An underwater robot for observation operations in high-altitude rapids.

Abstract

An underwater robot for observation operations in fast-flowing waters of high-altitude regions is disclosed. This invention addresses the problem that existing underwater robots struggle to maintain stable posture in fast-flowing waters, resulting in intermittent and inaccurate data collection that is insufficient for subsequent construction work. In this invention, two balancing ailerons are symmetrically positioned on either side of the main body. Each aileron's lower surface, from the inside out, is equipped with an auxiliary power mechanism and a power anchoring mechanism. A power anchoring mechanism is installed on the lower surface of the front and rear of the main body. An underwater balance adjustment mechanism is installed inside the main body, the main power mechanism is installed at the rear end, a tempered glass cover is installed at the front end, and the observation equipment is installed at the front end, within the tempered glass cover. This invention belongs to the field of hydraulic engineering equipment technology.

Description

Technical Field

[0001] This invention relates to an underwater robot for observation operations, belonging to the field of hydraulic engineering equipment technology. Background Technology

[0002] Aquatic observation is the monitoring of the quality and quantity of the aquatic environment and various human and natural factors affecting the aquatic ecosystem and environmental quality, based on the water cycle. It is the foundation of aquatic environmental assessment and water pollution prevention and control, an important component of environmental monitoring, and an indispensable means for environmental engineering design, environmental science research, environmental protection management, and government decision-making. The structure and function of aquatic ecosystems are extremely complex and diverse, involving many aspects of organisms and the environment. In order to better construct and maintain aquatic ecosystems, it is necessary to conduct observation operations on the aquatic environment and ecosystems.

[0003] Observational operations in high-altitude rapid current waters can obtain various indicators of these waters, which is crucial for subsequent construction work. Currently, observational operations in high-altitude rapid current waters are mainly carried out manually. However, due to the rapid currents, it is extremely dangerous for workers to conduct observational operations. To ensure the safety of workers, underwater robots can be used to replace human personnel for underwater observation, which can avoid dangerous situations. However, existing underwater robots have difficulty maintaining a stable posture in rapid current waters, so the information collected is intermittent and inaccurate, making it difficult to provide valuable information for subsequent construction work. Summary of the Invention

[0004] This invention addresses the problem that existing underwater robots struggle to maintain a stable posture in fast-flowing waters, resulting in intermittent and inaccurate information that is difficult to provide valuable data for subsequent construction operations. Therefore, this invention proposes an underwater robot for observation operations in high-altitude, fast-flowing waters.

[0005] The technical solution adopted by the present invention to solve the above problems is as follows: The present invention includes a main body, a main power mechanism, two balancing ailerons, two auxiliary power mechanisms, four power anchoring mechanisms, an underwater balance adjustment mechanism, a tempered glass cover, and observation equipment; the two balancing ailerons are symmetrically arranged on both sides of the main body, and an auxiliary power mechanism and a power anchoring mechanism are installed sequentially from the inside to the outside on the lower surface of each balancing aileron. A power anchoring mechanism is installed on the lower surface of the front part of the main body, and a power anchoring mechanism is installed on the lower surface of the rear part of the main body. The underwater balance adjustment mechanism is installed inside the main body, the main power mechanism is installed at the rear end of the main body, the tempered glass cover is installed at the front end of the main body, and the observation equipment is installed at the front end of the main body, and the observation equipment is located inside the tempered glass cover.

[0006] Furthermore, the main propulsion mechanism includes a first motor and a first propulsion propeller; the first motor is fixedly installed at the rear end of the main body, and the first propulsion propeller is coaxially fixedly mounted on the motor shaft of the first motor.

[0007] Furthermore, the auxiliary power mechanism includes an auxiliary water tank, a mounting bracket, an auxiliary power cowling, a second motor, and a second propeller. The auxiliary water tank is fixedly connected to the lower surface of the aileron via the mounting bracket. The auxiliary power cowling is fixedly installed at the rear end of the auxiliary water tank. The second motor is installed inside the auxiliary power cowling, and the coaxial mounting head of the second propeller is installed on the motor shaft of the second motor.

[0008] Furthermore, the blades of both the first and second propellers are composed of multiple stacked blades made of carbon fiber.

[0009] Furthermore, the power anchoring mechanism includes a cylinder, a drill bit, a drilling motor, a rope, a take-up and release assembly, and two horizontal insertion positioning assemblies. The lower part of the cylinder is a frustoconical shape with an outer contour that gradually expands from bottom to top. The drilling motor is fixedly installed in the lower part of the cylinder, and the upper end of the drill bit is inserted into the lower end of the cylinder from bottom to top. The upper end of the drill bit is coaxially and fixedly connected to the motor shaft of the drilling motor. The two horizontal insertion positioning assemblies are installed sequentially from bottom to top in the upper part of the cylinder, and the upper end of the cylinder is connected to the take-up and release assembly via a rope.

[0010] Furthermore, the take-up and release assembly includes a housing, a drum, a drum shaft, a main sprocket, a secondary sprocket, a chain, and a take-up and release motor; the take-up and release motor is fixedly installed inside the housing, the drum is installed inside the housing via the drum shaft, and the drum is located below the take-up and release motor, the main sprocket is coaxially fixedly mounted on the motor shaft of the take-up and release motor, the secondary sprocket is coaxially fixedly mounted on the drum shaft, and the main sprocket is connected to the secondary sprocket via the chain.

[0011] Furthermore, the transverse positioning assembly includes a propulsion motor, a drive bar, and a fixed cone; the propulsion motor is fixed inside the upper part of the cylinder, one end of the drive bar is coaxially fixedly connected to the motor shaft of the propulsion motor, the side wall of the upper part of the cylinder is provided with a screw hole, the fixed cone is inserted into the screw hole, and the outer wall of the fixed cone is threadedly connected to the inner wall of the screw hole, the end face of the fixed cone facing the propulsion motor is provided with a flat hole, and the other end of the drive bar is inserted into the flat hole.

[0012] Furthermore, the underwater balance adjustment mechanism includes a front plate, a rear plate, a lead screw, an adjustment motor, a guide rod, a counterweight, a nut, and a sliding sleeve. The front plate and the rear plate are fixed in the main body from front to back. The lead screw and the guide rod are arranged between the front plate and the rear plate from top to bottom. The front end of the lead screw is rotatably connected to the front plate. The adjustment motor is fixed on the rear plate. The rear end of the lead screw is coaxially fixedly connected to the motor shaft of the adjustment motor. The front end of the guide rod is fixedly connected to the front plate. The rear end of the guide rod is fixedly connected to the rear plate. The upper surface of the counterweight is connected to the lead screw through the nut. The lower surface of the counterweight is slidably connected to the guide rod through the sliding sleeve.

[0013] Furthermore, the present invention also includes an auxiliary lighting lamp, which is fixed to the upper surface of the front part of the main body.

[0014] The beneficial effects of this invention are:

[0015] 1. The present invention is equipped with four dynamic anchoring mechanisms, which can penetrate deep into the mud and sand at the bottom of the rapid current, so that the main body of the underwater robot remains stable in the rapid current, ensuring that the underwater robot can stably carry out observation operations and collect the required data;

[0016] 2. The underwater robot of the present invention is provided with two balancing ailerons. The two balancing ailerons can help the main body maintain stability in the water. At the same time, an auxiliary power mechanism is installed on the lower surface of the balancing ailerons. While providing auxiliary power, the auxiliary power mechanism is also provided with an auxiliary water tank inside. The auxiliary water tank can provide additional buoyancy to the main body and help the main body maintain balance in the water.

[0017] 3. The main body of the present invention is provided with a water balance adjustment mechanism. The water balance adjustment mechanism adjusts the pitch posture of the main body in the water by changing the position of the counterweight in the front and back of the main body, thereby enabling the main body to remain stable in fast-flowing water. Attached Figure Description

[0018] Figure 1 This is the front view of the present invention;

[0019] Figure 2 This is a main sectional view of the present invention;

[0020] Figure 3 This is a top view of the present invention;

[0021] Figure 4 This is a sectional view of the auxiliary power mechanism;

[0022] Figure 5 This is an enlarged structural schematic diagram of the dynamic anchoring mechanism;

[0023] Figure 6 This is a partially enlarged schematic diagram of the dynamic anchoring mechanism;

[0024] Figure 7 yes Figure 6 Enlarged schematic diagram of the middle AA direction. Detailed Implementation

[0025] Specific implementation method one: Combining Figure 1 and Figure 3 This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters, comprising a main body 1, a main propulsion mechanism 2, two balancing ailerons 3, two auxiliary propulsion mechanisms 4, four power anchoring mechanisms 5, an underwater balance adjustment mechanism, a tempered glass cover 6, and observation equipment 7. The two balancing ailerons 3 are symmetrically arranged on both sides of the main body 1. An auxiliary propulsion mechanism 4 and a power anchoring mechanism 5 are sequentially installed on the lower surface of each balancing aileron 3 from the inside out. A power anchoring mechanism 5 is installed on the lower surface of the front of the main body 1, and a power anchoring mechanism 5 is installed on the lower surface of the rear of the main body 1. The underwater balance adjustment mechanism is installed inside the main body 1. The main propulsion mechanism 2 is installed at the rear end of the main body 1. The tempered glass cover 6 is installed at the front end of the main body 1. The observation equipment 7 is installed at the front end of the main body 1 and is located inside the tempered glass cover 6.

[0026] Specific Implementation Method Two: Combining Figure 2 This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters, whose main power mechanism 2 includes a first motor 201 and a first propeller 202. The first motor 201 is fixedly installed at the rear end of the main body 1, and the first propeller 202 is coaxially fixedly mounted on the motor shaft of the first motor 201.

[0027] The main propulsion mechanism 2 also includes a protective cover 203, which is fixed to the rear end of the main body 1. The first propulsion propeller 202 is located inside the protective cover 203. The protective cover 203 can prevent lateral and side water flow from interfering with the first propulsion propeller 202, ensuring that the first propulsion propeller 202 can generate stable propulsion under the drive of the first motor 201.

[0028] The other components and connections are the same as in Specific Implementation Method 1.

[0029] Specific implementation method three: Combining Figure 4 This embodiment describes an auxiliary power mechanism 4 for an underwater robot used for observation operations in high-altitude rapid current waters. This mechanism includes an auxiliary water tank 401, a mounting bracket 402, an auxiliary power shield 403, a second motor 404, and a second propeller 405. The auxiliary water tank 401 is fixedly connected to the lower surface of the aileron 3 via the mounting bracket 402. The auxiliary power shield 403 is fixedly installed at the rear end of the auxiliary water tank 401. The second motor 404 is installed inside the auxiliary power shield 403. The second propeller 405 is coaxially mounted on the motor shaft of the second motor 404.

[0030] The outer contour of the auxiliary power cowl 403 gradually expands from front to back, forming a frustum shape. This structure can significantly reduce the resistance of the auxiliary power cowl 403 in the water flow. At the same time, the second propeller 405 is also located inside the auxiliary power cowl 403, which can prevent the lateral water flow from interfering with the second propeller 405.

[0031] The other components and connections are the same as in Specific Implementation Method 1.

[0032] Specific implementation method four: Combination Figures 1 to 4 This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters, in which the first propeller 202 and the second propeller 405 are both composed of multiple carbon fiber blades stacked together.

[0033] The blades are made with a stacked structure, which can improve the service life of the blades. When cracks appear on the surface of the blades, only one blade is damaged and it does not affect the overall use of the blades. At the same time, the blades are made of carbon fiber, which can improve the flexibility of the blades, making them less prone to breakage and improving their resistance to drag.

[0034] Other components and connections are the same as in specific implementation methods two or three.

[0035] Specific Implementation Method Five: Combining Figures 5 to 7 This embodiment describes a power anchoring mechanism 5 for an underwater robot used in observation operations in high-altitude rapid current waters. The mechanism includes a cylinder 501, a drill bit 502, a drilling motor 503, a rope 504, a deployment and retrieval assembly, and two horizontally inserted positioning assemblies. The lower part of the cylinder 501 is a frustoconical shape with an outer contour that gradually expands from bottom to top. The drilling motor 503 is fixedly installed inside the lower part of the cylinder 501. The upper end of the drill bit 502 is inserted into the lower end of the cylinder 501 from bottom to top, and the upper end of the drill bit 502 is coaxially and fixedly connected to the motor shaft of the drilling motor 503. The two horizontally inserted positioning assemblies are sequentially installed inside the upper part of the cylinder 501 from bottom to top. The upper end of the cylinder 501 is connected to the deployment and retrieval assembly via the rope 504.

[0036] The other components and connections are the same as in Specific Implementation Method 1.

[0037] Specific Implementation Method Six: Combination Figures 5 to 7This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters. The deployment and retrieval assembly includes a housing 505, a drum 506, a drum shaft 507, a main sprocket 508, a secondary sprocket 509, a chain 5010, and a retractor / discharge motor 5011. The retractor / discharge motor 5011 is fixedly installed inside the housing 505. The drum 506 is installed inside the housing 505 via the drum shaft 507, and is located below the retractor / discharge motor 5011. The main sprocket 508 is coaxially and fixedly mounted on the motor shaft of the retractor / discharge motor 5011. The secondary sprocket 509 is coaxially and fixedly mounted on the drum shaft 507. The main sprocket 508 is connected to the secondary sprocket 509 via the chain 5010.

[0038] The other components and connections are the same as in Specific Implementation Method 5.

[0039] Specific implementation method seven: Combining Figures 5 to 7 This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters, whose horizontal positioning assembly includes a propulsion motor 5012, a drive bar 5013, and a fixed cone 5014. The propulsion motor 5012 is fixed inside the upper part of a cylinder 501. One end of the drive bar 5013 is coaxially and fixedly connected to the motor shaft of the propulsion motor 5012. The upper side wall of the cylinder 501 has a screw hole, and the fixed cone 5014 is inserted into the screw hole. The outer wall of the fixed cone 5014 is threaded to the inner wall of the screw hole. The end face of the fixed cone 5014 facing the propulsion motor 5012 has a flat hole, and the other end of the drive bar 5013 is inserted into the flat hole.

[0040] The propulsion motor 5012 drives the drive bar 5013 to rotate. The drive bar 5013 engages with the flat hole, driving the fixed cone 5014 to rotate. The outer wall of the fixed cone 5014 is threaded to the inner wall of the screw hole. When the drive bar 5013 drives the fixed cone 5014 to rotate clockwise, the fixed cone 5014 extends out of the screw hole. When the drive bar 5013 drives the fixed cone 5014 to rotate counterclockwise, the fixed cone 5014 retracts into the screw hole.

[0041] The fixed cone 5014 has an outwardly extending limiting flange 5015 at one end near the propulsion motor 5012. The limiting flange 5015 can prevent the fixed cone 5014 from completely disengaging from the screw hole.

[0042] The other components and connections are the same as in Specific Implementation Method 5.

[0043] Specific implementation method eight: Combination Figure 2This embodiment describes an underwater robot used for observation operations in high-altitude rapid current waters. The underwater balance adjustment mechanism includes a front plate 8, a rear plate 9, a lead screw 10, an adjusting motor 11, a guide rod 12, a counterweight 13, a nut 14, and a sliding sleeve 15. The front plate 8 and rear plate 9 are fixed sequentially within the main body 1 from front to back. The lead screw 10 and guide rod 102 are sequentially arranged between the front plate 8 and rear plate 9 from top to bottom. The front end of the lead screw 10 is rotatably connected to the front plate 8. The adjusting motor 11 is fixed on the rear plate 9, and the rear end of the lead screw 10 is coaxially fixedly connected to the motor shaft of the adjusting motor 11. The front end of the guide rod 12 is fixedly connected to the front plate 8, and the rear end of the guide rod 12 is fixedly connected to the rear plate 9. The upper surface of the counterweight 13 is connected to the lead screw 10 via the nut 14, and the lower surface of the counterweight 13 is slidably connected to the guide rod 12 via the sliding sleeve 15.

[0044] The other components and connections are the same as in Specific Implementation Method 1.

[0045] Specific Implementation Method Nine: Combining 1 to Figure 3 This embodiment describes an underwater robot for observation operations in high-altitude rapid current waters, which also includes an auxiliary lighting lamp 16, fixed to the upper surface of the front of the main body 1.

[0046] The other components and connections are the same as in Specific Implementation Method 1.

[0047] Working principle

[0048] After the main body 1 enters the rapid flow, the take-up and release assembly releases the cylinder 501. The cylinder 501 is made of metal and has a counterweight lead block at its bottom. Under the action of gravity, the cylinder 501 falls to the surface of the mud and sand at the bottom of the rapid flow. The drilling motor 503 starts, and the drill bit 502 drills into the mud and sand, eventually drilling into the mud and sand along with the cylinder 501. The propulsion motor 5012 starts, and the fixed cone 5014 extends out of the screw hole on the side wall of the cylinder 501 and inserts into the mud and sand under the drive of the propulsion motor 5012, ensuring that the cylinder 501 is fixed in the mud and sand. After the main body 1 has completed the observation operation, the propulsion motor 5012 rotates in the opposite direction, and the fixed cone 5014 retracts into the screw hole on the side wall of the cylinder 501 under the drive of the propulsion motor 5012. The drilling motor 503 rotates in the opposite direction, and the drill bit 502 withdraws from the mud and sand with the cylinder 501. The take-up and release assembly then retrieves the cylinder 501.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. An underwater robot for observation operations in high-altitude rapid current waters, characterized in that: The underwater robot for observation operations in high-altitude rapid waters includes a main body (1), a main power mechanism (2), two balancing ailerons (3), two auxiliary power mechanisms (4), four power anchoring mechanisms (5), an underwater balance adjustment mechanism, a tempered glass cover (6), and observation equipment (7). The two balancing ailerons (3) are symmetrically arranged on both sides of the main body (1). An auxiliary power mechanism (4) and a power anchoring mechanism (5) are installed sequentially from the inside to the outside on the lower surface of each balancing aileron (3). A power anchoring mechanism (5) is installed on the lower surface of the front part of the main body (1), and a power anchoring mechanism (5) is installed on the lower surface of the rear part of the main body (1). The underwater balance adjustment mechanism is installed inside the main body (1). The main power mechanism (2) is installed at the rear end of the main body (1). The tempered glass cover (6) is installed at the front end of the main body (1). The observation equipment (7) is installed at the front end of the main body (1) and is located inside the tempered glass cover (6). The power anchoring mechanism (5) includes a cylinder (501), a drill bit (502), a drilling motor (503), a rope (504), a take-up and release assembly, and two horizontal insertion positioning assemblies. The lower part of the cylinder (501) is a frustoconical shape with an outer contour that gradually expands from bottom to top. The drilling motor (503) is fixedly installed in the lower part of the cylinder (501). The upper end of the drill bit (502) is inserted into the lower end of the cylinder (501) from bottom to top, and the upper end of the drill bit (502) is coaxially fixedly connected to the motor shaft of the drilling motor (503). The two horizontal insertion positioning assemblies are installed in the upper part of the cylinder (501) from bottom to top. The upper end of the cylinder (501) is connected to the take-up and release assembly through the rope (504). The drill bit (502) is provided with threads. The horizontal insertion positioning assembly includes a propulsion motor (5012), a drive bar (5013), and a fixed cone (5014). The propulsion motor (5012) is fixed inside the upper part of the cylinder (501). One end of the drive bar (5013) is coaxially fixedly connected to the motor shaft of the propulsion motor (5012). The side wall of the upper part of the cylinder (501) is provided with a screw hole. The fixed cone (5014) is inserted into the screw hole, and the outer wall of the fixed cone (5014) is threadedly connected to the inner wall of the screw hole. The end face of the fixed cone (5014) facing the propulsion motor (5012) is provided with a flat hole, and the other end of the drive bar (5013) is inserted into the flat hole.

2. The underwater robot for observation operations in high-altitude rapid current waters according to claim 1, characterized in that: The main power mechanism (2) includes a first motor (201) and a first propeller (202); the first motor (201) is fixedly installed at the rear end of the main body (1), and the first propeller (202) is coaxially fixedly mounted on the motor shaft of the first motor (201).

3. The underwater robot for observation operations in high-altitude rapid current waters according to claim 1, characterized in that: The auxiliary power mechanism (4) includes an auxiliary water tank (401), a bracket (402), an auxiliary power cowl (403), a second motor (404), and a second propeller (405). The auxiliary water tank (401) is fixedly connected to the lower surface of the balance aileron (3) through the bracket (402). The auxiliary power cowl (403) is fixedly installed at the rear end of the auxiliary water tank (401). The second motor (404) is installed inside the auxiliary power cowl (403). The second propeller (405) is coaxially fixedly installed on the motor shaft of the second motor (404).

4. An underwater robot for observation operations in high-altitude rapid current waters according to claim 2 or 3, characterized in that: The blades of both the first propeller (202) and the second propeller (405) are composed of multiple carbon fiber blades stacked together.

5. An underwater robot for observation operations in high-altitude rapid current waters according to claim 1, characterized in that: The take-up and release assembly includes a housing (505), a drum (506), a drum shaft (507), a main sprocket (508), a secondary sprocket (509), a chain (5010), and a take-up and release motor (5011). The take-up and release motor (5011) is fixedly installed inside the housing (505). The drum (506) is installed inside the housing (505) through the drum shaft (507), and the drum (506) is located below the take-up and release motor (5011). The main sprocket (508) is coaxially fixedly mounted on the motor shaft of the take-up and release motor (5011). The secondary sprocket (509) is coaxially fixedly mounted on the drum shaft (507). The main sprocket (508) is connected to the secondary sprocket (509) through the chain (5010).

6. An underwater robot for observation operations in high-altitude rapid current waters according to claim 1, characterized in that: The underwater balance adjustment mechanism includes a front plate (8), a rear plate (9), a lead screw (10), an adjustment motor (11), a guide rod (12), a counterweight (13), a nut (14), and a sliding sleeve (15). The front plate (8) and the rear plate (9) are fixed in the main body (1) from front to back. The lead screw (10) and the guide rod (12) are arranged between the front plate (8) and the rear plate (9) from top to bottom. The front end of the lead screw (10) is connected to the front plate (8). Rotary connection, the adjusting motor (11) is fixed on the rear upright plate (9), the rear end of the lead screw (10) is coaxially fixedly connected to the motor shaft of the adjusting motor (11), the front end of the guide rod (12) is fixedly connected to the front upright plate (8), the rear end of the guide rod (12) is fixedly connected to the rear upright plate (9), the upper surface of the counterweight (13) is connected to the lead screw (10) through the nut (14), and the lower surface of the counterweight (13) is slidably connected to the guide rod (12) through the sliding sleeve (15).

7. An underwater robot for observation operations in high-altitude rapid current waters according to claim 1, characterized in that: The underwater robot for observation operations in high-altitude rapid waters also includes an auxiliary lighting lamp (16), which is fixed to the upper surface of the front of the main body (1).

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