the ball screw 5. If the swing angle is too large, the spring 3 is compressed significantly, thus preventing the swing angle from being too large.

[0029] Specifically, a mounting hole 401 is provided at the center of the chassis 4; the ball screw 5 passes through the mounting hole 401 and is threadedly connected to the universal base 2. The ball screw 5 can swing in the mounting hole 401. The ball head of the ball screw 5 is located on the outside of the chassis 4 and cooperates with the spherical surface of the chassis 4. The ball screw 5 can swing within a certain angle range.

[0030] Furthermore, the mounting hole 401 is a tapered structure with a diameter gradually increasing in a direction approaching the universal base 2 . A spherical countersunk hole is provided at the small diameter end of the mounting hole 401 , and the ball head of the ball screw 5 is accommodated in the spherical countersunk hole.

[0031] Furthermore, if Figure 1 、 Figure 3-4As shown, limit rods 6 are provided on both sides of the gimbal base 2, and limit holes 402 are provided on both sides of the chassis 4 for the limit rods 6 to pass through. The limit rods 6 can swing within a certain angle range within the limit holes 402, and the limit holes 402 prevent excessive swinging. Specifically, the limit holes 402 are tapered structures with a diameter that gradually increases as they approach the gimbal base 2.

[0032] Furthermore, if Figure 4 As shown, while the suction cup 1 generates adsorption force, it also generates a torque that causes its own rotation. The limiting rod 6 can prevent the suction cup 1 from rotating during operation.

[0033] In this embodiment, the suction cup 1 is a turbine suction cup, which is screwed to the universal base 2 on the top of the universal bracket. The turbine suction cup generates a pressure difference under the action of the internal impeller rotation, forming an adsorption force, and the cable is led out of the outer side of the bottom plane of the turbine suction cup.

[0034] like Figure 5 As shown, in this embodiment of the present invention, the self-resetting universal suction cups 100 provided by the present invention are placed on the top of the under-ice robot 300. Preferably, three sets of self-resetting universal suction cups 100 are provided, one set on the top surface of the under-ice robot 300's bow, and the other two sets on the top surface of the under-ice robot 300's stern. These three points generate suction force, allowing for better adaptation to complex ice surfaces. An ice blade 200 is placed in the middle of the under-ice robot 300's top surface, used for contact and gliding with the ice surface.

[0035] When working, the three self-resetting universal suction cups 100 on the top of the under-ice robot 300 can generate adsorption force to adsorb the under-ice robot 300 to the complex ice bottom. Under the action of the propeller, the under-ice robot 300 slides forward along the ice blades 200.

[0036] The present invention provides a self-resetting universal suction cup structure for an under-ice robot. When the turbine suction cup is powered on, the impeller rotates to generate an adsorption force, which can adsorb the under-ice robot 300 to the bottom of the ice. Under the action of the stern propeller, the under-ice robot 300 can be adsorbed to the bottom of the ice while sliding. The self-resetting universal suction cup structure can enable the turbine suction cup to swing within a certain angle to adsorb on the uneven ice bottom. After moving away from the ice bottom, it can self-reset to a horizontal state under the action of the spring 3, thereby improving the adaptability of the under-ice robot to complex ice bottoms. The present invention has a compact structure and is simple to implement, which improves the adaptability of the under-ice robot to adsorption and sliding on complex ice bottoms.

[0037] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A self-resetting universal suction cup structure for an under-ice robot, characterized in that: It comprises a suction cup (1) and a universal bracket, wherein the suction cup (1) is mounted on the universal bracket, and the universal bracket is connected to the under-ice robot; The universal bracket comprises a universal base (2), a spring (3) and a chassis (4), wherein the chassis (4) is fixedly connected to the under-ice robot, one end of the universal base (2) is movably connected to the chassis (4), and the other end of the universal base (2) is connected to the suction cup (1), and the spring (3) is arranged between the universal base (2) and the chassis (4), and the self-resetting function of the universal base (2) is realized by the spring (3); The universal base (2) is a T-shaped structure, and the lower end is connected to the chassis (4) via a ball screw (5); the spring (3) is sleeved on the universal base (2); Limit rods (6) are provided on both sides of the universal base (2), and limiting holes (402) for the limiting rods (6) to pass through are provided on both sides of the chassis (4), and the limiting rods (6) can swing in the limiting holes (402).

2. The self-resetting universal suction cup structure of the under-ice robot according to claim 1, characterized in that: A mounting hole (401) is provided at the center of the chassis (4); the ball screw (5) passes through the mounting hole (401) and is threadedly connected to the universal base (2); the ball screw (5) is capable of swinging in the mounting hole (401), and the ball head of the ball screw (5) is in spherical engagement with the chassis (4).

3. The self-resetting universal suction cup structure of the under-ice robot according to claim 2, characterized in that: The mounting hole (401) is a tapered structure whose diameter gradually increases in a direction approaching the universal base (2), and a spherical countersunk hole is provided at the small-diameter end of the mounting hole (401).

4. The self-resetting universal suction cup structure of the under-ice robot according to claim 1, characterized in that: The limiting hole (402) is a conical structure whose diameter gradually increases in a direction approaching the universal base (2).

5. The self-resetting universal suction cup structure of the under-ice robot according to claim 1, characterized in that: The suction cup (1) is a turbine suction cup.

6. The self-resetting universal suction cup structure of the under-ice robot according to any one of claims 1 to 5, characterized in that: The self-resetting universal suction cup structure is arranged on the top of the under-ice robot.

7. The self-resetting universal suction cup structure of the under-ice robot according to claim 6, characterized in that: The self-resetting universal suction cup structure is composed of three groups, one of which is arranged at the bow of the under-ice robot, and the other two groups are arranged at the stern of the under-ice robot.

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