Underwater robot with magnetic attraction device

Abstract

The underwater robot with the magnetic attraction device comprises a main machine body, a plurality of installation assemblies and a magnetic attraction piece, the installation assemblies are distributed at the bottom of the main machine body, each installation assembly comprises an installation base, an adjusting piece and an installation table, the installation bases are fixedly connected to the main machine body, the adjusting pieces are installed on the installation bases, and the magnetic attraction piece is installed on the installation bases. The mounting table is fixedly connected to the end, away from the mounting base, of the adjusting piece. The magnetic attraction pieces are installed at the end, away from the mounting base, of the mounting table in a one-to-one correspondence mode. The included angle between the mounting table and the mounting base is adjusted through the adjusting piece, so that adsorption points of the magnetic attraction pieces at different positions can be controlled to be completely attached to the arc-shaped flashboard, and gaps are prevented from being generated between the magnetic attraction pieces and the flashboard when the magnetic attraction pieces are located at the adsorption points on different planes. The magnetic attraction piece has the effect of improving the attraction force of the magnetic attraction piece.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater robot with a magnetic suction device. Background Art

[0002] Spillway gate is a flood discharge facility used in water conservancy projects such as reservoirs and dams. The main function of the spillway gate is to discharge floods that cannot be accommodated by the planned storage capacity to ensure the safety of the dam. Usually, the spillway gate is an open overflow and water discharge structure with a breast wall water inlet. It is generally not often used, but it is an important building in the reservoir hub.

[0003] In recent years, underwater robots have gradually been used to replace manual labor. Underwater robots can complete the inspection, cleaning, and repair of spillway arc gates without direct human contact, which not only reduces labor costs but also avoids the dangerous environment that operators may face. Underwater robots are beginning to have diversified capabilities such as environmental perception and operation execution, and are therefore widely used in marine exploration, underwater equipment inspection and maintenance, marine search and rescue, oil development, consumer entertainment and other fields.

[0004] For example, the "self-adsorption underwater detection and repair intelligent device" disclosed in patent publication number CN116198675A adopts a wheeled crawler independent movement mode. Taking into account the adsorption capacity requirements of the device, the wheeled structure is combined with an electromagnetic unit to provide a strong adsorption capacity without affecting the flexibility of movement;

[0005] During the repair work of the spillway arc gate, if a magnetic adsorption track is used to walk on the arc gate plate, a gap is likely to occur between the track and the arc gate plate. The magnetic attraction component can only achieve maximum adsorption force when it is completely fitted on the magnetic material. When there is a gap in the middle, the adsorption force of the magnetic attraction component is greatly attenuated. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an underwater robot with a magnetic suction device to solve the above problems.

[0007] The present invention provides the following technical solutions:

[0008] An underwater robot with a magnetic suction device, comprising:

[0009] Main body;

[0010] A mounting assembly, wherein the mounting assembly is provided in plurality and the plurality of mounting assemblies are distributed at the bottom of the main body, each mounting assembly comprises a mounting seat, an adjusting member and a mounting platform, the mounting seat is fixedly connected to the main body, the adjusting member is mounted on the mounting seat, the mounting platform is fixedly connected to an end of the adjusting member away from the mounting seat, and the adjusting member is used to adjust the angle between the mounting platform and the mounting seat;

[0011] A magnetic attraction member, wherein a plurality of magnetic attraction members are provided and the magnetic attraction members are mounted one by one on an end of the mounting platform away from the mounting seat.

[0012] By adopting the above technical solution, the main body is controlled to move to the vicinity of the gate plate, so that the magnetic suction component is close to the arc-shaped gate plate. At this time, the magnetic suction component generates an adsorption force to adsorb the main body on the gate plate. During the adsorption process of the magnetic suction component, since the gate plate is arc-shaped, the adsorption points of multiple magnetic suction components are located on different planes. At this time, the adjustment component adjusts the angle between the mounting platform and the mounting seat, so as to control the adsorption points of the magnetic suction components at different positions to be completely fitted with the arc-shaped gate plate, avoiding the gap between the magnetic suction component and the gate plate when the adsorption points are located on different planes, thereby improving the adsorption force of the magnetic suction component.

[0013] Optionally, the adjusting member includes an adjusting bearing and an adjusting rod, the outer side of the adjusting bearing is installed in the mounting seat, the adjusting rod is fixedly connected to the inner side of the adjusting bearing, and one end of the adjusting rod extends out of the mounting seat and is fixedly connected to the mounting platform, and a reset member is arranged between the mounting platform and the adjusting bearing.

[0014] By adopting the above technical solution and utilizing the cooperation between the adjusting bearing and the adjusting rod, the adjusting rod can utilize the adjusting bearing to adjust the angle between the adjusting rod and the mounting seat, thereby controlling the angle between the adjusting platform fixedly connected to the adjusting rod and the mounting seat.

[0015] Optionally, the reset member includes a reset spring, which is sleeved on the adjusting rod, and one end of the reset spring abuts against the outer ring of the adjusting bearing, and the other end abuts against the mounting platform.

[0016] By adopting the above technical solution and setting the reset spring, after the magnetic attraction is completed, the reset spring abuts against the mounting table, driving the mounting table to reset to a state parallel to the mounting seat, so that the magnetic attraction can be adsorbed in another working area when it works again.

[0017] Optionally, each of the mounting platforms is arranged in a disc shape, the adjusting rod is fixedly connected at the center of the mounting platform, and each of the mounting platforms is provided with a plurality of mounting grooves, which are evenly distributed around the center of the mounting platform.

[0018] By adopting the above technical solution, the provision of multiple installation slots allows the magnetic attraction component to select different installation slots for installation according to the workstation conditions, making the magnetic attraction component more adaptable.

[0019] Optionally, a plurality of magnetic suction components are provided on the same mounting platform, and the magnetic suction components are mounted on the mounting grooves.

[0020] By adopting the above technical solution, the provision of multiple magnetic suction components can provide more suction points, thereby significantly improving the suction capacity of the magnetic suction components.

[0021] Optionally, an adjustment control is installed between the magnetic attraction member and the mounting platform, and the adjustment control is used to adjust the angle between the magnetic attraction member and the mounting platform.

[0022] By adopting the above technical solution, the setting of the adjustment control unit enables the magnetic suction component located on the same mounting platform to be adsorbed on the arc-shaped gate plate, further reducing the gap generated when the magnetic suction component and the arc-shaped gate plate are adsorbed, so that the adsorption surface of the magnetic suction component and the arc-shaped gate plate is more closely fitted.

[0023] Optionally, the adjustment control unit includes an adjustment bearing and an adjustment rod, the outer side of the adjustment bearing is mounted on the mounting platform, the adjustment rod is fixedly connected to the inner side of the adjustment bearing, and one end of the adjustment rod extends away from the mounting seat, the extended end of the adjustment rod is fixedly connected to the magnetic attraction component, and a reset component is arranged between the adjustment bearing and the magnetic attraction component.

[0024] By adopting the above technical solution and utilizing the cooperation of the regulating bearing and the regulating rod, the regulating rod can utilize the regulating bearing to adjust the angle between the regulating rod and the mounting platform, thereby controlling the angle of the magnetic suction part fixedly connected to the regulating rod, so that the magnetic suction part and the adsorption surface of the arc gate plate are more closely fitted.

[0025] Optionally, the reset member includes a reset spring, which is sleeved on the regulating rod, and one end of the reset spring abuts against the outer ring of the regulating bearing, and the other end abuts against the magnetic attraction member.

[0026] By adopting the above technical solution and setting the reset spring, after the magnetic element is adsorbed, the reset spring abuts against the magnetic element and drives the magnetic element to reset to the initial state, so that the magnetic element can be adsorbed in another working area when it works again.

[0027] Optionally, a plurality of support rods are installed in the main body, and the support rods are fixedly connected between adjacent surfaces of the main body.

[0028] By adopting the above technical solution, the arrangement of the support rods makes the structure of the main body more stable.

[0029] Optionally, handles are fixedly connected to both sides of the main body, and a reinforcing rod is fixedly connected between the handles and the main body.

[0030] By adopting the above technical solution and arranging the handle and the reinforcing rod, the main body can be carried more stably.

[0031] The present invention has the following beneficial technical effects:

[0032] The present invention cooperates with the main body, the mounting seat, the adjusting member, the mounting platform and the magnetic member, and uses the adjusting member to adjust the angle between the mounting platform and the mounting seat, so as to control the adsorption points of the magnetic member at different positions to completely fit with the arc gate plate, and avoid the magnetic member and the gate plate from generating gaps when the adsorption points are located on different planes, thereby achieving the effect of improving the adsorption force of the magnetic member;

[0033] Through the cooperation of the mounting seat, the mounting platform, the adjusting bearing, the adjusting rod and the reset spring, the adjusting rod can use the adjusting bearing to adjust the angle between the adjusting rod and the mounting seat. At the same time, after the magnetic attraction is adsorbed, the reset spring abuts against the mounting platform, driving the mounting platform to reset to a state parallel to the mounting seat, so that the magnetic attraction is convenient for adsorbing to another working area when it works again.

[0034] Through the cooperation of the mounting platform, the magnetic part, the regulating bearing and the regulating rod, the regulating rod can use the regulating bearing to adjust the angle between the regulating rod and the mounting platform, thereby controlling the angle of the magnetic suction part fixedly connected to the regulating rod, and the magnetic suction part and the adsorption surface of the arc gate plate are more closely fitted. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the structure of the installation assembly of the present invention;

[0037] Figure 3 yes Figure 2 Sectional view at AA in the middle;

[0038] Figure 4 yes Figure 3 Enlarged view of point B in the middle.

[0039] The reference numerals in the figure are:

[0040] 1. Main body; 11. Support rod; 12. Handle; 13. Reinforcement rod; 14. Float; 2. Mounting assembly; 21. Mounting seat; 22. Adjustment part; 221. Spherical bearing; 222. Adjustment rod; 23. Mounting table; 231. Mounting slot; 3. Magnetic part; 4. Reset part; 41. Reset spring; 5. Adjustment control; 51. Control bearing; 52. Control rod; 6. Reset part; 61. Reset spring. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example:

[0043] An underwater robot with a magnetic suction device, such as Figure 1-4 As shown:

[0044] It includes a main body 1, a mounting assembly 2 and a magnetic member 3. There are multiple mounting assemblies 2, which are distributed at the bottom of the main body 1. Each mounting assembly 2 includes a mounting seat 21, an adjusting member 22 and a mounting platform 23. The mounting seat 21 is fixedly connected to the main body 1, the adjusting member 22 is installed on the mounting seat 21, the mounting platform 23 is fixedly connected to the end of the adjusting member 22 away from the mounting seat 21, and the magnetic members 3 are installed one by one on the end of the mounting platform 23 away from the mounting seat 21. The angle between the mounting platform 23 and the mounting seat 21 is adjusted by the adjusting member 22, so that the adsorption points of the magnetic members 3 at different positions can be completely fitted with the arc gate plate, avoiding the gap between the magnetic members 3 and the gate plate when the adsorption points are located on different planes, thereby improving the adsorption force of the magnetic members 3.

[0045] The main body 1 in this embodiment is rectangular, and in other embodiments it can also be disc-shaped or other anisotropically shaped according to design requirements. Therefore, in this embodiment, there are four mounting components 2, which are arranged in a rectangular shape and distributed at the bottom of the main body 1. In other embodiments, according to the shape and size of the main body 1, 3, 5, or 6 mounting components 2 are arranged.

[0046] A plurality of support rods 11 are installed in the main body 1 . The support rods 11 are fixedly connected between adjacent surfaces of the main body 1 . The arrangement of the support rods 11 makes the structure of the main body 1 more stable.

[0047] Handles 12 are fixedly connected to both sides of the main body 1 , and the arrangement of the handles 12 facilitates the carrying of the main body 1 .

[0048] A reinforcing rod 13 is fixedly connected between the handle 12 and the main body 1 . The provision of the reinforcing rod 13 enables the main body 1 to be carried more stably.

[0049] The main body 1 is provided with a floating block 14 and a driving blade (not shown in the drawings of this embodiment). The cooperation of the floating block 14 and the driving blade allows the main body 1 to move freely underwater, making it easier for the main body 1 to find an adsorption point for adsorption.

[0050] Reference Figure 2 and Figure 3 The adjusting member 22 includes an adjusting bearing and an adjusting rod 222 . The outer side of the adjusting bearing is installed in the mounting seat 21 . The adjusting rod 222 is fixedly connected to the inner side of the adjusting bearing. One end of the adjusting rod 222 extends out of the mounting seat 21 and is fixedly connected to the mounting platform 23 .

[0051] By utilizing the cooperation between the adjusting bearing and the adjusting rod 222, when the magnetic attraction component 3 is adsorbed on the gate plate, the magnetic attraction component 3 will drive the adjusting platform to deviate toward the gate plate surface, thereby changing the angle between the adjusting rod 222 and the mounting seat 21, and then the adjusting rod 222 can utilize the adjusting bearing to adjust the angle between the adjusting rod 222 and the mounting seat 21 to control the angle between the adjusting platform fixedly connected on the adjusting rod 222 and the mounting seat 21, so as to achieve the effect of the magnetic attraction component 3 fitting the gate plate surface.

[0052] The magnetic attraction member 3 in this embodiment is an electromagnet. In other embodiments, a permanent magnet may also be used. The electromagnet can be controlled to be attracted and detached by controlling the on and off of the current, thereby achieving an effect of easy control.

[0053] If the angle between the adjusting rod 222 and the mounting seat 21 changes after the magnetic element 3 is adsorbed onto the gate plate, and the curvature of the arc gate plate undergoes an opposite change, then the angle of the magnetic element 3 will be difficult to change after it is adsorbed onto another arc gate plate again, which not only prolongs the adsorption time but also makes it difficult to perform adsorption.

[0054] A reset member 4 is provided between the mounting platform 23 and the adjusting bearing. The reset member 4 in this embodiment includes a reset spring 41. The reset spring 41 is sleeved on the adjusting rod 222, and one end of the reset spring 41 abuts against the outer ring of the adjusting bearing, and the other end abuts against the mounting platform 23.

[0055] By setting the reset spring 41, after the magnetic attraction part 3 is adsorbed, the reset spring 41 abuts against the mounting platform 23, driving the mounting platform 23 to return to a state parallel to the mounting seat 21, so that the magnetic attraction part 3 can be adsorbed in another working area when it works again.

[0056] The four mounting platforms 23 are all set in the form of discs, and the adjusting rod 222 is fixedly connected to the center of the mounting platform 23. A plurality of mounting grooves 231 are provided on each mounting platform 23, and the mounting grooves 231 are evenly distributed around the center of the mounting platform 23. The setting of the plurality of mounting grooves 231 allows the magnetic attraction component 3 to select different mounting grooves 231 for installation according to the working position conditions, so that the adaptability of the magnetic attraction component 3 is wider.

[0057] There are multiple magnetic suction parts 3 located on the same mounting platform 23. In this embodiment, six mounting grooves 231 are opened on the mounting platform 23, and the six mounting grooves 231 are evenly distributed around the center of the mounting platform 23. There are three magnetic suction parts 3, and the three magnetic suction parts 3 are evenly distributed around the center of the mounting platform 23 and installed in the mounting grooves 231, so that there is an empty mounting groove 231 between each adjacent magnetic suction part 3. The setting of three magnetic suction parts 3 can provide more adsorption points, thereby significantly improving the adsorption capacity of the magnetic suction parts 3. At the same time, the three magnetic suction parts 3 are evenly distributed around the center of the mounting platform 23, so that the adsorption of each mounting component 2 is more stable.

[0058] Reference Figure 2 and Figure 3 Since the gate plate is arc-shaped, the adsorption points of the three magnetic components 3 located on the same mounting platform 23 are also located on different planes. In order to further reduce the gap between each magnetic component 3 and the gate plate and further improve the adsorption capacity of the magnetic component 3, an adjustment control 5 is installed between the magnetic component 3 and the mounting platform 23 in this embodiment. The adjustment control 5 is used to adjust the angle between the magnetic component 3 and the mounting platform 23, so that the magnetic component 3 located on the same mounting platform 23 can be adsorbed on the arc-shaped gate plate, further reducing the gap generated when the magnetic component 3 and the arc-shaped gate plate are adsorbed, so that the adsorption surface of the magnetic component 3 and the arc-shaped gate plate is more closely fitted.

[0059] The control unit 5 includes a control bearing 51 and a control rod 52. The outer side of the control bearing 51 is mounted on the mounting platform 23. The control rod 52 is fixedly connected to the inner side of the control bearing 51. One end of the control rod 52 extends away from the mounting seat 21. The extended end of the control rod 52 is fixedly connected to the magnetic member 3. When the magnetic member 3 is adsorbed on the gate plate, the magnetic member 3 drives the control rod 52 to slightly deviate, so that the angle between the control rod 52 and the mounting platform 23 changes, so that the magnetic member 3 fits the surface of the gate plate.

[0060] By utilizing the cooperation between the regulating bearing 51 and the regulating rod 52, the regulating rod 52 can utilize the regulating bearing 51 to adjust the angle between the regulating rod 52 and the mounting platform 23, thereby controlling the angle of the magnetic suction component 3 fixedly connected to the regulating rod 222, so that the magnetic suction component 3 is more closely fitted to the adsorption surface of the arc gate plate.

[0061] At the same time, in order to facilitate the magnetic member 3 to be adsorbed on another working area when it works again, a reset member 6 is arranged between the regulating bearing 51 and the magnetic member 3. The reset member 6 includes a reset spring 61, which is sleeved on the regulating rod 52, and one end of the reset spring 61 abuts against the outer ring of the regulating bearing 51, and the other end abuts against the magnetic member 3.

[0062] The reset spring 61 is set so that after the magnetic element 3 is adsorbed, the reset spring 41 abuts against the magnetic element 3 to drive the magnetic element 3 to reset to the initial state, thereby facilitating the magnetic element 3 to be adsorbed in another working area when it works again.

[0063] The implementation principle of an underwater robot with a magnetic suction device in an embodiment of the present application is as follows: the main body 1 is controlled to move to the vicinity of the gate plate, so that the magnetic suction component 3 is close to the arc-shaped gate plate. At this time, the magnetic suction component 3 generates an adsorption force to adsorb the main body 1 on the gate plate. During the adsorption process of the magnetic suction component 3, since the gate plate is arc-shaped, the adsorption points of multiple magnetic suction components 3 are located on different planes. At this time, when the magnetic suction component 3 is adsorbed on the gate plate, the magnetic suction component 3 will drive the adjustment platform to deviate toward the surface of the gate plate, thereby changing the angle between the adjustment rod 222 and the mounting seat 21, and then the adjustment rod 222 can use the adjustment bearing to adjust the angle between the adjustment rod 222 and the mounting seat 21. At the same time, the magnetic suction component 3 drives the control rod 52 to deviate slightly, thereby changing the angle between the control rod 52 and the mounting platform 23, so that the magnetic suction component 3 fits the surface of the gate plate.

[0064] By utilizing the coordination of the adjusting bearing, adjusting rod 222, regulating bearing 51 and regulating rod 52, the adsorption points of the magnetic suction component 3 at different positions can be controlled to completely fit with the arc gate plate, avoiding the generation of gaps between the magnetic suction component 3 and the gate plate when the adsorption points are located on different planes, thereby improving the adsorption force of the magnetic suction component 3.

[0065] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An underwater robot with a magnetic suction device, characterized in that: include: Main body (1); A mounting assembly (2), wherein a plurality of the mounting assemblies (2) are provided, and the plurality of the mounting assemblies (2) are distributed at the bottom of the main body (1), and each of the mounting assemblies (2) comprises a mounting seat (21), an adjusting member (22), and a mounting platform (23), wherein the mounting seat (21) is fixedly connected to the main body (1), the adjusting member (22) is mounted on the mounting seat (21), and the mounting platform (23) is fixedly connected to an end of the adjusting member (22) away from the mounting seat (21), and the adjusting member (22) is used to adjust the angle between the mounting platform (23) and the mounting seat (21); A magnetic attraction member (3), wherein a plurality of the magnetic attraction members (3) are provided, and the magnetic attraction members (3) are mounted one by one on an end of the mounting platform (23) away from the mounting seat (21).

2. The underwater robot with a magnetic suction device according to claim 1, characterized in that: The adjusting member (22) comprises an adjusting bearing (221) and an adjusting rod (222); the outer side of the adjusting bearing (221) is mounted in the mounting seat (21); the adjusting rod (222) is fixedly connected to the inner side of the adjusting bearing (221); one end of the adjusting rod (222) extends out of the mounting seat (21) and is fixedly connected to the mounting platform (23); and a reset member (4) is provided between the mounting platform (23) and the adjusting bearing (221).

3. The underwater robot with a magnetic suction device according to claim 2, characterized in that: The reset member (4) comprises a reset spring (41), which is sleeved on the adjusting rod (222), and one end of the reset spring (41) abuts against the outer ring of the adjusting bearing (221), and the other end abuts against the mounting platform (23).

4. The underwater robot with a magnetic suction device according to claim 2, characterized in that: Each of the mounting platforms (23) is arranged in the shape of a circular disc, the adjusting rod (222) is fixedly connected to the center of the mounting platform (23), and each of the mounting platforms (23) is provided with a plurality of mounting grooves (231), the mounting grooves (231) being evenly distributed around the center of the mounting platform (23).

5. The underwater robot with a magnetic suction device according to claim 4, characterized in that: A plurality of magnetic attraction components (3) are provided on the same mounting platform (23), and the magnetic attraction components (3) are mounted on the mounting groove (231).

6. The underwater robot with a magnetic suction device according to claim 1, characterized in that: An adjustment control (5) is installed between the magnetic attraction component (3) and the mounting platform (23), and the adjustment control (5) is used to adjust the angle between the magnetic attraction component (3) and the mounting platform (23).

7. The underwater robot with a magnetic suction device according to claim 6, characterized in that: The adjustment control unit (5) comprises an adjustment bearing (51) and an adjustment rod (52); the outer side of the adjustment bearing (51) is mounted on the mounting platform (23); the adjustment rod (52) is fixedly connected to the inner side of the adjustment bearing (51); one end of the adjustment rod (52) extends away from the mounting seat (21); the extended end of the adjustment rod (52) is fixedly connected to the magnetic attraction component (3); and a reset component (6) is arranged between the adjustment bearing (51) and the magnetic attraction component (3).

8. The underwater robot with a magnetic suction device according to claim 7, characterized in that: The reset member (6) comprises a reset spring (61), which is sleeved on the regulating rod (52), and one end of the reset spring (61) abuts against the outer ring of the regulating bearing (51), and the other end abuts against the magnetic attraction member (3).

9. The underwater robot with a magnetic suction device according to claim 1, characterized in that: A plurality of support rods (11) are installed in the main body (1), and the support rods (11) are fixedly connected between adjacent surfaces of the main body (1).

10. The underwater robot with a magnetic suction device according to claim 1, characterized in that: Handles (12) are fixedly connected to both sides of the main body (1), and a reinforcing rod (13) is also fixedly connected between the handle (12) and the main body (1).

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