An underwater robot for underwater detection

Abstract

The present invention relates to the technical field of underwater robots, specifically to an underwater robot for underwater detection, comprising a mobile base, both sides of the mobile base are rotatably mounted with mobile tracks, the upper surface of the mobile base is fixed with a protective frame, the inner side of the protective frame is fixed with two fixed cross bars, a self-cleaning camera assembly is movably mounted between the two fixed cross bars, the self-cleaning camera assembly comprises two positioning shafts, one end of the two positioning shafts is rotatably connected to the two fixed cross bars respectively, an obstacle clearing rotating ring is rotatably connected between the two positioning shafts, two rotating support rods are fixed to the inner side of the obstacle clearing rotating ring, and a robot body is mounted between the two rotating support rods. The present invention ensures that the shooting area of ​​the underwater robot will not be blocked and will not affect the normal shooting of the underwater robot by sliding a cleaning scraper against the outer surface of a transparent protective shell and removing attachments on the outer surface of the transparent protective shell.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to an underwater robot used for underwater detection. Background Art

[0002] Underwater robots are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and human diving depth is limited, so underwater robots have become an important tool for developing the ocean. Unmanned remote-controlled submersibles mainly include: cable-controlled submersibles and cable-free remote-controlled submersibles. Among them, cable-controlled submersibles are divided into three types: self-propelled in water, towed, and able to crawl on seabed structures.

[0003] However, when the existing underwater robots are used in water, the protective shell in front of the lens may be blocked by algae or impurities attached to the lens, affecting the underwater shooting effect, or water plants in the water may entangle the outside of the lens, affecting the rotation and shooting of the lens; therefore, it does not meet the existing needs. In this regard, we propose an underwater robot for underwater detection. Summary of the invention

[0004] The object of the present invention is to provide an underwater robot for underwater detection, so as to solve the problems proposed in the above background technology that when the underwater robot is used in water, the lens may be blocked by algae or impurities attached to the protective shell in front of the lens, affecting the underwater shooting effect, or water plants in the water may entangle the outside of the lens, affecting the rotation and shooting of the lens.

[0005] To achieve the above object, the present invention provides the following technical solution: an underwater robot for underwater detection, comprising a mobile base, both sides of the mobile base are rotatably mounted with mobile tracks, a protective frame is fixed to the upper surface of the mobile base, two fixed cross bars are fixed to the inner side of the protective frame, and a self-cleaning camera assembly is movably mounted between the two fixed cross bars;

[0006] The self-cleaning camera assembly includes two positioning shafts, one end of the two positioning shafts are rotatably connected to two fixed cross bars respectively, an obstacle clearing rotating ring is rotatably connected between the two positioning shafts, two rotating support rods are fixed on the inner side of the obstacle clearing rotating ring, a robot body is installed between the two rotating support rods, a transparent protective shell is fixed on the outer side of the robot body, a detection camera is provided between the transparent protective shell and the robot body, and the detection camera is fixed to the robot body, the end of the rotating support rod connected to the robot body is rotatably plugged into the robot body, a driving motor is fixed inside the top of the robot body, a driving gear is fixed to the output shaft end of the driving motor, a transmission gear is meshed on one side of the driving gear, a central rotating shaft is fixed through the middle of the transmission gear, and the center The bottom end of the rotating shaft is rotatably connected to the robot body, and a rotating magnetic metal ring is slidably installed on the outer side of the top end of the central rotating shaft. When the central rotating shaft rotates, the rotating magnetic metal ring rotates with the central rotating shaft, and a rotating docking round rod is fixed to one side of the rotating magnetic metal ring. The upper and lower surfaces of the robot body are provided with positioning ring grooves, and a rotating plate is rotatably installed on the inner side of the positioning ring groove. A cleaning scraper is movably installed on the outer side of the transparent protective shell, and the two ends of the cleaning scraper are respectively fixed to two rotating plates, and a rotating connecting plate is fixed to the inner side of the rotating plate close to the rotating docking round rod. The rotating connecting plate is slidably installed inside the robot body and one end is located below the rotating docking round rod. An electromagnet is provided below the rotating magnetic metal ring, and the electromagnet is magnetically adsorbed and connected to the rotating magnetic metal ring and the electromagnet is fixed to the robot body.

[0007] Preferably, the protection frame includes eight end corner connection blocks, three protection rods are fixed to the outer surface of each end corner connection block, and a docking sleeve is provided between every two end corner connection blocks.

[0008] Preferably, a positioning hole is provided at one end of the protection rod, and the end of the docking sleeve is inserted into the positioning hole.

[0009] Preferably, a rotation docking block is fixed to the outer side of the bottom end of the rotation support rod close to the central rotation axis, and the rotation docking block is located above the rotation docking round rod.

[0010] Preferably, a return spring is provided below the rotating magnetic metal ring, the return spring is sleeved on the outside of the central rotating shaft and a limit plate is installed on the bottom end, and the limit plate is fixed on the outside of the central rotating shaft.

[0011] Preferably, fixed baffles are provided on both sides of the obstacle-clearing rotating ring, and the ends of the fixed baffles are fixed to the docking sleeves close to the fixed baffles.

[0012] Preferably, an arc-shaped concave surface is provided on the inner side of the fixed baffle, and the center of the arc-shaped concave surface coincides with the center of the obstacle-clearing rotating ring.

[0013] Preferably, the outer surface of the obstacle-clearing rotating ring is provided with two sets of active crushing blades, and the inner arc-shaped concave surface of the fixed baffle is provided with a primary auxiliary crushing blade.

[0014] Preferably, the active crushing blade has a plurality of obstacle clearing blades, and the plurality of obstacle clearing blades are distributed in a circular array around the center of the obstacle clearing rotating ring.

[0015] Preferably, the auxiliary crushing blade comprises a plurality of obstacle clearing blades, the plurality of obstacle clearing blades are distributed in a circular array around the obstacle clearing rotating ring, and the driving gears and the obstacle clearing blades are distributed in an alternating manner.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention utilizes an electromagnet to magnetically attract the rotating magnetic metal ring downward, so that the top rotating docking round rod of the rotating magnetic metal ring moves downward, so that the bottom end position of the rotating docking round rod is lower than the bottom end of the rotating connecting plate, and then the driving motor is powered on to start and drive the driving gear and the transmission gear to rotate, and the transmission gear drives the central rotating shaft and the rotating magnetic metal ring to rotate around the axis of the central rotating shaft, so that the rotating magnetic metal ring drives the rotating docking round rod to rotate, and the rotating docking round rod in rotation is used to push the rotating connecting plate to make a circular motion around the axis of the central rotating shaft, so that the rotating connecting plate drives the rotating plate and the transparent protective shell to make a circular motion around the axis of the transparent protective shell, so that the cleaning scraper slides in contact with the outer surface of the transparent protective shell and removes the attachments on the outer surface of the transparent protective shell, thereby ensuring that the shooting area of ​​the underwater robot will not be blocked and will not affect the normal shooting of the underwater robot;

[0018] 2. The present invention utilizes a reset spring to support the rotating magnetic metal ring to ensure that the rotating magnetic metal ring is not magnetically adsorbed by the electromagnet. The reset spring supports the rotating magnetic metal ring and the rotating docking round rod, so that the top of the rotating docking round rod is higher than the bottom surface of the rotating docking block, ensuring that when the central rotating shaft drives the rotating docking round rod to rotate through the rotating magnetic metal ring, the rotating rotating docking round rod contacts the rotating docking block and causes the rotating support rod to rotate, and the obstacle clearing rotating ring rotates at the same time. The rotating obstacle clearing rotating ring drives the obstacle clearing blade to pass through between the fixed blades on the inner side of the fixed baffle, and crushes the water plants entangled on the outside of the transparent protective shell or the water plants that hinder the movement of the underwater robot, ensuring that the water plants cannot entangle on the outside of the transparent protective shell to block the shooting field of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the protection frame of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the self-cleaning camera assembly of the present invention;

[0022] Figure 4 for Figure 1 A magnified view of the structure at center A;

[0023] Figure 5 This is a structural cross-sectional view of the transparent protective housing of the present invention;

[0024] Figure 6 It is a structural cross-sectional view of the robot body of the present invention;

[0025] Figure 7 for Figure 6 A magnified view of the structure at B in the middle;

[0026] Figure 8 for Figure 6 Enlarged view of the structure at C in the middle.

[0027] In the figure: 1. Mobile base; 2. Mobile crawler; 3. Protection frame; 301. End angle connection block; 302. Docking sleeve; 303. Protection rod; 4. Fixed cross bar; 5. Self-cleaning camera assembly; 501. Transparent protective shell; 502. Robot body; 503. Positioning ring groove; 504. Rotating plate; 505. Cleaning scraper; 506. Rotating support rod; 507. Obstacle removal rotating ring; 508. Fixed baffle; 509. Fixed blade; 510. Obstacle removal blade; 511. Detection camera; 512. Positioning shaft; 513. Rotating connecting plate; 514. Rotating docking block; 515. Central rotating shaft; 516. Electromagnet; 517. Transmission gear; 518. Rotating docking round rod; 519. Driving gear; 520. Rotating magnetic metal ring; 521. Reset spring; 522. Limit plate; 523. Drive motor. DETAILED DESCRIPTION

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

[0029] like Figure 1 As shown, an underwater robot for underwater detection has moving tracks 2 rotatably installed on both sides of a moving base 1, a protective frame 3 is fixed to the upper surface of the moving base 1, two fixed cross bars 4 are fixed on the inner side of the protective frame 3, and a self-cleaning camera assembly 5 is movably installed between the two fixed cross bars 4.

[0030] like Figures 3 to 8 As shown, the self-cleaning camera assembly 5 includes two positioning shafts 512, one end of the two positioning shafts 512 is rotatably connected to the two fixed cross bars 4 respectively, an obstacle clearing rotating ring 507 is rotatably connected between the two positioning shafts 512, two rotating support rods 506 are fixed on the inner side of the obstacle clearing rotating ring 507, a robot body 502 is installed between the two rotating support rods 506, a transparent protective shell 501 is fixed on the outer side of the robot body 502, a detection camera 511 is arranged between the transparent protective shell 501 and the robot body 502, and the detection camera 511 is fixed to the robot body 502, and the end of the rotating support rod 506 connected to the robot body 502 is rotatably plugged in Inside the robot body 502, a driving motor 523 is fixed inside the top of the robot body 502, a driving gear 519 is fixed to the output shaft end of the driving motor 523, one side of the driving gear 519 is meshed with a transmission gear 517, a central rotating shaft 515 is fixed through the middle of the transmission gear 517, the bottom end of the central rotating shaft 515 is rotatably connected to the robot body 502, a rotating magnetic metal ring 520 is installed on the top outer side of the central rotating shaft 515 for sliding up and down, when the central rotating shaft 515 rotates, the rotating magnetic metal ring 520 rotates with the central rotating shaft 515, a rotating docking round rod 518 is fixed to one side of the rotating magnetic metal ring 520, and the robot body 50 2 is provided with a positioning ring groove 503 on the upper and lower surfaces, a rotating plate 504 is rotatably installed on the inner side of the positioning ring groove 503, a cleaning scraper 505 is movably installed on the outer side of the transparent protective shell 501, and the two ends of the cleaning scraper 505 are respectively fixed to the two rotating plates 504, a rotating connecting plate 513 is fixed to the inner side of the rotating plate 504 close to the rotating docking round rod 518, the rotating connecting plate 513 is slidably installed inside the robot body 502 and one end of the rotating connecting plate 513 is located below the rotating docking round rod 518, an electromagnet 516 is provided below the rotating magnetic metal ring 520, the electromagnet 516 is magnetically adsorbed and connected to the rotating magnetic metal ring 520 and the electromagnet 516 is fixed to the robot body 502, and the electromagnet 516 is used to connect the rotating magnetic metal ring 520. 16 pairs of rotating magnetic metal rings 520 are magnetically attracted downward, so that the rotating magnetic metal rings 520 drive the rotating docking round rod 518 to move downward, so that the bottom end of the rotating docking round rod 518 is below the lowest point of the rotating connecting plate 513, and then the driving motor 523 is powered on and starts to drive the driving gear 519 and the transmission gear 517 to rotate, and the transmission gear 517 drives the central rotating shaft 515 and the rotating magnetic metal ring 520 to rotate around the axis of the central rotating shaft 515, so that the rotating magnetic metal ring 520 drives the rotating docking round rod 518 to rotate, and the rotating rotating docking round rod 518 is used to push the rotating connecting plate 513 to make a circular motion around the axis of the central rotating shaft 515.

[0031] A rotating docking block 514 is fixed to the outer side of the bottom end of the rotating support rod 506 close to the central rotating shaft 515. The rotating docking block 514 is located above the rotating docking round rod 518. A return spring 521 is provided below the rotating magnetic metal ring 520. The return spring 521 is sleeved on the outer side of the central rotating shaft 515 and a limit plate 522 is installed at the bottom end. The limit plate 522 is fixed to the outer side of the central rotating shaft 515. The return spring 521 is used to support the rotating magnetic metal ring 520 to ensure that the rotating magnetic metal ring 520 When the central rotating shaft 515 is not magnetically attracted by the electromagnet 516, the return spring 521 supports the rotating magnetic metal ring 520 and the rotating docking round rod 518, so that the top of the rotating docking round rod 518 is higher than the bottom surface of the rotating docking block 514, ensuring that when the central rotating shaft 515 rotates, the rotating docking round rod 518 drives the rotating docking round rod 518 to rotate through the rotating magnetic metal ring 520, and the rotating docking round rod 518 contacts the rotating docking block 514 and rotates the rotating support rod 506, and the obstacle clearing rotating ring 507 rotates at the same time.

[0032] Fixed baffles 508 are provided on both sides of the obstacle clearing rotating ring 507. The ends of the fixed baffles 508 are fixed to the docking sleeve 302 close to the fixed baffles 508. The inner side of the fixed baffles 508 is provided with an arc-shaped concave surface. The center of the arc-shaped concave surface coincides with the center of the obstacle clearing rotating ring 507. The outer surface of the obstacle clearing rotating ring 507 is provided with two groups of active crushing blades. The arc-shaped concave surface on the inner side of the fixed baffle 508 is provided with an auxiliary crushing blade. When the rotating support rod 506 drives the obstacle clearing rotating ring 507 to rotate, the obstacle clearing rotating ring 507 drives the active crushing blade to rotate and interleave with the auxiliary crushing blade, thereby pushing the water plants located in the forward direction of the underwater robot, which are rotated by the active crushing blade and crushed by the auxiliary crushing blade.

[0033] The active crushing blade has multiple obstacle clearing blades 510, which are distributed in a circular array around the center of the obstacle clearing rotating ring 507. The auxiliary crushing blade includes multiple obstacle clearing blades 510, which are distributed in a circular array around the obstacle clearing rotating ring 507. The active gear 519 and the obstacle clearing blades 510 are staggered.

[0034] like Figure 1 and Figure 2As shown, the protective frame 3 includes eight end corner connecting blocks 301, and three protective rods 303 are fixed to the outer surface of each end corner connecting block 301. A docking sleeve 302 is provided between every two end corner connecting blocks 301. A positioning hole is provided at one end of the protective rod 303, and the end of the docking sleeve 302 is inserted into the positioning hole. The end corner connecting blocks 301, the docking sleeve 302, and the protective rods 303 form a cubic frame to protect the self-cleaning camera component 5, and a transparent baffle for protection can be pretended on the cubic frame composed of the end corner connecting blocks 301, the docking sleeve 302, and the protective rods 303, so as to further protect the self-cleaning camera component 5.

[0035] Working principle: put the underwater robot into water, and use the detection camera 511 inside the underwater robot to shoot the underwater environment. During the shooting process, when floating matter or algae in the water adhere to the outer surface of the transparent protective shell 501 and cause pollution or regional obstruction to the transparent protective shell 501, the electromagnet 516 is energized and magnetically attracts the rotating magnetic metal ring 520, so that the rotating magnetic metal ring 520 moves downward and compresses the reset spring 521. At the same time, the height of the rotating docking round rod 518 is reduced and the bottom end is lower than the end of the rotating connecting plate 513. At this time, the driving motor 523 is energized and started;

[0036] After the driving motor 523 is energized, it drives the active gear 519 and the transmission gear 517 to rotate, so that the transmission gear 517 drives the central rotating shaft 515 and the rotating magnetic metal ring 520 to rotate at the same time, and the rotating magnetic metal ring 520 rotates in contact with the top of the electromagnet 516 and drives the rotating docking round rod 518 to make a circular motion around the axis of the central rotating shaft 515, so that the rotating docking round rod 518 pushes the rotating connecting plate 513 to make a circular motion around the axis of the central rotating shaft 515 inside the robot body 502, and at this time, the rotating connecting plate 513 drives the rotating plate 504 and the cleaning scraper 505 to rotate around the circumference of the central rotating shaft 515, and the cleaning scraper 505 is used to slide in contact with the outer surface of the transparent protective shell 501 to clean up the floating matter and algae attached to the outer surface of the transparent protective shell 501, so as to avoid the shooting field of the underwater robot being blocked.

[0037] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An underwater robot for underwater detection, comprising a mobile base (1), characterized in that: Both sides of the mobile base (1) are rotatably mounted with mobile crawlers (2); a protective frame (3) is fixed to the upper surface of the mobile base (1); two fixed cross bars (4) are fixed to the inner side of the protective frame (3); and a self-cleaning camera assembly (5) is movably mounted between the two fixed cross bars (4); The self-cleaning camera assembly (5) comprises two positioning rotating shafts (512), one end of the two positioning rotating shafts (512) is rotatably connected to two fixed cross bars (4) respectively, an obstacle clearing rotating ring (507) is rotatably connected between the two positioning rotating shafts (512), two rotating support rods (506) are fixed on the inner side of the obstacle clearing rotating ring (507), a robot body (502) is installed between the two rotating support rods (506), a transparent protective shell (501) is fixed on the outer side of the robot body (502), a detection camera (511) is provided between the transparent protective shell (501) and the robot body (502), and the detection camera (511) is fixed to the robot body (502), and the end of the rotating support rod (506) connected to the robot body (502) is rotatably inserted into the robot body (502); A driving motor (523) is fixed inside the top of the robot body (502), and a driving gear (519) is fixed to the output shaft end of the driving motor (523). A transmission gear (517) is meshedly connected to one side of the driving gear (519), and a central rotating shaft (515) is fixed through the middle of the transmission gear (517). The bottom end of the central rotating shaft (515) is rotatably connected to the robot body (502). A rotating magnetic metal ring (520) is slidably mounted on the outer side of the top of the central rotating shaft (515) up and down. When the central rotating shaft (515) rotates, the rotating magnetic metal ring (520) rotates along with the central rotating shaft (515). A rotating docking round rod (518) is fixed to one side of the rotating magnetic metal ring (520). The robot body (502) The upper and lower surfaces of the robot are both provided with positioning ring grooves (503), a rotating plate (504) is rotatably mounted on the inner side of the positioning ring groove (503), a cleaning scraper (505) is movably mounted on the outer side of the transparent protective shell (501), the two ends of the cleaning scraper (505) are respectively fixed to the two rotating plates (504), a rotating connecting plate (513) is fixed to the inner side of the rotating plate (504) close to the rotating docking round rod (518), the rotating connecting plate (513) is slidably mounted inside the robot body (502) and one end of the rotating connecting plate (513) is located below the rotating docking round rod (518), an electromagnet (516) is provided below the rotating magnetic metal ring (520), the electromagnet (516) is magnetically adsorbed and connected to the rotating magnetic metal ring (520), and the electromagnet (516) is fixed to the robot body (502); Fixed baffles (508) are provided on both sides of the obstacle-clearing rotating ring (507), and the ends of the fixed baffles (508) are fixed to the docking sleeves (302) close to the fixed baffles (508); An arc-shaped concave curved surface is provided on the inner side of the fixed baffle (508), and the center of the arc-shaped concave curved surface coincides with the center of the obstacle-clearing rotating ring (507); The outer surface of the obstacle-clearing rotating ring (507) is provided with two sets of active crushing blades, and the inner arc-shaped concave surface of the fixed baffle (508) is provided with a primary auxiliary crushing blade; The active crushing blade has a plurality of obstacle clearing blades (510), and the plurality of obstacle clearing blades (510) are distributed in a circular array around the center of the obstacle clearing rotating ring (507); The auxiliary crushing blade comprises a plurality of obstacle clearing blades (510), the plurality of obstacle clearing blades (510) being distributed in a circular array around the center of the obstacle clearing rotating ring (507), and the driving gear (519) and the obstacle clearing blades (510) being distributed in an alternating manner.

2. The underwater robot for underwater detection according to claim 1, characterized in that: The protection frame (3) comprises eight end corner connection blocks (301), three protection rods (303) are fixed to the outer surface of each end corner connection block (301), a docking sleeve (302) is provided between every two end corner connection blocks (301), a positioning hole is provided at one end of the protection rod (303), and the end of the docking sleeve (302) is inserted into the positioning hole.

3. The underwater robot for underwater detection according to claim 1, characterized in that: A rotating docking block (514) is fixed to the outer side of the bottom end of the rotating support rod (506) close to the central rotating axis (515), and the rotating docking block (514) is located above the rotating docking round rod (518).

4. The underwater robot for underwater detection according to claim 3, characterized in that: A return spring (521) is provided below the rotating magnetic metal ring (520); the return spring (521) is sleeved on the outside of the central rotating shaft (515) and a limit plate (522) is installed at the bottom end; the limit plate (522) is fixed on the outside of the central rotating shaft (515).

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