Multi-degree-of-freedom underwater robot

Abstract

The invention discloses a multi-degree-of-freedom underwater robot, and relates to the technical field of submarine cable inspection, the multi-degree-of-freedom underwater robot comprises a main body, a fixing frame is fixedly arranged in the main body, and two sides of the bottom of the main body are rotatably connected with clamping guide plates. After the robot body dives to the position of a submarine cable, under the action of two sets of bidirectional air cylinders, the two sets of clamping guide plates clamp the outer side of the cable to a certain degree, and when the robot body advances in the seabed, under the clamping action of the two sets of clamping guide plates on the outer side of the cable, the cable is clamped by the two sets of clamping guide plates; a worker only needs to enable the main body to advance through a remote controller, so that the main body can carry out advancing inspection operation along the trend of the cable, and the angle of the main body does not need to be adjusted in real time, thereby avoiding the situation that the worker needs to adjust the advancing direction of the main body in real time due to improper operation, so that the overall cable inspection time is prolonged; and the overall working efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of submarine cable inspection, in particular to a multi-degree-of-freedom underwater robot. Background Art

[0002] Submarine optical cable, also known as submarine communication cable, is a conductor wrapped with insulating material, laid on the seabed, and used to establish telecommunications transmission between countries. The submarine optical cable system is mainly used to connect optical cables. It is divided into two parts: onshore equipment and underwater equipment. The submarine optical cable is the most important and most vulnerable part of the underwater equipment. Depending on different situations, submarine cables are buried and laid. Generally, in shallow waters, such as waters with a depth of less than 200 meters, cables are buried, while in deep seas, they are laid. When inspecting cables laid on the seabed, underwater robots are often used for inspection.

[0003] The inspection process of submarine cables is that the robot dives into the water, finds the exact location of the damaged submarine optical cable through detection, and then sends the location information to the computer on shore through signal transmission. The diver finds the exact location of the damaged point of the cable through the signal, and the diver fixes the rope on the cable and pulls it out of the sea with the equipment on the ship.

[0004] In the prior art, when a robot inspects cables on the seabed, a worker needs to observe the position of the cables through a remote control for synchronous control. At that time, due to the influence of the undercurrent on the seabed on the stable movement of the robot, it is more difficult for the worker to operate the controller to make the robot move along the cable, causing the robot to deviate from the cable to a certain extent. The remote control needs to be manually controlled again for adjustment, which increases the overall cable inspection time and reduces the overall work efficiency. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a multi-degree-of-freedom underwater robot to solve the technical problem in the prior art that the undercurrent on the seabed has a certain influence on the stable movement of the robot, which increases the difficulty for the staff to operate the controller to make the robot move along the cable, causing the robot to deviate from the cable to a certain extent, and it is necessary to manually control the remote control again for adjustment, which increases the overall cable inspection time and reduces the overall work efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: a multi-degree-of-freedom underwater robot, comprising a main body, a fixing frame is fixedly arranged inside the main body, fixed wings are fixed on both sides of the main body, and clamping guide plates are rotatably connected to both sides of the bottom of the main body;

[0007] The two groups of clamping guide plates and the main body are rotatably connected by a rotating shaft, the four corners of the fixed frame are rotatably connected with transmission gears, and the transmission gear and the fixed frame are rotatably connected by a transmission shaft, the transmission shaft and the rotating shaft are connected by a synchronous belt transmission, two ends of the fixed frame are fixed with bidirectional cylinders, the output ends of the two groups of bidirectional cylinders are fixed with output racks meshing with the transmission gears, piston boxes are provided on both sides of the fixed frame, and a connecting frame is fixed on one side of the output rack, wherein a connecting plate is fixed between the two groups of connecting frames, a connecting rod extending to the inside of the piston box is fixed on one side of the connecting plate, and a cavity is opened inside the piston box, a piston plate matching the cavity is fixed on one side of the connecting rod, a sealing plate connected to the piston box in a sliding seal is fixed on one side of the piston plate, and matching holes between the fixed wing, the main body and the sealing plate;

[0008] A connecting pipe penetrating the main body and extending to the inside of the fixed wing is evenly fixed on one side of the top of the two groups of piston boxes, and the connecting pipe is connected to the cavity and the outside at both ends. A drainage pipe is arranged on one side of the piston box, and a one-way valve is fixed inside each group of drainage pipes. Multiple groups of connecting holes connected to the connecting pipe are arranged on the surface of the fixed wing, and filter screens are fixed on the surface of the connecting holes.

[0009] The fixed wing is movably connected with a flip ring, a flip frame is fixed inside the flip ring, an outer rotor motor is fixed at the middle position inside the flip frame, an impeller is fixed on the outside of the outer rotor motor, a power motor is installed inside the fixed wing, and the output end of the power motor is fixedly connected to one side of the flip ring, and a fixed shaft is passed between the outer rotor motor and the flip frame.

[0010] By adopting the above technical solution, when the robot body dives to the position of the submarine cable, under the action of two sets of two-way cylinders, the two sets of clamping guide plates clamp the outside of the cable to a certain extent. Since each set of clamping guide plates is movably connected with movable balls on the inner side, when the body moves forward on the seabed, under the clamping action of the two sets of clamping guide plates on the outside of the cable, the staff only needs to move the body forward through the remote control, and the body can be moved forward along the direction of the cable for inspection without the need to adjust the angle of the body in real time, thereby avoiding the need for the staff to adjust the direction of the body in real time due to improper operation, which increases the overall cable inspection time and effectively improves the overall work efficiency.

[0011] The present invention is further configured such that a control box is fixed at one end inside the main body, and a camera matching with the control box is arranged at the bottom of the control box.

[0012] By adopting the above technical solution, the camera can easily take pictures of the damaged position of the submarine cable, and upload the image to the control terminal of the staff in real time under the action of the control box.

[0013] The present invention is further configured such that a cable connector matching with the control box is arranged on the top of the main body, and the cable connector is connected to an external power supply device through a power supply cable.

[0014] By adopting the above technical solution, the cable connector is connected to the external power supply device, which facilitates the power supply function of the entire invention.

[0015] In summary, the present invention mainly has the following beneficial effects:

[0016] 1. When the robot body dives to the position of the submarine cable, under the action of two sets of two-way cylinders, two sets of clamping guide plates clamp the outer side of the cable to a certain extent. Since the inner side of each set of clamping guide plates is movably connected with movable balls, when the body moves forward on the seabed, under the clamping action of the two sets of clamping guide plates on the outer side of the cable, the staff only needs to move the body forward through the remote control, and the body can be moved forward along the direction of the cable for inspection, without the need to adjust the angle of the body in real time, thereby avoiding the need for the staff to adjust the direction of travel of the body in real time due to improper operation, resulting in an increase in the overall cable inspection time, and effectively improving the overall work efficiency;

[0017] 2. After the cable inspection is completed, the two groups of clamping guide plates are flipped, folded and retracted to the bottom of the main body, and the output rack drives the connecting rod to move through the connecting frame and the connecting plate, and then the piston plate moves from one side to the other side inside the piston box under the action of the connecting rod. Since the cavity inside the piston box is connected to the outside through multiple groups of connecting pipes and connecting holes, when the main body enters the water, the outside water enters the inside of the piston box, and the cavity is filled at this time, thereby reducing the buoyancy of the main body as a whole and accelerating the diving speed of the main body. When the piston plate moves from one side to the other, the piston plate discharges the water inside the cavity from the piston box through multiple groups of drainage pipes, thereby forming an air pressure chamber inside the cavity, thereby increasing the buoyancy of the main body as a whole, accelerating the speed of the present invention when it floats up as a whole, better recovering the present invention as a whole, and accelerating the overall work efficiency;

[0018] 3. In the present invention, when the piston plate moves from one side to the other, the piston plate pushes out the liquid inside the cavity. At this time, the sealing plate moves synchronously with the piston plate. Then, when the sealing plate moves to the inside of the piston box, multiple groups of connecting pipes can be sealed to prevent external water from entering the cavity again, thereby ensuring that an air pressure chamber is formed inside the cavity at this time, thereby improving the overall buoyancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the first viewing angle of the present invention;

[0020] Figure 2It is a structural schematic diagram of the second viewing angle of the present invention;

[0021] Figure 3 It is a schematic diagram of the internal structure of the present invention;

[0022] Figure 4 For the present invention Figure 3 A magnified image of point A;

[0023] Figure 5 It is a cross-sectional view of the internal structure of the present invention;

[0024] Figure 6 For the present invention Figure 5 A magnified view of point B;

[0025] Figure 7 It is an enlarged view of the local structure of the present invention.

[0026] In the figure: 1. main body; 2. fixed frame; 3. clamping guide plate; 4. rotating shaft; 5. bidirectional cylinder; 6. transmission gear; 7. transmission shaft; 8. output rack; 9. synchronous belt; 10. connecting frame; 11. connecting plate; 12. piston box; 13. connecting rod; 14. cavity; 15. piston plate; 16. connecting pipe; 17. drain pipe; 18. one-way valve; 19. sealing plate; 20. connecting hole; 21. fixed wing; 22. power motor; 23. flip ring; 24. flip frame; 25. outer rotor motor; 26. impeller; 27. fixed shaft; 28. control box; 29. ​​camera; 30. cable connector. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] The following describes an embodiment of the present invention based on its overall structure.

[0029] A multi-degree-of-freedom underwater robot, such as Figure 1-7 As shown, it includes a main body 1, a fixing frame 2 is fixedly arranged inside the main body 1, fixing wings 21 are fixed on both sides of the main body 1, and both sides of the bottom of the main body 1 are rotatably connected with clamping guide plates 3, and then when the main body 1 moves forward on the seabed, under the clamping effect of the two groups of clamping guide plates 3 on the outer side of the cable, the staff only needs to move the main body 1 forward through the remote control, and the main body 1 can be moved forward along the direction of the cable for inspection, and there is no need to adjust the angle of the main body 1 in real time, thereby avoiding the need for the staff to adjust the direction of travel of the main body 1 in real time due to improper operation, resulting in an increase in the overall cable inspection time, and effectively improving the overall work efficiency;

[0030] The two groups of clamping guide plates 3 and the main body 1 are rotatably connected through the rotating shaft 4, the four corners of the fixed frame 2 are rotatably connected with the transmission gear 6, and the transmission gear 6 and the fixed frame 2 are rotatably connected through the transmission shaft 7, and the transmission shaft 7 and the rotating shaft 4 are connected through the synchronous belt 9. The two ends of the fixed frame 2 are fixed with a two-way cylinder 5, and the output ends of the two groups of two-way cylinders 5 are fixed with an output rack 8 meshing with the transmission gear 6. Piston boxes 12 are arranged on both sides of the fixed frame 2, and a connecting frame 10 is fixed on one side of the output rack 8, wherein a connecting plate 11 is fixed between the two groups of connecting frames 10, and a connecting rod 13 extending to the inside of the piston box 12 is fixed on one side of the connecting plate 11, and a cavity 14 is opened inside the piston box 12, and a piston plate 15 matching the cavity 14 is fixed on one side of the connecting rod 13, and a sealing plate 19 connected to the piston box 12 in a sliding and sealing manner is fixed on one side of the piston plate 15, and a matching hole matching the fixed wing 21, the main body 1 and the sealing plate 19;

[0031] A connecting pipe 16 penetrating the main body 1 and extending to the inside of the fixed wing 21 is evenly fixed on one side of the top of the two groups of piston boxes 12, and the connecting pipe 16 is connected to the cavity 14 and the outside at both ends. A drainage pipe 17 is arranged on one side of the piston box 12, and a one-way valve 18 is fixed inside each group of drainage pipes 17. A plurality of connecting holes 20 connected to the connecting pipe 16 are arranged on the surface of the fixed wing 21, and a filter screen is fixed on the surface of the connecting hole 20. When the cable inspection is completed, the two groups of clamping guide plates 3 are flipped, folded and retracted to the bottom of the main body 1. After the main body 1 is lifted, the output rack 8 drives the connecting rod 13 to move through the connecting frame 10 and the connecting plate 11, and then the piston plate 15 moves from one side to the other side inside the piston box 12 under the action of the connecting rod 13. At this time, the piston plate 15 discharges the water inside the cavity 14 from the piston box 12 through multiple sets of drainage pipes 17, thereby forming an air pressure chamber inside the cavity 14, thereby increasing the buoyancy of the main body 1 as a whole, accelerating the speed of the present invention when floating as a whole, better recovering the present invention as a whole, and accelerating the overall work efficiency;

[0032] The fixed wing 21 is movably connected with a flip ring 23, a flip frame 24 is fixed inside the flip ring 23, an outer rotor motor 25 is fixed at the middle position inside the flip frame 24, an impeller 26 is fixed outside the outer rotor motor 25, a power motor 22 is installed inside the fixed wing 21, and the output end of the power motor 22 is fixedly connected to one side of the flip ring 23, a fixed shaft 27 is passed between the outer rotor motor 25 and the flip frame 24, and the output end of the power motor 22 can drive the flip ring 23, the flip frame 24, the outer rotor motor 25 and the impeller 26 to adjust the angle, and by adjusting the different directions of the impeller 26, the main body 1 has a moving direction with multiple degrees of freedom.

[0033] See also Figure 1 and Figure 2A control box 28 is fixed at one end inside the main body 1, and a camera 29 matching the control box 28 is arranged at the bottom. The present invention arranges the above structure, wherein the camera 29 is convenient for photographing the damaged position of the submarine cable, and under the action of the control box 28, the image is uploaded to the control terminal of the staff in real time.

[0034] See also Figure 2 A cable connector 30 matching with the control box 28 is arranged on the top of the main body 1, and the cable connector 30 is connected with the external power supply equipment through a power supply cable. The present invention sets the above structure, in which the cable connector 30 is connected with the external power supply equipment, so as to facilitate the power supply function of the present invention as a whole.

[0035] The working principle of the present invention is as follows: when in use, the main body 1 is connected to the power supply equipment on the external hull through the cable connector 30, and the hoisting rope of the hoisting equipment on the hull is fixedly connected to the main body 1. As the main body 1 dives, the power cable and the hoisting rope can be extended synchronously;

[0036] When the robot body 1 dives to the position of the submarine cable, under the action of the two sets of bidirectional cylinders 5, the two sets of clamping guide plates 3 clamp the outer side of the cable to a certain extent, because the inner side of each set of clamping guide plates 3 is movably connected with a movable ball;

[0037] Furthermore, when the main body 1 is moving forward on the seabed, under the clamping effect of the two sets of clamping guide plates 3 on the outer side of the cable, the staff only needs to move the main body 1 forward through the remote control, and the main body 1 can be moved forward along the direction of the cable for inspection, without the need to adjust the angle of the main body 1 in real time, thereby avoiding the need for the staff to adjust the moving direction of the main body 1 in real time due to improper operation, which increases the overall cable inspection time and effectively improves the overall work efficiency;

[0038] Specifically, when the main body 1 enters the water, external water can enter the cavity 14 inside the piston box 12 through the multiple groups of connecting pipes 16 and the connecting holes 20, and the water fills the cavity 14, thereby reducing the overall buoyancy of the main body 1, thereby increasing the diving speed of the main body 1;

[0039] Furthermore, the two sets of fixed wings 21 are both provided with impellers 26, wherein the outer rotor motor 25 drives the impeller 26 to rotate, thereby providing power for the movement of the main body 1, wherein under the adjustment of the power motor 22, the output end of the power motor 22 can drive the flip ring 23, the flip frame 24, the outer rotor motor 25 and the impeller 26 to adjust the angle, and by adjusting the different directions of the impeller 26, the main body 1 has multiple degrees of freedom of travel direction;

[0040] When the cable inspection is completed, the two groups of clamping guide plates 3 are flipped, folded and retracted to the bottom of the main body 1. At this time, the output rack 8 drives the connecting rod 13 to move through the connecting frame 10 and the connecting plate 11, and then the piston plate 15 moves from one side to the other side inside the piston box 12 under the action of the connecting rod 13. At this time, the piston plate 15 discharges the water inside the cavity 14 from the piston box 12 through multiple groups of drainage pipes 17, thereby forming an air pressure chamber inside the cavity 14, thereby increasing the buoyancy of the main body 1 as a whole, accelerating the speed of the present invention when floating as a whole, better recovering the present invention as a whole, and accelerating the overall work efficiency;

[0041] Furthermore, when the piston plate 15 moves from one side to the other side, the piston plate 15 pushes out the liquid inside the cavity 14, and the sealing plate 19 moves synchronously with the piston plate 15, and then the sealing plate 19 moves to the inside of the piston box 12 to block the multiple groups of connecting pipes 16, thereby preventing the external water from entering the cavity 14 through the connecting pipes 16 again, thereby ensuring that an air pressure chamber is formed inside the cavity 14 at this time, thereby improving the overall buoyancy;

[0042] When the main body 1 is lifted out of the water by external lifting equipment, the two sets of clamping guide plates 3 are opened again, and the outside air enters the cavity 14 through the multiple sets of connecting pipes 16, so that the cavity 14 forms a normal pressure cavity, so that the outside water can enter the cavity 14 when the main body 1 enters the water next time, and the two sets of clamping guide plates 3 opened at this time can play a supporting role for the main body 1 placed on the hull;

[0043] In general, when diving, after the cavity 14 is filled with liquid, the buoyancy of the main body 1 is reduced, and the overall diving speed of the main body 1 is accelerated. When floating, an air pressure chamber is formed inside the cavity 14, which increases the buoyancy of the main body 1, thereby accelerating the overall floating speed of the main body 1, effectively reducing the working time and improving the overall work efficiency at the same time.

[0044] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A multi-degree-of-freedom underwater robot, comprising a main body (1), characterized in that: A fixing frame (2) is fixedly arranged inside the main body (1), fixing wings (21) are fixed on both sides of the main body (1), and clamping guide plates (3) are rotatably connected to both sides of the bottom of the main body (1); The two groups of the clamping guide plates (3) and the main body (1) are rotatably connected via a rotating shaft (4); the four corners of the fixed frame (2) are rotatably connected with transmission gears (6); the transmission gears (6) and the fixed frame (2) are rotatably connected via a transmission shaft (7); the transmission shaft (7) and the rotating shaft (4) are transmission-connected via a synchronous belt (9); two-way cylinders (5) are fixed at both ends of the fixed frame (2); and the output ends of the two groups of the two-way cylinders (5) are fixed with gears meshing with the transmission gears (6). An output rack (8) is provided, piston boxes (12) are arranged on both sides of the fixed frame (2), a connecting frame (10) is fixed on one side of the output rack (8), a connecting plate (11) is fixed between two groups of the connecting frames (10), a connecting rod (13) extending into the piston box (12) is fixed on one side of the connecting plate (11), a cavity (14) is provided inside the piston box (12), and a piston plate (15) matching the cavity (14) is fixed on one side of the connecting rod (13); A connecting pipe (16) penetrating the main body (1) and extending to the interior of the fixed wing (21) is evenly fixed on one side of the top of the two groups of piston boxes (12), and the connecting pipe (16) is connected to the cavity (14) and the outside at both ends. A drainage pipe (17) is provided on one side of the piston box (12), and a one-way valve (18) is fixed inside each group of drainage pipes (17).

2. The multi-degree-of-freedom underwater robot according to claim 1, characterized in that: The interior of the fixed wing (21) is movably connected to a flip ring (23), a flip frame (24) is fixed inside the flip ring (23), an outer rotor motor (25) is fixed at a middle position inside the flip frame (24), and an impeller (26) is fixed outside the outer rotor motor (25).

3. The multi-degree-of-freedom underwater robot according to claim 2, characterized in that: A power motor (22) is installed inside the fixed wing (21), and the output end of the power motor (22) is fixedly connected to one side of the flip ring (23), and a fixed shaft (27) is passed between the outer rotor motor (25) and the flip frame (24).

4. The multi-degree-of-freedom underwater robot according to claim 1, characterized in that: A sealing plate (19) is fixed on one side of the piston plate (15) and is slidably sealed with the piston box (12), and matching holes are provided between the fixed wing (21), the main body (1) and the sealing plate (19).

5. The multi-degree-of-freedom underwater robot according to claim 1, characterized in that: The surface of the fixed wing (21) is provided with a plurality of groups of communication holes (20) connected with the communication pipe (16), and the surfaces of the communication holes (20) are all fixed with filter screens.

6. The multi-degree-of-freedom underwater robot according to claim 1, characterized in that: A control box (28) is fixed at one end inside the main body (1), and a camera (29) matching with the control box (28) is arranged at the bottom of the control box (28).

7. The multi-degree-of-freedom underwater robot according to claim 6, characterized in that: A cable connector (30) matching with the control box (28) is arranged on the top of the main body (1), and the cable connector (30) is connected to external power supply equipment via a power supply cable.

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