Six-degree-of-freedom angle adjusting platform for underwater robot

Abstract

The invention relates to a six-degree-of-freedom angle adjusting platform for an underwater robot, and belongs to the technical field of underwater robots. In order to reduce the noise during angle adjustment, floating and diving of the underwater robot, eliminate bubbles during angle adjustment, floating and diving, and improve the angle adjustment precision of the underwater robot. The six-degree-of-freedom angle adjusting platform for the underwater robot comprises a basic cabin, underwater robot bodies in various forms can be carried above the basic cabin, a plurality of buoyancy cabins are arranged below the basic cabin, and each buoyancy cabin is provided with a buoyancy adjusting mechanism. According to the six-degree-of-freedom angle adjusting platform for the underwater robot, the floating, diving and angle inclination effects of the whole platform are achieved through the buoyancy adjusting mechanism on the buoyancy cabin; the buoyancy adjusting mechanism is achieved in a water pump drainage mode, noise of the whole platform is reduced, precision is improved, and bubbles cannot be generated.

Description

Technical Field

[0001] The invention relates to an underwater robot adjustment platform, in particular to an underwater robot six-degree-of-freedom angle adjustment platform, belonging to the technical field of underwater robots. Background Art

[0002] At present, the angle adjustment and ascent and descent of underwater robots during underwater operation are mainly completed by propeller-type underwater thrusters, which generally have the disadvantages of high noise, many bubbles and low precision during operation. With the continuous development of underwater robots, scenes such as underwater biological monitoring, underwater environmental visual monitoring, and underwater equipment visual inspection are increasingly expected to be realized by underwater robots. However, many underwater creatures are afraid of underwater noise, and the visual inspection of underwater environment and equipment also requires underwater robots to be relatively quiet, bubble-free and high-precision. Summary of the invention

[0003] The purpose of the present invention is to use brand-new technology to comprehensively avoid various defects of current products on the market, to provide a six-degree-of-freedom angle adjustment platform for an underwater robot, to reduce the noise during angle adjustment and ascent and descent of the underwater robot, to eliminate bubbles during angle adjustment and ascent and descent, and to improve the accuracy of angle adjustment of the underwater robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A six-degree-of-freedom angle adjustment platform for an underwater robot, which is special in that it comprises a basic cabin, on the top of which various underwater robot bodies can be carried, and below which a plurality of buoyancy cabins are arranged, each of which is provided with a buoyancy adjustment mechanism;

[0006] Preferably, the basic cabin comprises a basic cabin upper cover and a basic cabin lower cover, the basic cabin upper cover and the basic cabin lower cover are integrated into a cabin body of the basic cabin, the basic cabin upper cover is provided with an upper wire outlet and an upper air outlet, and the basic cabin lower cover is provided with a lower wire outlet and a lower air outlet;

[0007] Preferably, the basic cabin is cylindrical;

[0008] Preferably, the buoyancy chamber is a spherical buoyancy chamber;

[0009] Preferably, the buoyancy cabin comprises a buoyancy cabin upper cover fixedly connected to the basic cabin lower cover, at least two connecting rods are evenly distributed on the other side of the buoyancy cabin upper cover, a mounting block is fixedly mounted on the other end of the connecting rod, a spherical cavity is provided inside the mounting block, a spherical shell is embedded in the spherical cavity, and the spherical shell and the spherical cavity form a spherical pair fit;

[0010] Preferably, the buoyancy chamber exhaust pipe is a hose to ensure that the buoyancy chamber exhaust pipe can move freely when the spherical shell and the spherical cavity move relative to each other;

[0011] Preferably, the buoyancy adjustment mechanism comprises a water pump installed inside the spherical housing, the water pump is connected to a water inlet pipe and a drain pipe, and the drain pipe is installed with a valve to control whether to drain water.

[0012] The buoyancy adjustment mechanism also includes a buoyancy chamber exhaust pipe, which is installed on a side of the spherical shell close to the buoyancy chamber upper cover, and is connected to the lower air outlet of the basic chamber lower cover. A vent pipe is led out of the upper air outlet of the basic chamber upper cover. The function of the vent pipe is to connect the buoyancy chamber and the basic chamber to the air environment above the water surface, so that when the buoyancy chamber is drained, the air above the water surface reaches the basic chamber and then reaches the buoyancy chamber through the vent pipe, thereby improving the buoyancy of the buoyancy chamber;

[0013] Preferably, the water pump is an electric micro servo water pump, the valve is an electronic valve, and the power lines and signal lines of the electric micro servo water pump and the electronic valve form a buoyancy chamber harness;

[0014] Preferably, the buoyancy cabin harness passes through the lower outlet on the lower cover of the basic cabin and the upper outlet on the upper cover of the basic cabin from bottom to top, and is connected to the underwater robot body to obtain power or is led out of the water surface to obtain power;

[0015] Preferably, the buoyancy chamber exhaust pipe is a hose to ensure that the buoyancy chamber exhaust pipe can move freely when the spherical shell and the spherical cavity move relative to each other;

[0016] Preferably, the connection between the upper wire outlet and the buoyancy chamber harness, and the connection between the buoyancy chamber exhaust pipe and the lower air outlet are both sealed with sealant for waterproofing.

[0017] The underwater robot six-degree-of-freedom angle adjustment platform of the present invention comprises a basic cabin and a buoyancy cabin, and the buoyancy adjustment mechanism on the buoyancy cabin is used to achieve the effects of floating up and down and angle tilting of the entire platform;

[0018] The buoyancy adjustment mechanism is realized by water pump drainage, which reduces the noise of the entire platform, improves accuracy and does not produce bubbles. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 for Figure 1 A schematic diagram of the structure from another angle;

[0021] Figure 3 for Figure 1The schematic diagram of the structure without the underwater robot body;

[0022] Figure 4 for Figure 3 A schematic diagram of the structure from another angle;

[0023] Figure 5 This is a schematic diagram of the structure of the basic cabin;

[0024] Figure 6 for Figure 5 Exploded diagram of

[0025] Figure 7 for Figure 6 Schematic diagram from another angle;

[0026] Figure 8 is a schematic diagram of the structure of the buoyancy tank;

[0027] Fig. 9 for Figure 8 Left view of

[0028] Fig.10 for Fig. 9 AA section view.

[0029] In the figure: 1. basic cabin, 11. basic cabin upper cover, 12. basic cabin lower cover, 13. upper wire outlet, 14. upper air outlet, 15. lower wire outlet, 16. lower air outlet, 2. underwater robot body, 3. buoyancy cabin, 31. buoyancy cabin upper cover, 32. connecting rod, 33. mounting block, 34. spherical cavity, 35. spherical shell, 4. buoyancy adjustment mechanism, 41. water pump, 42. water inlet pipe, 43. drain pipe, 44. valve, 45. buoyancy cabin exhaust pipe, 46. ventilation pipe, 47. buoyancy cabin wiring harness. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments 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.

[0031] like Figure 1-4 The six-degree-of-freedom angle adjustment platform of an underwater robot shown in the figure comprises a basic cabin 1, on the top of which various forms of underwater robot bodies 2 can be carried, and below the basic cabin 1 there are a plurality of buoyancy cabins 3, each of which is provided with a buoyancy adjustment mechanism 4;

[0032] Among them, Figure 5-Figure 7As shown, the basic cabin 1 comprises a basic cabin upper cover 11 and a basic cabin lower cover 12, the basic cabin upper cover 11 and the basic cabin lower cover 12 are integrated into a cabin body of the basic cabin, the basic cabin upper cover 11 is provided with an upper wire outlet 13 for leading out power and signal wire harnesses and an upper air outlet 14 for leading out ventilation pipes, and the basic cabin lower cover is provided with a lower wire outlet 15 for introducing a buoyancy cabin wire harness and a lower air outlet 16 for introducing a buoyancy cabin exhaust pipe;

[0033] Wherein, the basic cabin 1 is cylindrical;

[0034] Wherein, the buoyancy chamber 3 is a spherical buoyancy chamber;

[0035] Among them, Figure 8-Figure 10 As shown, the buoyancy tank 3 includes a buoyancy tank upper cover 31 fixedly connected to the basic tank lower cover 12, and at least two connecting rods 32 are evenly distributed on the other side of the buoyancy tank upper cover 31. A mounting block 33 is fixedly installed on the other end of the connecting rod 32. A spherical cavity 34 is provided inside the mounting block 33, and a spherical shell 35 is embedded in the spherical cavity 34. The spherical shell 35 and the spherical cavity 34 form a spherical pair. The connecting rod 32 is used to connect the buoyancy tank upper cover 31 and the mounting block 33 and increase the connection strength. The number of the connecting rods 32 can be selected according to needs;

[0036] The buoyancy adjustment mechanism 4 includes a water pump 41 installed inside the spherical housing 35, the water pump 41 is connected to a water inlet pipe 42 and a drain pipe 43, and the drain pipe 43 is installed with a valve 44 for controlling whether to drain water.

[0037] The buoyancy adjustment mechanism 4 also includes a buoyancy chamber exhaust pipe 45, which is installed on a side of the spherical shell 35 close to the buoyancy chamber upper cover 31, and the buoyancy chamber exhaust pipe 31 is connected to the lower air outlet 16 of the basic chamber lower cover 12, and a vent pipe 46 is led out of the upper air outlet 14 of the basic chamber upper cover 11. The function of the vent pipe 46 is to connect the buoyancy chamber 3 and the basic chamber 1 to the air environment above the water surface, so that the air above the water surface of the buoyancy chamber 3 reaches the basic chamber and then reaches the buoyancy chamber through the vent pipe 46 when the buoyancy chamber 3 is drained, thereby improving the buoyancy of the buoyancy chamber;

[0038] The water pump 41 is an electric micro servo water pump, the valve 44 is an electronic valve, and the power lines and signal lines of the electric micro servo water pump 41 and the electronic valve 44 are combined into a buoyancy chamber harness 47;

[0039] The buoyancy cabin harness 47 passes through the lower outlet 15 on the lower cover 12 of the basic cabin and the upper outlet 11 of the upper cover 11 of the basic cabin from bottom to top, and is connected to the underwater robot body to obtain power or is led out of the water surface to obtain power;

[0040] The buoyancy chamber exhaust pipe 45 is a hose, which ensures that the buoyancy chamber exhaust pipe can move freely when the spherical shell and the spherical cavity move relative to each other.

[0041] The working principle of the present invention is as follows: when the valve 44 inside the buoyancy chamber 3 is opened and the water pump 41 is reversed, water enters the spherical shell 35 from the outside under the combined action of the underwater water pressure and the water pump 41, and at the same time, the air inside the spherical shell 35 enters the lower air outlet 16 of the basic cabin 1 through the buoyancy chamber exhaust pipe 45, and then enters the basic cabin 1, and then is discharged into the atmosphere through the vent pipe 46 led out from the upper air outlet 14 of the basic cabin 1; this process is the process of reducing the buoyancy of the buoyancy chamber 3;

[0042] When the valve 44 inside the buoyancy tank 3 is opened and the water pump 41 rotates forward, water flows out from the inside of the spherical shell 35 to the outside under the action of the water pump 41, and at the same time, the air in the atmosphere enters the upper air outlet 14 of the basic cabin 1 through the ventilation pipe and enters the basic cabin 1, and the lower air outlet 16 of the basic cabin 1 enters the spherical shell 35 through the buoyancy tank exhaust pipe 45; this process is the process of increasing the buoyancy of the buoyancy tank.

[0043] There are multiple buoyancy tanks evenly distributed at the bottom of the base cabin 1, 4 of which are shown in the figure, but it can be 2, 3 or 6, depending on the size of the basic cabin 1. When the buoyancy of all the buoyancy tanks 3 decreases, the diving function of the entire platform can be achieved, and when the buoyancy of all the buoyancy tanks 3 increases, the floating function of the entire platform can be achieved.

[0044] There are multiple buoyancy chambers 3 evenly distributed at the bottom of the base tank 1, and the multiple buoyancy chambers 3 are evenly distributed at different angles. When the buoyancy of some buoyancy chambers 3 increases and the buoyancy of other buoyancy chambers 3 decreases, the angle of the entire adjustment platform can change. Because there are multiple buoyancy chambers 3 evenly distributed at the bottom of the base tank 1, and each buoyancy chamber 3 is equipped with a spherical pair, the six-degree-of-freedom angle adjustment of the entire adjustment platform can be achieved by controlling the buoyancy of each buoyancy chamber 3. Because the buoyancy of the buoyancy chamber 3 is achieved by the water supply and drainage of the water pump, the noise is much lower than that of the propeller propeller. Because the water supply and drainage water pump is a servo water pump, the buoyancy can be precisely controlled with high control accuracy.

[0045] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom angle adjustment platform for an underwater robot, characterized in that: The invention comprises a basic cabin (1), wherein various forms of underwater robot bodies (2) can be carried above the basic cabin (1), and a plurality of buoyancy cabins (3) are arranged below the basic cabin (1), and each of the buoyancy cabins (3) is provided with a buoyancy adjustment mechanism (4).

2. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 1, characterized in that: The basic cabin (1) comprises a basic cabin upper cover (11) and a basic cabin lower cover (12), wherein the basic cabin upper cover (11) and the basic cabin lower cover (12) are integrated into a cabin body of the basic cabin, the basic cabin upper cover (11) is provided with an upper wire outlet (13) and an upper air outlet (14), and the basic cabin lower cover is provided with a lower wire outlet (15) and a lower air outlet (16).

3. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 1 or 2, characterized in that: The basic cabin (1) is cylindrical.

4. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 3, characterized in that: The buoyancy chamber (3) is a spherical buoyancy chamber.

5. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 3, characterized in that: The buoyancy chamber (3) comprises a buoyancy chamber upper cover (31) fixedly connected to a basic chamber lower cover (12); at least two connecting rods (32) are evenly distributed on the other side of the buoyancy chamber upper cover (31); a mounting block (33) is fixedly mounted on the other end of the connecting rod (32); a spherical cavity (34) is provided inside the mounting block (33); a spherical shell (35) is embedded in the spherical cavity (34); and the spherical shell (35) and the spherical cavity (34) form a spherical pair fit.

6. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 5, characterized in that: The buoyancy adjustment mechanism (4) comprises a water pump (41) installed inside the spherical housing (35), the water pump (41) is connected to a water inlet pipe (42) and a drain pipe (43), and the drain pipe (43) is installed with a valve (44) for controlling whether to drain water; The buoyancy adjustment mechanism (4) further comprises a buoyancy chamber exhaust pipe (45), the buoyancy chamber exhaust pipe (45) being mounted on a side of the spherical housing (35) close to the buoyancy chamber upper cover (31), the buoyancy chamber exhaust pipe (31) being connected to a lower air outlet (16) of the basic chamber lower cover (12), and a vent pipe (46) being led out of an upper air outlet (14) of the basic chamber upper cover (11).

7. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 6, characterized in that: The water pump (41) is an electric micro servo water pump, the valve (44) is an electronic valve, and the power lines and signal lines of the electric micro servo water pump (41) and the electronic valve (44) form a buoyancy chamber harness (47).

8. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 7, characterized in that: The buoyancy cabin harness (47) passes through the lower outlet (15) on the basic cabin lower cover (12) and the upper outlet of the basic cabin upper cover (11) from bottom to top in sequence to be connected to the underwater robot body to obtain power or to be led out of the water surface to obtain power.

9. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 8, characterized in that: The connection between the upper wire outlet (13) and the buoyancy chamber wire harness (47), and the connection between the buoyancy chamber exhaust pipe (46) and the lower air outlet (16) are both sealed with sealant for waterproofing.

10. The six-degree-of-freedom angle adjustment platform for an underwater robot according to claim 8, characterized in that: The buoyancy chamber exhaust pipe (45) is a hose.

Images