Three-axis vector underwater robot

Abstract

The three-axis vector underwater robot comprises a robot body, two propellers are arranged at the front end of the robot body, a propeller is arranged at the rear end of the robot body, two propellers are arranged on each of the two sides of the robot body, a mask is arranged at the front end of the robot body, the mask is designed to be in a hemisphere shape, and a camera module is arranged in the position, located in the mask, of the robot body. Fixing frames are symmetrically arranged on the two sides of the top of the machine body in the axial direction, clamping assemblies and adjusting assemblies used for adjusting the states of the clamping assemblies are arranged in the fixing frames, and collecting frames are arranged at the bottoms of the fixing frames and communicate with the fixing frames. According to the three-axis vector underwater robot provided by the invention, the two clamping rods can clamp and release an object through the cooperation of the positioning plate and the chute, and the operation is convenient and rapid.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a three-axis vector underwater robot. Background Art

[0002] A three-axis vector underwater robot is an autonomous or remotely controlled underwater vehicle equipped with a three-axis vector propulsion system. It achieves precise control and positioning by controlling the propulsion force in three axes. This type of robot is widely used in underwater exploration, scientific research sampling, deep-sea resource development and other fields.

[0003] In order for underwater robots to complete scientific research sampling and other tasks, it is necessary to install a manipulator on the robot body to assist in completing these tasks. The samples sampled may include rocks or biological specimens. In addition, the robot can also perform maintenance on submarine pipelines, cables or other infrastructure, such as clamping and replacing damaged parts, and using clamping devices to deploy and retrieve various detection instruments, such as sonar, cameras, etc. However, in the prior art, the manipulators of some underwater robots need to return to the surface of the water after clamping a specific object to return the object, and then continue to work in the water. If the number of objects that need to be sent back to the surface is too large, the robot needs to make multiple round trips to complete the task, which greatly increases the construction time and reduces the operating efficiency.

[0004] Therefore, it is necessary to design an underwater robot that can conveniently clamp and transport underwater objects. Summary of the invention

[0005] The purpose of the present invention is to provide a three-axis vector underwater robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a three-axis vector underwater robot, comprising a body, two thrusters are arranged at the front end of the body, one thruster is arranged at the rear end of the body, two thrusters are arranged on both sides of the body, a mask is arranged at the front end of the body, the mask is designed to be a hemispherical shape, a camera module is arranged in the mask of the body, fixed frames are axially symmetrically arranged on both sides of the top of the body, a clamping assembly and an adjustment assembly for adjusting the state of the clamping assembly are arranged in the fixed frame, a collection frame is arranged at the bottom of the fixed frame, and the collection frame is connected to the fixed frame.

[0007] As a further solution of the present invention: the clamping assembly includes a moving block, a moving groove is opened in the center of the moving block, clamping rods are axially symmetrically slidably arranged on both sides of the moving groove, and two clamping rods are opened on one side close to each other, and a positioning plate is movably arranged between the two clamping rods, the positioning plate is slidably connected to the oblique groove, and the end of the positioning plate is fixedly connected to the moving rod.

[0008] As a further solution of the present invention: the moving rod movably passes through the moving block and the end is fixedly connected to a moving frame, a cam is movably provided at the center of the moving frame, a fixed plate is provided under the cam, the fixed plate is fixedly connected to the moving block, a vertical rod is fixedly provided at the bottom of the cam and the vertical rod movably passes through the fixed plate, a sleeve is movably sleeved on the outer side of the moving rod, and the sleeve is fixedly connected to the fixed plate.

[0009] As a further solution of the present invention: the fixed plate is threadedly connected with a rotating shaft, the rotating shaft is rotatably connected to the inner wall of the fixed frame, the fixed plate is slidably connected to the inner wall of the fixed frame, the end of the vertical rod away from the cam is movably clamped with a driving gear, and a driving rack and a limiting rack are respectively fixed on both sides of the inner wall of the fixed frame, and the driving gear is respectively meshed with the driving rack and the limiting rack for transmission.

[0010] As a further solution of the present invention: the adjustment assembly includes a circular ring, which is fixedly arranged on the top of the driving gear, and a plurality of serrated grooves are opened in an annular array inside the circular ring, the vertical rod movably passes through the circular ring and a fixed cylinder is fixedly arranged on the outside of the vertical rod, a telescopic rod is movably arranged in the fixed cylinder, and a serrated block is fixedly connected to one end of the telescopic rod away from the fixed cylinder, the serrated block is movably engaged with the serrated groove, a spring is fixedly connected between the serrated block and the vertical rod, and the spring is movably sleeved on the outside of the fixed cylinder and the telescopic rod.

[0011] As a further solution of the present invention: vertical plates are axially symmetrically arranged on both sides of the mask, a screw rod is movably arranged in the vertical plates, a movable cylinder is movably arranged outside the screw rod, vertical grooves are opened on one side of the two vertical plates close to each other, a slider is slidably arranged in the vertical groove, a horizontal plate is movably clamped on one side of the slider, a movable plate is slidably arranged in the horizontal plate, a round rod is movably arranged through the center of the movable plate, and a cleaning cloth is fixedly connected between the two round rods.

[0012] As a further solution of the present invention: the end of the round rod away from the cleaning cloth is fixedly connected to a first gear, and a first rack is fixedly provided on one side of the vertical plate, and the first gear is meshed with the first rack for transmission.

[0013] As a further solution of the present invention: a limiting rod is fixedly connected to one side of the movable plate, the vertical plate is fixedly provided with a limiting plate on one side of the movable plate, a limiting groove is provided on the limiting plate, and the limiting rod is slidably fitted in the limiting groove at one end away from the movable plate.

[0014] As a further solution of the present invention: a rotating groove is provided in the slider, a movable rod is rotatably arranged in the rotating groove, a second gear is fixedly sleeved on the end of the movable rod, the vertical plate is located in the vertical groove and a second rack is fixedly arranged therein, the second gear is meshed with the second rack for transmission, a curved sliding groove is provided on the outer side of the movable rod, the slider is located on both sides of the rotating groove and slots are axially symmetrically provided, a clamping block is movably arranged in the clamping groove, one end of the clamping block is fixedly connected to the cross plate, a positioning rod is fixedly provided on one side of one of the clamping blocks, the end of the positioning rod is slidably fitted in the curved sliding groove, a groove is provided on one side of one of the vertical plates, and the cross plate is slidably connected to the groove.

[0015] As a further solution of the present invention: a transverse groove is opened on one side of the fixed frame, a third rack is movably arranged in the transverse groove, the third rack is fixedly connected to the moving block, a third gear is fixedly arranged on the top of the screw rod, and the third gear is meshed with the third rack for transmission.

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

[0017] (1) The two clamping rods can clamp and release the object through the cooperation of the positioning plate and the inclined groove, which is convenient and quick to operate;

[0018] (2) Through the cooperation of the sawtooth groove and the sawtooth block, the object can be clamped when the fixed block moves outward; and the object will be released when the fixed block moves inward until the clamping rod moves above the collection frame. This design makes the automatic clamping and releasing of objects efficient and convenient;

[0019] (3) While the clamping rod clamps the object, the cleaning cloth can be moved downward through the cooperation of the third gear and the third rack to clean the outer surface of the mask;

[0020] (4) When the slider moves downward, it will drive the horizontal plate, the moving plate, the round rod, the first gear and the cleaning cloth to descend synchronously. During this process, the meshing of the first gear and the first rack will cause the round rod to rotate, thereby tilting the cleaning cloth to ensure that the cleaning cloth fits more closely with the surface of the hemisphere;

[0021] (5) The cooperation between the limit rod and the limit groove allows the cleaning cloth to change its position during the descent process, so that the cleaning cloth can contact more areas of the mask, thereby enhancing the cleaning effect on the mask;

[0022] (6) The cross plate and the movable plate can move back and forth by the coordination of the curved slide and the positioning rod, so that the cleaning cloth can be rubbed back and forth on the mask, further enhancing the cleaning quality of the mask. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 Schematic diagram of the internal structure of the mask in the present invention.

[0025] Figure 3 It is a schematic diagram of the external structure of the fixing frame in the present invention.

[0026] Figure 4 for Figure 3 Enlarged schematic diagram of part A in the middle.

[0027] Figure 5 It is a schematic diagram of the internal structure of the fixed frame in the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the clamping assembly in the present invention.

[0029] Figure 7 It is a schematic diagram of the structure of the driving gear in the present invention.

[0030] Figure 8 It is a schematic diagram of the structure of the first gear in the present invention.

[0031] Fig. 9 It is a schematic diagram of the structure of the limiting groove in the present invention.

[0032] Fig.10 It is a schematic diagram of the structure of the second rack in the present invention.

[0033] Fig.11 It is a schematic diagram of the structure of the moving cylinder in the present invention.

[0034] Fig.12 It is a schematic diagram of the positional relationship between the movable rod and the sliding block in the present invention.

[0035] Fig.13 for Fig.12 Enlarged schematic diagram of part B in the middle.

[0036] Fig.14 It is a schematic diagram of the positional relationship between the ring and the driving gear in the present invention.

[0037] In the figure: 1, body; 2, propeller; 3, mask; 4, camera module; 5, fixed frame; 51, horizontal groove; 6, clamping assembly; 61, moving block; 62, moving groove; 63, clamping rod; 64, inclined groove; 65, positioning plate; 66, moving rod; 7, adjustment assembly; 71, ring; 72, sawtooth groove; 73, fixed cylinder; 74, telescopic rod; 75, sawtooth block; 76, spring; 8, collection frame; 9, moving frame; 10, cam; 11, fixed plate; 12, vertical rod; 13, sleeve; 14, rotating shaft; 15, driving gear; 16, driving Rack; 17, limit rack; 18, vertical plate; 181, vertical groove; 182, groove; 19, screw rod; 20, moving cylinder; 21, slider; 211, rotating groove; 212, clamping groove; 22, horizontal plate; 23, moving plate; 24, round rod; 25, cleaning cloth; 26, first gear; 27, first rack; 28, limit rod; 29, limit plate; 291, limit groove; 30, movable rod; 301, curved slide groove; 31, second gear; 32, second rack; 33, clamping block; 34, positioning rod; 35, third rack; 36, third gear. DETAILED DESCRIPTION

[0038] See also Figure 1-Figure 14In an embodiment of the present invention, a three-axis vector underwater robot includes a body 1, two propellers 2 are arranged at the front end of the body 1, one propeller 2 is arranged at the rear end of the body 1, two propellers 2 are arranged on both sides of the body 1, a mask 3 is arranged at the front end of the body 1, and the mask 3 is designed to be in a hemispherical shape. The body 1 is provided with a camera module 4 located inside the mask 3, and fixed frames 5 are axially symmetrically arranged on both sides of the top of the body 1, and a clamping component 6 and an adjustment component 7 for adjusting the state of the clamping component 6 are arranged in the fixed frame 5. A collection frame 8 is arranged at the bottom of the fixed frame 5, and the collection frame 8 is connected to the fixed frame 5. The body 1 adopts a hybrid design concept as a whole, that is, various equipment bodies can be installed in a frame-like manner inside the body 1, and the exterior is designed to be streamlined to reduce the resistance when moving underwater. The propellers 2 arranged at the front and rear ends are respectively used for the forward and backward movement of the body 1. The thrusters 2 installed on both sides are used for the rotation and translation of the body 1. The mask 3 adopts a hemispherical design to reduce the water resistance of the robot when moving underwater. The mask 3 is made of transparent material. The camera module 4 can obtain external direction information through the mask 3 to confirm whether there is a deviation in the direction of the robot's movement. Two LED lights can also be designed on both sides of the front end of the body 1 to achieve fill light in deeper waters. When the preset position is reached, the clamping component 6 is moved to the outside of the fixed frame 5. The clamping component 6 moves to the outside of the fixed frame 5 to clamp specific external objects. After clamping, it moves to the inside of the fixed frame 5. When the clamping component 6 moves to the top of the collection frame 8, the clamping component 6 releases the clamping of the object through the adjustment component 7. The object falls into the collection frame 8, and the clamping component 6 can continue to clamp the external object. There is no need to return to the surface to send the object back and then dive into the water for subsequent work, which greatly saves operation time and has high efficiency.

[0039] See also Figure 6 As shown, in this embodiment, preferably, the clamping assembly 6 includes a moving block 61, a moving groove 62 is provided at the center of the moving block 61, and clamping rods 63 are axially symmetrically slidably arranged on both sides of the moving groove 62, and two clamping rods 63 are provided with oblique grooves 64 on one side close to each other, and a positioning plate 65 is movably arranged between the two clamping rods 63, and the positioning plate 65 is slidably connected to the oblique groove 64, and a moving rod 66 is fixedly connected to the end of the positioning plate 65; the moving block 61 is moved outward along the fixed frame 5 until it is straight When the two clamping rods 63 reach both sides of the object, move the moving rod 66 in the direction away from the clamping rod 63. The movement of the moving rod 66 drives the positioning plate 65 to move along the inclined groove 64, thereby driving the two clamping rods 63 to move along the moving groove 62 toward each other until the two clamping rods 63 clamp the object in the middle. Then move the moving block 61 into the fixed frame 5 until the clamping rods 63 move to the top of the collection frame 8, release the clamping of the clamping rods 63 on the object, and the object falls into the collection frame 8, completing a single collection work.

[0040] See also Figure 5-Figure 7 As shown, in this embodiment, preferably, the moving rod 66 movably passes through the moving block 61 and the end is fixedly connected to the moving frame 9, the moving frame 9 is movably provided with a cam 10 in the center, a fixing plate 11 is provided below the cam 10, the fixing plate 11 is fixedly connected to the moving block 61, a vertical rod 12 is fixedly provided at the bottom of the cam 10 and the vertical rod 12 movably passes through the fixing plate 11, a sleeve 13 is movably sleeved on the outer side of the moving rod 66, and the sleeve 13 is fixedly connected to the fixing plate 11; the external information is obtained through the camera module 4, and an analysis module can also be designed in the body 1 to analyze the actual distance between the clamping rod 63 and the object, and the two can cooperate to transmit the underwater information to the machine on the surface of the water, and the surface machine can be controlled by the specific distance. When the fixing plate 11 moves, the fixing plate 11 and the moving block 61 move toward the outside of the fixing frame 5, and the movement of the moving block 61 will drive the clamping rod 63 to move outward. When the clamping rod 63 is about to reach the position of the object, the vertical rod 12 is rotated. The rotation of the vertical rod 12 drives the cam 10 to rotate. The rotation of the cam 10 drives the moving frame 9 to move away from the clamping rod 63, thereby driving the moving rod 66 to move. The movement of the moving rod 66 in the direction away from the clamping rod 63 will drive the two clamping rods 63 to move toward each other through the cooperation of the positioning plate 65 and the inclined groove 64 until the object is clamped in the middle. During the rotation of the vertical rod 12, the clamping rod 63 is also moving. The movement of the moving rod 66 along the sleeve 13 can provide stability for the movement of the moving rod 66 and the moving frame 9.

[0041] See also Figure 5-Figure 7As shown, in the present embodiment, preferably, the fixing plate 11 is threadedly connected with a rotating shaft 14, the rotating shaft 14 is rotatably connected to the inner wall of the fixing frame 5, the fixing plate 11 is slidably connected to the inner wall of the fixing frame 5, the end of the vertical rod 12 away from the cam 10 is movably connected with a driving gear 15, and a driving rack 16 and a limiting rack 17 are respectively fixedly provided on both sides of the inner wall of the fixing frame 5, and the driving gear 15 is respectively meshed with the driving rack 16 and the limiting rack 17 for transmission; the rotating shaft 14 is rotated, and since the rotating shaft 14 is threadedly connected to the fixing plate 11, the rotation of the rotating shaft 14 drives the fixing plate 11 to move toward the outside of the fixing frame 5, and the movement of the fixing plate 11 will drive the vertical rod 12 to move toward the outside of the fixing frame 5, and the movement of the fixing plate 11 will drive the vertical rod 12 to move toward the outside of the fixing frame 5. The movement of the rod 12 causes the driving gear 15 to mesh with the driving rack 16, thereby driving the vertical rod 12 to rotate. The rotation of the vertical rod 12 can drive the cam 10 to rotate so that the clamping rod 63 clamps the object. After the object is clamped, the rotating shaft 14 is rotated in the opposite direction, which will drive the fixed plate 11 to move inward so that the driving gear 15 meshes with the limit rack 17, causing the vertical rod 12 to rotate in the same direction, thereby causing the cam 10 to rotate 180 degrees in the same direction, causing the moving frame 9 and the moving rod 66 to move in a direction close to the clamping rod 63. With the help of the relationship between the positioning plate 65 and the inclined groove 64, the two clamping rods 63 move away from each other along the moving groove 62, thereby releasing the clamping state of the object and allowing the object to fall into the collection frame 8 below.

[0042] See also Figure 7 and Fig.14As shown, in this embodiment, preferably, the adjustment component 7 includes a circular ring 71, the circular ring 71 is fixedly arranged on the top of the driving gear 15, a plurality of sawtooth grooves 72 are opened in an annular array inside the circular ring 71, the vertical rod 12 movably passes through the circular ring 71, and a fixed cylinder 73 is fixedly arranged on the outer side of the vertical rod 12, a telescopic rod 74 is movably arranged in the fixed cylinder 73, and a sawtooth block 75 is fixedly connected to one end of the telescopic rod 74 away from the fixed cylinder 73, the sawtooth block 75 is movably engaged with the sawtooth groove 72, a spring 76 is fixedly connected between the sawtooth block 75 and the vertical rod 12, and the spring 76 is movably sleeved on the fixed cylinder 73 and the outside of the telescopic rod 74; when the fixed plate 11 moves toward the outside of the fixed frame 5, the driving gear 15 will mesh with the driving rack 16 to make the driving gear 15 rotate clockwise. When rotating in this direction, the serrated groove 72 is engaged with the serrated block 75. The rotation of the driving gear 15 will drive the ring 71, the serrated groove 72, the serrated block 75 and the vertical rod 12 to rotate together. The rotation of the vertical rod 12 will drive the cam 10 to rotate. The rotation of the cam 10 by 180 degrees will drive the moving frame 9 and the moving rod 66 to move away from the clamping rod 63. With the cooperation of the positioning plate 65 and the inclined groove 64, the two clamping rods 63 are moved in a direction close to each other to clamp the object. When returning, the driving gear 15 will mesh with the driving rack 16 again, thereby driving the driving gear 15 to rotate counterclockwise. When rotating in this direction, the sawtooth block 75 and the sawtooth groove 72 will not be in a stuck state, and the counterclockwise rotation of the driving gear 15 will drive the ring 71 to rotate, and the rotation of the ring 71 will drive the sawtooth block 75 and the telescopic rod 74 to move toward the inside of the fixed cylinder 73. During this process, the spring 76 will be compressed, and the sawtooth block 75 and the vertical rod 12 will not rotate together with the rotation of the ring 71. Therefore, the clamping state of the clamping rod 63 on the object will not change. When the fixing plate 11 continues to move toward the inside of the fixing frame 5 until the driving gear 15 meshes with the limit rack 17, the limit rack 17 is located on the opposite side of the driving rack 16. The engagement of the driving gear 15 with the limit rack 17 will drive the driving gear 15 to rotate clockwise again, so that the vertical rod 12 rotates 180 degrees again to return to the initial state. During this process, the rotation of the cam 10 will drive the moving frame 9 and the moving rod 66 to move in the direction close to the clamping rod 63, so that the two clamping rods 63 move away from each other to release the clamping state of the object, and the object falls into the collection frame 8 below. In this step, the cooperation between the sawtooth block 75 and the sawtooth groove 72 is realized to achieve that the clamping rod 63 can automatically clamp and release the object during the movement of the fixed plate 11, and the operation is more convenient and quick.

[0043] See also Figure 3-Figure 5 and Fig.11As shown, in this embodiment, preferably, vertical plates 18 are axially symmetrically arranged on both sides of the mask 3, a screw rod 19 is movably arranged in the vertical plates 18, a moving cylinder 20 is movably arranged on the outer side of the screw rod 19, and a vertical groove 181 is opened on the side close to each other of the two vertical plates 18, a slider 21 is slidably arranged in the vertical groove 181, a horizontal plate 22 is movably clamped on one side of the slider 21, a moving plate 23 is slidably arranged in the horizontal plate 22, a round rod 24 is movably arranged through the center of the moving plate 23, and a cleaning cloth 25 is fixedly connected between the two round rods 24; before the robot determines the position of the object, it is necessary to obtain external information through the camera module 4 During the movement, the mask 3 may be stuck with water plants and other debris, thereby blocking the camera module 4, which is not conducive to the camera module 4 obtaining external information. At this time, the screw rods 19 on both sides are rotated, and the rotation of the screw rods 19 drives the moving cylinder 20 to move downward. The movement of the moving cylinder 20 drives the slider 21 to move downward along the vertical groove 181. The movement of the slider 21 drives the horizontal plate 22, the moving plate 23, the round rod 24 and the cleaning cloth 25 to move downward. The cleaning cloth 25 is made of corrosion-resistant and resilient material. During the downward movement of the cleaning cloth 25, it will contact the surface of the mask 3 to clean the outer surface of the mask 3 to ensure the cleanliness of the outer surface of the mask 3.

[0044] See also Figure 4 and Figure 8 As shown, in the present embodiment, preferably, the round rod 24 is fixedly connected with a first gear 26 at one end away from the cleaning cloth 25, and a first rack 27 is fixedly provided at one side of the vertical plate 18, and the first gear 26 is meshed with the first rack 27 for transmission; the downward movement of the round rod 24 and the cleaning cloth 25 will drive the first gear 26 to move downward so as to mesh with the first rack 27, and the first gear 26 will rotate accordingly, and the rotation of the first gear 26 will drive the round rod 24 and the cleaning cloth 25 to rotate counterclockwise by a certain angle. In the initial state, the cleaning cloth 25 is in a horizontal placement state, which can reduce the resistance brought by the cleaning cloth 25 during the movement of the robot, and the cleaning cloth 25 rotates counterclockwise by a certain angle so that the cleaning cloth 25 is tilted, which can fit more closely with the outer surface of the hemispherical mask 3, thereby improving the cleaning quality.

[0045] See also Figure 4 and Figure 8-Figure 9As shown, in this embodiment, preferably, one side of the movable plate 23 is fixedly connected to the limit rod 28, and the vertical plate 18 is fixedly provided with a limit plate 29 on one side of the movable plate 23, and a limit groove 291 is provided on the limit plate 29, and the limit rod 28 is slidably fitted with the limit groove 291 at one end away from the movable plate 23; the movable plate 23 moves downward to drive the limit rod 28 to move downward, and the limit rod 28 will slide and fit with the limit groove 291 during the downward movement, and the limit groove 291 is composed of a straight groove and a curved groove. During the descending process of the movable plate 23, the first gear 26 will mesh with the first rack 27. During this process, the limit rod 28 is in contact with the straight groove section of the limit groove 291, and the position of the movable plate 23 will not change. When the first gear 26 is no longer meshed with the first rack 27, the limit rod 28 will contact with the curved groove section of the limit groove 291, and the curve of the first section of the curved groove is toward the direction close to the slider 21, and the movable plate 23 will drive the round rod 26 to mesh with the first rack 27. 24. The first gear 26 and the cleaning cloth 25 slowly move to the side away from the limit plate 29. Because the cleaning cloth 25 initially moves downward and contacts the lower part of the top of the hemispherical mask 3, as the cleaning cloth 25 continues to move downward, the cleaning cloth 25 should be moved toward the highest point of the hemispherical mask 3. If it does not move, the cleaning cloth 25 is likely to be damaged by the obstruction of the hemispherical mask 3. Even if the cleaning cloth 25 itself has a certain elasticity, when the cleaning cloth 25 moves to the highest point of the hemispherical body, the limit rod 28 moves to the highest point of the first section of the curved groove, and the curve of the second section of the curved groove is away from the direction of the slider 21. Because the cleaning cloth 25 continues to move downward, it will move along the highest point of the hemispherical body to the lower point, and the movement of the limit rod 28 along the second section of the curved groove will drive the movable plate 23 to move in the direction close to the limit plate 29. In this way, the cleaning cloth 25 can move along the highest point to the lower point, so that the hemispherical mask 3 can be cleaned more thoroughly.

[0046] See also Fig.10 and Figure 12-13As shown, in this embodiment, preferably, a rotating groove 211 is provided in the slider 21, and a movable rod 30 is rotatably provided in the rotating groove 211, and a second gear 31 is fixedly sleeved at the end of the movable rod 30, and the vertical plate 18 is located in the vertical groove 181 and is fixedly provided with a second rack 32, and the second gear 31 is meshed with the second rack 32 for transmission, and a curved sliding groove 301 is provided on the outer side of the movable rod 30, and the slider 21 is axially symmetrically provided with slots 212 on both sides of the rotating groove 211, and a clamping block 33 is movably provided in the clamping groove 212, and one end of the clamping block 33 is fixedly connected to the cross plate 22, and a positioning rod 34 is fixedly provided on one side of one of the clamping blocks 33, and the end of the positioning rod 34 is slidably fitted with the curved sliding groove 301, and a groove 182 is provided on one side of one of the vertical plates 18, and the cross plate 22 is slidably connected to the groove 182; the slider 21 is moved along The vertical slot 181 moves downwardly and drives the second gear 31 to move downwardly. The second gear 31 moves downwardly and meshes with the second rack 32, and the second gear 31 rotates. The rotation of the second gear 31 drives the movable rod 30 to rotate. Since a curved slide groove 301 is provided on the outer side of the movable rod 30, the rotation of the movable rod 30 in the rotating groove 211 drives the positioning rod 34 and the block 33 to move back and forth laterally. The movement of the block 33 in the slot 212 can increase stability. The reciprocating movement of the positioning rod 34 drives the cross plate 22, the movable plate 23 and the cleaning cloth 25 to move back and forth. It should be noted that the moving directions of the positioning rods 34 on both sides should be consistent, so that the cleaning cloth 25 can not only change its position but also rub back and forth on the mask 3 during the downward movement of the mask 3, which can further enhance the cleaning effect of the mask 3. The cross plate 22 moves back and forth laterally in the groove 182 to avoid collision with the vertical plate 18.

[0047] See also Figure 3 and Figure 4 As shown, in the present embodiment, preferably, a transverse groove 51 is provided on one side of the fixed frame 5, and a third rack 35 is movably arranged in the transverse groove 51, and the third rack 35 is fixedly connected to the moving block 61, and a third gear 36 is fixedly arranged on the top of the screw rod 19, and the third gear 36 is meshed with the third rack 35 for transmission; when the fixed plate 11 and the moving plate 23 move toward the outside of the fixed frame 5, the third rack 35 will be driven to move along the transverse groove 51 so as to mesh with the third gear 36, and the third gear 36 will rotate. The rotation of the third gear 36 drives the screw rod 19 to rotate, so that the cleaning cloth 25 can be moved downward to clean the outer surface of the mask 3. In this step, the movement of the moving block 61 is linked with the cleaning of the mask 3 by the cleaning cloth 25, and the mask 3 can be cleaned before and after the object is clamped. The mask 3 will be clamped only after the cleaning is completed, and the clamping of the object will not be affected by the movement of the cleaning cloth 25 on the surface of the mask 3.

[0048] The working principle of the present invention is: rotate the rotating shaft 14. Since the rotating shaft 14 is threadedly connected to the fixed plate 11, the rotation of the rotating shaft 14 drives the fixed plate 11 to move toward the outside of the fixed frame 5, and the driving gear 15 will engage with the driving rack 16 to make the driving gear 15 rotate clockwise. When rotating in this direction, the sawtooth groove 72 is engaged with the sawtooth block 75. The rotation of the driving gear 15 will drive the ring 71, the sawtooth groove 72, the sawtooth block 75 and the vertical rod 12 to rotate together. The rotation of the vertical rod 12 will drive the cam 10 to rotate. The rotation of the cam 10 by 180 degrees will drive the moving frame 9 and the moving rod 66 to move away from the clamping rod 63. With the cooperation of the positioning plate 65 and the inclined groove 64, the two clamping rods 63 are moved closer to each other. When the gear 75 is in the locked state, the spring 76 will be compressed, and the sawtooth block 75 and the vertical rod 12 will not rotate with the rotation of the ring 71. Therefore, the clamping state of the clamping rod 63 on the object will not change. When the fixing plate 11 continues to move toward the inside of the fixing frame 5 until the driving gear 15 is meshed with the limiting rack 17, the limiting rack 17 is located opposite to the driving rack 16. On the other hand, the engagement of the driving gear 15 with the limit rack 17 will drive the driving gear 15 to rotate clockwise again, so that the vertical rod 12 rotates 180 degrees again to restore to the initial state. During this process, the rotation of the cam 10 will drive the moving frame 9 and the moving rod 66 to move in the direction close to the clamping rod 63, so that the two clamping rods 63 move away from each other, thereby releasing the clamping state of the object, and the object falls into the collection frame 8 below. At the same time, when the fixed plate 11 and the moving plate 23 move toward the outside of the fixed frame 5, the third rack 35 will be driven to move along the transverse groove 51 to engage with the third gear 36, and the third gear 36 will rotate. The rotation of the third gear 36 drives the screw rod 19 to rotate, and the rotation of the screw rod 19 drives the moving cylinder 20 to move downward. The movement of the movable cylinder 20 will drive the slider 21 to move downward along the vertical groove 181, and the movement of the slider 21 will drive the horizontal plate 22, the movable plate 23, the round rod 24 and the cleaning cloth 25 to move downward. The downward movement of the round rod 24 and the cleaning cloth 25 will drive the first gear 26 to move downward so as to mesh with the first rack 27, and the first gear 26 will rotate accordingly. The rotation of the first gear 26 drives the round rod 24 and the cleaning cloth 25 to rotate counterclockwise by a certain angle. In the initial state, the cleaning cloth 25 is in a horizontal position, which can reduce the resistance brought by the cleaning cloth 25 during the movement of the robot. The cleaning cloth 25 rotates counterclockwise by a certain angle to tilt the cleaning cloth 25, so that it can fit more closely with the outer surface of the hemispherical mask 3, thereby improving the cleaning quality. In addition,The downward movement of the slider 21 along the vertical slot 181 will drive the second gear 31 to move downward, and the downward movement of the second gear 31 will mesh with the second rack 32, causing the second gear 31 to rotate. The rotation of the second gear 31 drives the movable rod 30 to rotate. Since a curved slide slot 301 is provided on the outer side of the movable rod 30, the rotation of the movable rod 30 in the rotating slot 211 will drive the positioning rod 34 and the block 33 to move back and forth horizontally. The movement of the block 33 in the slot 212 can increase stability. The reciprocating movement of the positioning rod 34 drives the horizontal plate 22, the movable plate 23 and the cleaning cloth 25 to move back and forth. It should be noted that the moving directions of the positioning rods 34 on both sides should be consistent, so that the cleaning cloth 25 can not only change its position but also rub back and forth on the mask 3 during the downward movement along the mask 3, which can further enhance the cleaning effect on the mask 3.

Claims

1. A three-axis vector underwater robot, comprising a body (1), characterized in that: Two propellers (2) are arranged at the front end of the body (1), one propeller (2) is arranged at the rear end of the body (1), two propellers (2) are arranged on both sides of the body (1), a mask (3) is arranged at the front end of the body (1), the mask (3) is designed to be in a hemispherical shape, a camera module (4) is arranged inside the mask (3) of the body (1), fixed frames (5) are axially symmetrically arranged on both sides of the top of the body (1), a clamping assembly (6) and an adjustment assembly (7) for adjusting the state of the clamping assembly (6) are arranged inside the fixed frame (5), a collecting frame (8) is arranged at the bottom of the fixed frame (5), and the collecting frame (8) is connected to the fixed frame (5).

2. A three-axis vector underwater robot according to claim 1, characterized in that: The clamping assembly (6) comprises a moving block (61), a moving groove (62) is provided at the center of the moving block (61), clamping rods (63) are axially symmetrically slidably provided on both sides of the moving groove (62), an inclined groove (64) is provided on one side of the two clamping rods (63) close to each other, a positioning plate (65) is movably provided between the two clamping rods (63), the positioning plate (65) is slidably connected to the inclined groove (64), and a moving rod (66) is fixedly connected to the end of the positioning plate (65).

3. A three-axis vector underwater robot according to claim 2, characterized in that: The moving rod (66) movably passes through the moving block (61) and the end thereof is fixedly connected to a moving frame (9); a cam (10) is movably provided at the center of the moving frame (9); a fixed plate (11) is provided below the cam (10); the fixed plate (11) is fixedly connected to the moving block (61); a vertical rod (12) is fixedly provided at the bottom of the cam (10) and the vertical rod (12) movably passes through the fixed plate (11); a sleeve (13) is movably sleeved on the outer side of the moving rod (66); and the sleeve (13) is fixedly connected to the fixed plate (11).

4. A three-axis vector underwater robot according to claim 3, characterized in that: The fixing plate (11) is threadedly adapted to be connected with a rotating shaft (14), the rotating shaft (14) is rotatably connected to the inner wall of the fixing frame (5), the fixing plate (11) is slidably connected to the inner wall of the fixing frame (5), the end of the vertical rod (12) away from the cam (10) is movably connected with a driving gear (15), and a driving rack (16) and a limiting rack (17) are respectively fixedly arranged on both sides of the inner wall of the fixing frame (5), and the driving gear (15) is respectively meshed with the driving rack (16) and the limiting rack (17) for transmission.

5. A three-axis vector underwater robot according to claim 4, characterized in that: The adjustment assembly (7) comprises a circular ring (71), wherein the circular ring (71) is fixedly arranged on the top of the driving gear (15), a plurality of sawtooth grooves (72) are formed in an annular array inside the circular ring (71), the vertical rod (12) movably passes through the circular ring (71), and a fixed cylinder (73) is fixedly arranged outside the vertical rod (12), a telescopic rod (74) is movably arranged inside the fixed cylinder (73), a sawtooth block (75) is fixedly connected to one end of the telescopic rod (74) away from the fixed cylinder (73), the sawtooth block (75) is movably engaged with the sawtooth groove (72), a spring (76) is fixedly connected between the sawtooth block (75) and the vertical rod (12), and the spring (76) is movably sleeved on the outside of the fixed cylinder (73) and the telescopic rod (74).

6. A three-axis vector underwater robot according to claim 1, characterized in that: Vertical plates (18) are axially symmetrically arranged on both sides of the mask (3), a screw rod (19) is movably arranged inside the vertical plates (18), a movable cylinder (20) is movably arranged outside the screw rod (19), a vertical groove (181) is provided on one side of the two vertical plates (18) close to each other, a slider (21) is slidably arranged in the vertical groove (181), a horizontal plate (22) is movably clamped on one side of the slider (21), a movable plate (23) is slidably arranged in the horizontal plate (22), a round rod (24) is movably arranged at the center of the movable plate (23), and a cleaning cloth (25) is fixedly connected between the two round rods (24).

7. A three-axis vector underwater robot according to claim 6, characterized in that: The end of the round rod (24) away from the cleaning cloth (25) is fixedly connected to a first gear (26), and a first rack (27) is fixedly arranged on one side of the vertical plate (18), and the first gear (26) is meshed with the first rack (27) for transmission.

8. A three-axis vector underwater robot according to claim 6, characterized in that: A limiting rod (28) is fixedly connected to one side of the movable plate (23); a limiting plate (29) is fixedly arranged on one side of the movable plate (23) on the vertical plate (18); a limiting groove (291) is provided on the limiting plate (29); and an end of the limiting rod (28) away from the movable plate (23) is slidably fitted in the limiting groove (291).

9. A three-axis vector underwater robot according to claim 6, characterized in that: The slider (21) is provided with a rotation groove (211), a movable rod (30) is rotatably arranged in the rotation groove (211), a second gear (31) is fixedly sleeved at the end of the movable rod (30), the vertical plate (18) is located in the vertical groove (181) and a second rack (32) is fixedly arranged thereon, the second gear (31) and the second rack (32) are meshed for transmission, a curved sliding groove (301) is provided on the outer side of the movable rod (30), the slider (21) is located in the rotation groove ( Axially symmetrical card slots (212) are provided on both sides of the vertical plates (211), and a card block (33) is movably provided in the card slot (212), and one end of the card block (33) is fixedly connected to the horizontal plate (22), and a positioning rod (34) is fixedly provided on one side of one of the card blocks (33), and the end of the positioning rod (34) is slidably fitted with the curved slide groove (301), and a groove (182) is provided on one side of one of the vertical plates (18), and the horizontal plate (22) is slidably connected to the groove (182).

10. A three-axis vector underwater robot according to claim 2 or 6, characterized in that: A transverse groove (51) is provided on one side of the fixed frame (5), a third rack (35) is movably arranged in the transverse groove (51), the third rack (35) is fixedly connected to the moving block (61), a third gear (36) is fixedly arranged on the top of the screw rod (19), and the third gear (36) is meshed with the third rack (35) for transmission.

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