A support mechanism for an underwater robot

Abstract

The present invention relates to the technical field of underwater robots, and discloses a support mechanism for an underwater robot, which includes a main body and a support component. The main body is installed inside two groups of support components. The support component includes a connecting rod, a cross bar and a reinforcing rod. A pipeline component is installed inside the support component. Jet components for multi-directionally adjusting the angle are installed at both the upper and lower ends of the support component. A compressed gas tank is also installed between the support components. The compressed gas tank is connected to the jet components through the pipeline component. Inert gas is introduced into the jet components through the pipeline component by the compressed gas tank and ejected, so as to assist the underwater robot to dive stably or float upwards. By allowing the jet components to jet stably downward, the underwater robot can hover in water, ensuring the stable support of the underwater robot. Moreover, the angles of the jet components can be adjusted in multiple directions, facilitating displacement in multiple directions in water, and greatly improving the use flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a support mechanism for an underwater robot. Background Art

[0002] Underwater robots can carry tools such as cameras, various sensors, and multi-functional manipulators to conduct underwater environment observation and sampling, submarine pipeline inspection, platform and underwater production system inspection and repair, and assist aquaculture underwater, providing us with the possibility to explore the marine environment and develop marine resources, and playing an important role in the effective and sustainable development of marine resources; most of the power sources of underwater robots are propeller thrusters, which are composed of a waterproof motor connected to a propeller and can provide stable power for the entire system.

[0003] A Chinese invention patent with the publication number CN111572735B discloses an underwater robot, including: a support frame; a submersible pump disposed within the support frame, the submersible pump having a water outlet; a water spraying assembly disposed outside the support frame, the water spraying assembly being connected to the water outlet, the water spraying assembly including a plurality of water spraying ports, the plurality of water spraying ports having different orientations, the orientations including a first direction, a second direction, and a third direction that are perpendicular to each other in pairs, as well as a fourth direction opposite to the first direction, a fifth direction opposite to the second direction, and a sixth direction opposite to the third direction; for the underwater robot provided in this application, its power source is a submersible pump, which can reduce noise, lower power consumption, and is not easily damaged.

[0004] Regarding the above related technologies, the inventor believes that there are the following defects: The existing underwater robots use fixed-position nozzles for water jet propulsion, and the positions of the nozzles cannot be adjusted. By controlling the opening and closing of each nozzle, the propulsion angle is changed. This method results in the propulsion angle being restricted by the positions of the nozzles, and the propulsion angle is relatively single; therefore, a support mechanism for an underwater robot is proposed. Summary of the Invention

[0005] A support mechanism for an underwater robot proposed by the present invention solves the problem that the existing underwater robots use fixed-position nozzles for water jet propulsion, the positions of the nozzles cannot be adjusted, and by controlling the opening and closing of each nozzle, the propulsion angle is changed. This method results in the propulsion angle being restricted by the positions of the nozzles, and the propulsion angle is relatively single.

[0006] A support mechanism for an underwater robot proposed by the present invention includes a main body and a support component. The main body is installed inside two support components. The support component includes a connecting rod, a cross bar, and a reinforcing rod. A pipeline component is installed inside the support component. Jet components for multi-directionally adjusting the angle are installed at both the upper and lower ends of the support component. A compressed air tank is also installed between the support components. The compressed air tank is connected to the jet components through the pipeline component.

[0007] Through the above technical solution, the inert gas is introduced into the jet components through the pipeline component by the compressed air tank and ejected, to stably assist the underwater robot in diving or floating. By stably jetting air below the jet component, the underwater robot can hover in water, ensuring stable support for the underwater robot; and the angle of the jet component can be adjusted multi-directionally, facilitating displacement in multiple directions in water, greatly improving the flexibility of use.

[0008] As a further improvement of the above solution, a reinforcing rod is connected between the two connecting rods, and the ends of the two connecting rods are both connected by cross bars.

[0009] As a further improvement of the above solution, the pipeline component includes a main pipeline, a first branch pipe, and a second branch pipe. The main pipeline is arranged inside the reinforcing rod. The air outlet end of the compressed air tank is connected to the main pipeline, and a main valve is installed at the connection. The first branch pipe and the second branch pipe are symmetrically arranged about the main pipeline inside the connecting rod. A first control valve is installed at the air outlet end of the first branch pipe, and a second control valve is installed at the air outlet end of the second branch pipe.

[0010] Through the above technical solution, by opening the main valve, the gas in the compressed air tank is respectively introduced into the first branch pipe and the second branch pipe on both sides through the main pipeline. By controlling the opening and closing of the first control valve, the gas in the first branch pipe is ejected from the jet component at the port of the first branch pipe, realizing the auxiliary propulsion for the underwater robot to dive; by controlling the opening and closing of the second control valve, the gas in the second branch pipe is ejected from the jet component at the port of the second branch pipe, realizing the floating or depth-constant hovering of the underwater robot.

[0011] As a further improvement of the above solution, the jet component includes a jet frame and a nozzle. A rotating seat is fixedly connected to the bottom surface of the jet frame. Air outlet grooves are formed on both the upper and lower end surfaces of the support component. The rotating seat is installed in the air outlet groove. A conduit is connected between the rotating seat and the pipeline component. An adjustment groove is formed on the upper surface of the jet frame. The nozzle is rotatably installed inside the adjustment groove. Two groups of drive grooves are formed inside the support component. The positions of the drive grooves correspond to the air outlet grooves. A dual-axis motor is installed inside the drive groove. Both output ends of the dual-axis motor are connected with rotating rods. The rotating rods are connected into the drive grooves. A second driving gear is installed at one end of the rotating rod. A driven gear is installed on the circumferential side of the rotating seat. The second driving gear meshes with the driven gear. A micro motor is installed on the outer wall of the jet frame. The micro motor is placed in the air outlet groove. The output end of the micro motor is connected into the adjustment groove. The output end of the micro motor is connected with a first driving gear. A rack is installed on the bottom surface of the nozzle. The first driving gear meshes with the rack. A connecting hose is installed between the nozzle and the conduit.

[0012] Through the above technical solution, the micro motor drives the first driving gear to rotate. The first driving gear cooperates with the rack to drive the nozzle to rotate, realizing the single-angle adjustment of the nozzle. Then, the dual-axis motor drives the two rotating rods to rotate simultaneously. The rotating rods drive the two second driving gears to rotate. The second driving gears cooperate with the driven gears to drive multiple rotating seats to rotate simultaneously. The rotating seats drive the jet frame to rotate, rotating the position of the nozzle after the adjustment angle, realizing the further adjustment of the spraying angle of the nozzle, and improving the flexibility of the auxiliary propulsion.

[0013] As a further improvement of the above solution, the air outlet groove is formed on one surface of the cross bar, and the drive groove is formed inside the cross bar.

[0014] As a further improvement of the above solution, an airbag is installed on the circumferential side of the compressed air tank. An air guiding valve is installed between the compressed air tank and the airbag. An air release valve is installed on the circumferential side of the airbag.

[0015] Through the above technical solution, when the underwater robot sinks, the air guiding valve is in a closed state and the airbag is not inflated. When the underwater robot needs to float or hover, the gas in the compressed air tank is introduced into the airbag through the air guiding valve to make the airbag expand, thereby increasing the overall buoyancy of the underwater robot, effectively assisting the underwater robot to hover or float at a fixed depth. And the compressed air tank and the airbag are in the central symmetry position of the robot, effectively ensuring the stability of the overall center of gravity of the device, and to a certain extent avoiding the underwater robot from tipping over under the influence of water flow when sinking or floating.

[0016] As a further improvement of the above solution, bottom rods are fixedly connected to the bottom side walls of the two groups of support components. A support frame is fixedly connected to the upper surface of the bottom rods. The compressed air tank is installed inside the support frame.

[0017] As a further improvement of the above solution, a number of mounting grooves are provided on the opposite side walls of the main body. A photography system is installed on one side wall of the main body, and a lifting ring is installed on the upper surface of the main body. The lifting ring can connect the underwater robot to a sling.

[0018] Advantages of the present invention:

[0019] 1. The inert gas is introduced into the jet component through the pipeline component by the compressed gas tank and ejected, so as to stably assist the underwater robot to dive or float. By jetting stably below the jet component, the underwater robot can hover in the water, ensuring stable support for the underwater robot. And the angle of the jet component can be adjusted in multiple directions, facilitating displacement in multiple directions in the water, greatly improving the flexibility of use.

[0020] 2. The gas in the compressed gas tank is introduced into the airbag through the air guiding valve to make the airbag expand, improving the overall buoyancy of the underwater robot, effectively assisting the underwater robot to hover at a fixed depth or float. And the compressed gas tank and the airbag are in the central symmetry position of the robot, effectively ensuring the stability of the overall center of gravity of the device, and to a certain extent avoiding the underwater robot from tipping over under the influence of water flow when sinking or floating. Description of the drawings

[0021] Figure 1 Isometric side three-dimensional structure schematic diagram of a support mechanism for an underwater robot;

[0022] Figure 2 Top view structure schematic diagram of a support mechanism for an underwater robot;

[0023] Figure 3 For Figure 2 A - A sectional structure schematic diagram in

[0024] Figure 4 For Figure 3 Partial enlarged view of part B in

[0025] Figure 5 For Figure 4 C - C sectional structure schematic diagram in

[0026] Figure 6 Left side three-dimensional structure schematic diagram of a support mechanism for an underwater robot.

[0027] Reference numerals in the figure: 1, main body; 2, support assembly; 201, connecting rod; 202, cross bar; 203, reinforcing rod; 3, pipeline assembly; 301, main pipeline; 302, first branch pipe; 303, second branch pipe; 4, support frame; 5, compressed air tank; 6, main valve; 7, air outlet groove; 8, rotating seat; 9, conduit; 10, first control valve; 1001, second control valve; 11, jet frame; 12, adjustment groove; 13, nozzle; 1301, rack; 14, connecting hose; 15, micro motor; 16, first driving gear; 17, driving groove; 18, dual-axis motor; 19, rotating rod; 20, second driving gear; 21, driven gear; 22, mounting groove; 23, lifting ring; 24, bottom rod; 25, airbag. Detailed implementation mode

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0029] Embodiment 1: Refer to Figures 1-6 , a support mechanism for an underwater robot, including a main body 1 and a support assembly 2. The main body 1 is installed inside two groups of support assemblies 2. The support assembly 2 includes a connecting rod 201, a cross bar 202, and a reinforcing rod 203. A pipeline assembly 3 is installed inside the support assembly 2. Multi-directionally adjustable jet assemblies are installed at both the upper and lower ends of the support assembly 2. A compressed air tank 5 is also installed between the support assemblies 2. The compressed air tank 5 is connected to the jet assembly through the pipeline assembly 3; the reinforcing rod 203 is connected between the two connecting rods 201, and the ends of the two connecting rods 201 are connected by the cross bar 202; the pipeline assembly 3 includes a main pipeline 301, a first branch pipe 302, and a second branch pipe 303. The main pipeline 301 is arranged inside the reinforcing rod 203. The air outlet end of the compressed air tank 5 is connected to the main pipeline 301, and a main valve 6 is installed at the connection. The first branch pipe 302 and the second branch pipe 303 are symmetrically arranged about the main pipeline 301 inside the connecting rod 201. The air outlet end of the first branch pipe 302 is installed with a first control valve 10, and the air outlet end of the second branch pipe 303 is installed with a second control valve 1001.

[0030] Refer to Figures 3-5, the jet component includes a jet frame 11 and a nozzle 13. A rotary base 8 is fixedly connected to the bottom surface of the jet frame 11. Air outlet grooves 7 are formed on both the upper and lower end surfaces of the support component 2. The rotary base 8 is installed in the air outlet groove 7. A conduit 9 is connected between the rotary base 8 and the pipeline component 3. An adjustment groove 12 is formed on the upper surface of the jet frame 11. The nozzle 13 is rotatably installed inside the adjustment groove 12. Two groups of drive grooves 17 are formed inside the support component 2. The positions of the drive grooves 17 are adapted to the air outlet grooves 7. A dual-axis motor 18 is installed inside the drive groove 17. Both output ends of the dual-axis motor 18 are connected with rotating rods 19. The rotating rods 19 are connected into the drive groove 17. A second driving gear 20 is installed at one end of the rotating rod 19. A driven gear 21 is installed on the circumferential side of the rotary base 8. The second driving gear 20 meshes with the driven gear 21. A micro motor 15 is installed on the outer wall of the jet frame 11. The micro motor 15 is placed inside the air outlet groove 7. The output end of the micro motor 15 is connected into the adjustment groove 12. The output end of the micro motor 15 is connected with a first driving gear 16. A rack 1301 is installed on the bottom surface of the nozzle 13. The first driving gear 16 meshes with the rack 1301. A connecting hose 14 is installed between the nozzle 13 and the conduit 9.

[0031] Referring to Figure 3 and Figure 6 , the air outlet groove 7 is formed on one surface of the cross bar 202. The drive groove 17 is formed inside the cross bar 202. An air bag 25 is installed on the circumferential side of the compressed air tank 5. A gas guide valve is installed between the compressed air tank 5 and the air bag 25. A deflation valve is installed on the circumferential side of the air bag 25. Bottom rods 24 are fixedly connected to the bottom side walls of the two groups of support components 2. A support frame 4 is fixedly connected to the upper surface of the bottom rod 24. The compressed air tank 5 is installed inside the support frame 4. A number of installation grooves 22 are formed on the opposite side walls of the main body 1. A photography system is installed on one side wall of the main body 1. A lifting ring 23 is installed on the upper surface of the main body 1; the lifting ring 23 can connect the underwater robot with a sling.

[0032] Working principle: By opening the main valve 6, the gas in the compressed gas tank 5 is introduced into the first branch pipe 302 and the second branch pipe 303 on both sides through the main pipeline 301. Control the opening and closing of the first control valve 10, so that the gas in the first branch pipe 302 is ejected from the jet component at the port of the first branch pipe 302 to realize the auxiliary propulsion for the submergence of the underwater robot. Control the opening and closing of the second control valve 1001, so that the gas in the second branch pipe 303 is ejected from the jet component at the port of the second branch pipe 303 to realize the floating or depth-keeping hovering of the underwater robot. Drive the first driving gear 16 to rotate through the micro motor 15. The first driving gear 16 cooperates with the rack 1301 to drive the nozzle 13 to rotate, realizing the single-angle adjustment of the nozzle 13. Then drive the two groups of rotating rods 19 to rotate simultaneously through the double-shaft motor 18. The rotating rods 19 drive the two groups of second driving gears 20 to rotate. The second driving gears 20 cooperate with the driven gears 21 to drive the multiple groups of rotating seats 8 to rotate simultaneously. The rotating seats 8 drive the jet frame 11 to rotate, rotating the position of the nozzle 13 after the angle adjustment, realizing the further adjustment of the jet angle of the nozzle 13, and improving the flexibility of the auxiliary propulsion.

[0033] When the underwater robot sinks, the air guide valve is in a closed state and the airbag 25 is not inflated. When the underwater robot needs to float or hover, the gas in the compressed gas tank 5 is introduced into the airbag 25 through the air guide valve, causing the airbag 25 to expand, thereby increasing the overall buoyancy of the underwater robot and effectively assisting the underwater robot to hover at a fixed depth or float. Moreover, the compressed gas tank 5 and the airbag 25 are in a centrosymmetric position of the robot, effectively ensuring the stability of the overall center of gravity of the device and avoiding the rollover of the underwater robot affected by the water flow to a certain extent when sinking or floating.

[0034] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0036] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A support mechanism for an underwater robot, comprising a main body (1) and a support component (2), characterized in that, The main body (1) is installed inside two groups of support components (2). The support components (2) include connecting rods (201), cross bars (202), and reinforcing rods (203). A pipeline component (3) is installed inside the support components (2). Jet components with multi-directional angle adjustment are installed at both the upper and lower ends of the support components (2). A compressed air tank (5) is also installed between the support components (2), and the compressed air tank (5) is connected to the jet components through the pipeline component (3). The pipeline component (3) includes a main pipeline (301), a first branch pipeline (302), and a second branch pipeline (303). The main pipeline (301) is arranged inside the reinforcing rod (203). The air outlet end of the compressed air tank (5) is connected to the main pipeline (301), and a main valve (6) is installed at the connection. The first branch pipeline (302) and the second branch pipeline (303) are symmetrically arranged about the main pipeline (301) inside the connecting rod (201). A first control valve (10) is installed at the air outlet end of the first branch pipeline (302), and a second control valve (1001) is installed at the air outlet end of the second branch pipeline (303). The jet component includes a jet frame (11) and a nozzle (13). A rotating seat (8) is fixedly connected to the bottom surface of the jet frame (11). Air outlet grooves (7) are formed on both the upper and lower end surfaces of the support component (2). The rotating seat (8) is installed inside the air outlet groove (7). A conduit (9) is connected between the rotating seat (8) and the pipeline component (3). An adjustment groove (12) is formed on the upper surface of the jet frame (11). The nozzle (13) is rotatably installed inside the adjustment groove (12). Two drive grooves (17) are formed inside the support component (2). The positions of the drive grooves (17) are adapted to the air outlet grooves (7). A dual-axis motor (18) is installed inside the drive groove (17). Both output ends of the dual-axis motor (18) are connected to a rotating rod (19). The rotating rod (19) is connected into the drive groove (17). A second driving gear (20) is installed at one end of the rotating rod (19). A driven gear (21) is installed on the circumferential surface of the rotating seat (8). The second driving gear (20) meshes with the driven gear (21). A micro motor (15) is installed on the outer wall of the jet frame (11). The micro motor (15) is placed inside the air outlet groove (7). The output end of the micro motor (15) is connected into the adjustment groove (12). The output end of the micro motor (15) is connected to a first driving gear (16). A rack (1301) is installed on the bottom surface of the nozzle (13). The first driving gear (16) meshes with the rack (1301). A connecting hose (14) is installed between the nozzle (13) and the conduit (9). The air outlet groove (7) is formed on one surface of the cross bar (202), and the drive groove (17) is formed inside the cross bar (202). The reinforcing rod (203) is connected between the two connecting rods (201), and the ends of the two connecting rods (201) are connected by the cross bar (202). An air bag (25) is installed on the circumferential surface of the compressed air tank (5). An air guiding valve is installed between the compressed air tank (5) and the air bag (25), and an air release valve is installed on the circumferential side of the air bag (25). Both the bottom side walls of the two groups of support components (2) are fixedly connected with bottom rods (24), and a support frame (4) is fixedly connected to the upper surface of the bottom rods (24); a compressed air tank (5) is installed in the support frame (4). A plurality of installation grooves (22) are formed in opposite side walls of the main body (1), a photography system is installed on one side wall of the main body (1), and a lifting ring (23) is installed on the upper surface of the main body (1).

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