Multifunctional underwater robot

Abstract

The invention belongs to the technical field of underwater robots and discloses a multifunctional underwater robot which comprises an underwater robot body, a camera is arranged in one end of the underwater robot body, a convex lens covers the periphery of the camera, an annular groove is formed in one end of the underwater robot body, and a turnover rod is arranged on one side of the interior of the annular groove. A scraping plate is arranged on the inner side of the overturning rod, a driving gear is arranged at the bottom end of a bottom rotating shaft of the overturning rod, a half gear is arranged on one side of the driving gear, a transmission gear is arranged at the bottom of the half gear, a waterproof box is arranged at the bottom of the underwater robot body, a cleaning motor is arranged in the waterproof box, and a side gear is arranged at the output shaft end of the cleaning motor; the cleaning motor is used for driving the side gear to rotate, and the overturning rod is driven to overturn outwards in cooperation with transmission of the transmission gear, the half gear and the driving gear, so that the scraper blade is used for scraping and cleaning the surface of the convex lens, and the situation that the visual field is affected by aquatic plants or suspended solids in water is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a multifunctional underwater robot. Background Art

[0002] An underwater robot is a robot that can work in an underwater environment. They are usually used for underwater surveys, marine scientific research, marine resource development, submarine rescue and other tasks. An underwater robot positioning control device is a device used to achieve accurate positioning and control movement of underwater robots in underwater environments.

[0003] At present, when existing underwater robots move forward in water, there may be suspended matter or plants such as aquatic plants in the water, which may cause the suspended matter or plants to entangle and block the camera, affecting the field of view. Most underwater robots do not have the function of clearing the obstructions in front of the lens, which is not conducive to the advancement of the underwater robots. Moreover, the bottom clamps of existing underwater robots do not have the function of retracting and storing. During the movement, they are prone to collision with foreign objects, causing damage to the clamps, affecting the normal operation of the underwater robots. For this reason, we propose a multifunctional underwater robot. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional underwater robot to solve the existing problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multifunctional underwater robot, comprising an underwater robot body and a scraper driving gear, a camera is fixedly installed inside one end of the underwater robot body, the peripheral cover of the camera is provided with a convex lens, an annular groove is opened on the outer peripheral surface of one end of the underwater robot body provided with the convex lens, a flip rod is movably connected to the inner side of the annular groove through a rotating shaft, the flip rod is a semi-circular ring structure, a scraper is fixedly installed on the inner side of the flip rod, the scraper is in contact with the convex lens, a driving gear is fixedly installed on the bottom end of the bottom rotating shaft of the flip rod, one side of the driving gear is meshedly connected with a half gear, and the bottom of the half gear is coaxially connected with a transmission gear, a waterproof box is provided at the bottom of the underwater robot body, a cleaning motor is provided inside the waterproof box, the output shaft end of the cleaning motor extends to the outside of the waterproof box and is fixedly installed with a side gear, and the side gear is meshed and connected with the transmission gear.

[0006] Preferably, a bottom plate is fixedly installed at the bottom of the underwater robot body, a first extension motor is fixedly embedded in the bottom center position of the bottom plate, a first extension gear is provided at the output shaft end of the first extension motor, second extension gears are meshed and connected on both sides of the first extension gear, tooth plates are slidably provided on both sides of the bottom of the bottom plate, the tooth plates are meshed and connected with the second extension gear on the same side, an extension rod is fixedly installed at the bottom of the tooth plate, an extension frame is slidably provided between the two extension rods, and a clamp is fixedly installed on the middle of one side of the extension frame.

[0007] Preferably, a torsion spring is sleeved on the outer periphery of the bottom end of the bottom rotating shaft of the flip rod, and the torsion spring is arranged below the driving gear. The two ends of the torsion spring are respectively fixedly connected to the inner wall of the shell of the underwater robot body and the bottom of the driving gear, and the rotating shaft is movably connected to the inner wall of the annular groove through a sealed bearing.

[0008] Preferably, a slide groove is provided on the opposite sides of the two extension rods, and a screw is movably connected to the inside of the slide groove through a sealed bearing. A second extension motor is provided at one end of the screw, and a threaded block is spirally connected to the outer periphery of the screw. The threaded block is placed inside the slide groove and slidably connected to the inner wall thereof, and the two ends of the extension frame are fixedly connected to the two threaded blocks respectively.

[0009] Preferably, T-shaped slots are provided on both sides of the bottom of the bottom plate, and a T-shaped block is provided at one end of the top of the tooth plate. The T-shaped block extends into the interior of the T-shaped slot and is slidably connected to the inner wall thereof.

[0010] Preferably, horizontal thrusters are fixedly installed on both sides of one end of the underwater robot body close to the convex lens, and longitudinal thrusters are fixedly installed on both side terminals of the external body of the underwater robot, and the longitudinal thrusters extend to the bottom of the base plate.

[0011] Preferably, protective frames are provided on both sides of the base plate, and the protective frames are fixedly installed on both sides of the base plate by welding.

[0012] Preferably, a connecting plate is provided at the top middle end of the underwater robot body, a through hole is provided at the top end of the connecting plate, and both sides of the bottom end of the connecting plate are fixedly connected to the protective frame through cross bars.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. An annular groove is opened on the outer periphery of one end of the underwater robot body, and the side gear is driven to rotate by the cleaning motor. The transmission gear, the half gear and the driving gear are coordinated to drive the flip rod to flip outward from the inside of the annular groove, so that the surface of the convex lens is scraped and cleaned by the scraper, so as to achieve the purpose of cleaning the obstructions on the surface of the convex lens and avoid the situation where aquatic plants or suspended matter in the water affect the field of vision.

[0015] 2. By setting a toothed plate at the bottom of the base plate, the toothed plate is driven under the action of the first extension motor, the first extension gear and the second extension gear, so that it can extend and retract with the extension rod, the extension frame and the clamping claw, and the second extension motor, the screw rod and the threaded block are used to realize the separate driving of the extension frame, and the two-stage driving structure is used to realize the telescopic function of the clamping claw, so as to avoid the clamping claw extending outward and colliding, which may cause the clamping claw to be damaged.

[0016] 3. By setting a torsion spring at the bottom end of the rotating shaft at the bottom of the flip rod, in conjunction with the half gear, when the driving gear is separated from the half gear, the flip rod and the scraper are driven to flip and reset under the action of the torsion spring, which can avoid excessive flipping of the flip rod 4 and cause damage to the gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a multi-angle structural schematic diagram of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the flip rod of the present invention;

[0020] Figure 4 It is a schematic diagram of the extension frame structure of the present invention;

[0021] Figure 5 It is a schematic diagram of the tooth plate structure of the present invention.

[0022] In the figure: 1. underwater robot body; 2. convex lens; 3. annular groove; 4. flip rod; 5. scraper; 6. rotating shaft; 7. driving gear; 8. torsion spring; 9. half gear; 10. transmission gear; 11. waterproof box; 12. cleaning motor; 13. side gear; 14. horizontal thruster; 15. longitudinal thruster; 16. bottom plate; 17. protective frame; 18. connecting plate; 19. tooth plate; 20. T-block; 21. first extension motor; 22. first extension gear; 23. second extension gear; 24. extension rod; 25. screw; 26. second extension motor; 27. threaded block; 28. extension frame; 29. ​​clamp. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-5 The present invention provides a technical solution for a multifunctional underwater robot, comprising an underwater robot body 1, a scraper 5 and a driving gear 7. A camera is fixedly installed inside one end of the underwater robot body 1, and a convex lens 2 is provided on the peripheral cover of the camera. An annular groove 3 is provided on the outer peripheral surface of one end of the underwater robot body 1 provided with the convex lens 2. A flip rod 4 is movably connected to the inner side of the annular groove 3 through a rotating shaft 6. The flip rod 4 is a semicircular ring structure. A scraper 5 is fixedly installed on the inner side of the flip rod 4, and the scraper 5 contacts the convex lens 2. A driving gear 7 is fixedly installed on the bottom end of the bottom rotating shaft 6 of the flip rod 4. A half gear 9 is meshedly connected to one side of the driving gear 7, and a transmission gear 10 is coaxially connected to the bottom of the half gear 9. A waterproof box 11 is provided at the bottom of the underwater robot body 1, and a cleaning motor 12 is provided inside the waterproof box 11. The output shaft end of the cleaning motor 12 extends to the outside of the waterproof box 11 and is fixedly installed with a side gear 13, which is meshed and connected with the transmission gear 10.

[0025] Specifically, a bottom plate 16 is fixedly installed at the bottom of the underwater robot body 1, and a first extension motor 21 is fixedly embedded in the bottom center position of the bottom plate 16. A first extension gear 22 is provided at the output shaft end of the first extension motor 21, and second extension gears 23 are meshed and connected on both sides of the first extension gear 22. Tooth plates 19 are slidably provided on both sides of the bottom of the bottom plate 16, and the tooth plates 19 are meshed and connected with the second extension gear 23 on the same side. An extension rod 24 is fixedly installed at the bottom of the tooth plate 19, and an extension frame 28 is slidably provided between the two extension rods 24. A clamp 29 is fixedly installed in the middle of one side of the extension frame 28.

[0026] Specifically, a torsion spring 8 is sleeved on the outer periphery of the bottom end of the rotating shaft 6 at the bottom of the flip rod 4. The torsion spring 8 is arranged below the driving gear 7. The two ends of the torsion spring 8 are respectively fixedly connected to the inner wall of the shell of the underwater robot body 1 and the bottom of the driving gear 7. The rotating shaft 6 is movably connected to the inner wall of the annular groove 3 through a sealed bearing.

[0027] Specifically, a slide groove is provided on the opposite sides of the two extension rods 24, and a screw rod 25 is movably connected to the inside of the slide groove through a sealed bearing. A second extension motor 26 is provided at one end of the screw rod 25, and a threaded block 27 is spirally connected to the outer periphery of the screw rod 25. The threaded block 27 is placed inside the slide groove and slidably connected to its inner wall. The two ends of the extension frame 28 are fixedly connected to the two threaded blocks 27 respectively.

[0028] Specifically, T-shaped slots are provided on both sides of the bottom of the bottom plate 16 , and a T-shaped block 20 is provided at one end of the top of the tooth plate 19 . The T-shaped block 20 extends into the interior of the T-shaped slot and is slidably connected to the inner wall thereof.

[0029] Specifically, horizontal thrusters 14 are fixedly installed on both sides of one end of the underwater robot body 1 close to the convex lens 2, and longitudinal thrusters 15 are fixedly installed on both side terminals of the external side of the underwater robot body 1, and the longitudinal thrusters 15 extend to the bottom of the bottom plate 16.

[0030] Specifically, protection frames 17 are provided on both sides of the bottom plate 16 , and the protection frames 17 are fixedly installed on both sides of the bottom plate 16 by welding.

[0031] Specifically, a connecting plate 18 is provided at the top middle end of the underwater robot body 1, a through hole is opened at the top end of the connecting plate 18, and both sides of the bottom end of the connecting plate 18 are fixedly connected to the protective frame 17 through the provided cross bars.

[0032] In the present embodiment, during use, when the surface of the convex lens 2 is blocked by foreign objects and it is necessary to scrape the surface of the convex lens 2, the cleaning motor 12 drives the side gear 13 to rotate, and the side gear 13 drives the transmission gear 10 to rotate. Since the transmission gear 10 and the half gear 9 are coaxially connected, the half gear 9 is driven to rotate synchronously, and the half gear 9 is used to drive the driving gear 7 to rotate, so that it rotates with the rotating shaft 6 and the flip rod 4, thereby driving the scraper 5 to scrape the surface of the convex lens 2, and clean up the obstructing impurities such as aquatic plants and suspended matter, so as to ensure the cleanliness of the surface of the convex lens 2 and avoid foreign objects blocking the field of view. After the half gear 9 is out of meshing with the driving gear 7, under the action of the torsion spring 8, the rotating shaft 6 and the flip rod 4 are driven to reset and flip, and the flip rod 4 is flipped and reset. Such a design is convenient during use. In this way, excessive flipping of the flip rod 4 can be avoided, which may cause damage to the gears. When the clamping claw 29 needs to be driven to extend to the outside for operation, the first extension motor 21 drives the first extension gear 22 to rotate, so that it drives the second extension gears 23 on both sides to rotate synchronously, and the second extension gear 23 is used to drive the toothed plate 19 to extend outward, thereby driving the extension rod 24, the extension frame 28 and the clamping claw 29 to extend outward. If the extension length is not enough, the screw rod 25 can be driven to rotate by the second extension motor 26, so that it drives the threaded block 27 to extend the trajectory of the screw rod 25, thereby driving the extension frame 28 and the clamping claw 29 to extend again to meet the operation length requirement. Such a design allows the clamping claw 29 to be retracted during the forward movement of the underwater robot body 1, so as to avoid the clamping claw 29 from extending outward and causing collision, which may cause damage to the clamping claw 29.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional underwater robot, comprising an underwater robot body (1), a scraper (5) and a driving gear (7), characterized in that: A camera is fixedly installed inside one end of the underwater robot body (1), and a convex lens (2) is provided on the outer peripheral cover of the camera. An annular groove (3) is provided on the outer peripheral surface of one end of the underwater robot body (1) provided with the convex lens (2). A flip rod (4) is movably connected to the inner side of the annular groove (3) through a rotating shaft (6). The flip rod (4) is a semi-circular ring structure. A scraper (5) is fixedly installed on the inner side of the flip rod (4). The scraper (5) is in contact with the convex lens (2). The bottom rotating shaft (6) of the flip rod (4) A driving gear (7) is fixedly installed at the bottom end of the underwater robot body (6), one side of the driving gear (7) is meshedly connected with a half gear (9), the bottom of the half gear (9) is coaxially connected with a transmission gear (10), a waterproof box (11) is arranged at the bottom of the underwater robot body (1), a cleaning motor (12) is arranged inside the waterproof box (11), the output shaft end of the cleaning motor (12) extends to the outside of the waterproof box (11) and is fixedly installed with a side gear (13), and the side gear (13) is meshedly connected with the transmission gear (10).

2. A multifunctional underwater robot according to claim 1, characterized in that: A bottom plate (16) is fixedly installed at the bottom of the underwater robot body (1), a first extension motor (21) is fixedly embedded at the center position of the bottom of the bottom plate (16), a first extension gear (22) is arranged at the output shaft end of the first extension motor (21), and second extension gears (23) are meshingly connected on both sides of the first extension gear (22), tooth plates (19) are slidably arranged on both sides of the bottom of the bottom plate (16), the tooth plates (19) are meshingly connected with the second extension gear (23) on the same side, an extension rod (24) is fixedly installed at the bottom of the tooth plate (19), an extension frame (28) is slidably arranged between the two extension rods (24), and a clamping claw (29) is fixedly installed in the middle of one side of the extension frame (28).

3. A multifunctional underwater robot according to claim 1, characterized in that: A torsion spring (8) is sleeved on the outer periphery of the bottom end of the rotating shaft (6) at the bottom of the flip rod (4), and the torsion spring (8) is arranged below the driving gear (7). The two ends of the torsion spring (8) are respectively fixedly connected to the inner wall of the shell of the underwater robot body (1) and the bottom of the driving gear (7), and the rotating shaft (6) is movably connected to the inner wall of the annular groove (3) through a sealed bearing.

4. A multifunctional underwater robot according to claim 2, characterized in that: A slide groove is provided on opposite sides of the two extension rods (24), and a screw rod (25) is movably connected to the inside of the slide groove through a sealed bearing. A second extension motor (26) is provided at one end of the screw rod (25). A threaded block (27) is spirally connected to the outer periphery of the screw rod (25). The threaded block (27) is placed inside the slide groove and slidably connected to the inner wall thereof. The two ends of the extension frame (28) are fixedly connected to the two threaded blocks (27) respectively.

5. A multifunctional underwater robot according to claim 2, characterized in that: Both sides of the bottom of the bottom plate (16) are provided with T-shaped grooves, and a T-shaped block (20) is provided at one end of the top of the tooth plate (19). The T-shaped block (20) extends into the interior of the T-shaped groove and is slidably connected to the inner wall of the groove.

6. The multifunctional underwater robot according to claim 1, characterized in that: Horizontal thrusters (14) are fixedly mounted on both sides of one end of the underwater robot body (1) close to the convex lens (2), and longitudinal thrusters (15) are fixedly mounted on both side terminals of the underwater robot body (1), and the longitudinal thrusters (15) extend to the bottom of the bottom plate (16).

7. The multifunctional underwater robot according to claim 2, characterized in that: Protection frames (17) are provided on both sides of the bottom plate (16), and the protection frames (17) are fixedly mounted on both sides of the bottom plate (16) by welding.

8. The multifunctional underwater robot according to claim 1, characterized in that: A connecting plate (18) is provided at the middle of the top of the underwater robot body (1), a through hole is provided at the top of the connecting plate (18), and both sides of the bottom of the connecting plate (18) are fixedly connected to the protective frame (17) via cross bars.

Images