Mining underwater detection robot

Abstract

The invention provides a mining underwater detection robot, and belongs to the technical field of underwater robots. The mining underwater detection robot comprises a pressure-resistant bin and a battery bin, water tanks are arranged on the two sides of the bottom in the pressure-resistant bin and connected with a water pump, a buffer tank is arranged on the top in the pressure-resistant bin, the side face of the buffer tank communicates with the tops of the water tanks through water cooling pipes, and the water cooling pipes passing through the battery bin are distributed on the surface of the battery bin in a snakelike mode. A fan-shaped swing box is arranged below the buffer box, two symmetrically-distributed transfer cavities are formed in the top of the swing box, a piston structure is arranged in the water tank, the piston structure is pressed into one water tank so that water in the piston structure can enter the buffer box through a water cooling pipe, and the top of the water tank communicates with a backflow box. When the swing box is located at the left or right limit position, water in the transfer cavity located at the left or right side enters the backflow box. The battery has the advantages of being high in cruising ability and good in battery heat dissipation effect.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater detection robot for mining. Background Art

[0002] With the continuous development of land coal resources, shallow and easily exploitable coal resources are gradually decreasing, while the development of deep and complex geological conditions coal resources is becoming more difficult. At the same time, the demand for energy in coastal areas is growing, and the development of underwater coal resources is gradually gaining attention.

[0003] The energy supply of existing submarines mainly relies on batteries, which have limited endurance and affect the ability to operate continuously for a long time. At the same time, the automation and intelligence level of underwater submarines is limited, and the emergency handling ability in complex environments needs to be improved. At the same time, the battery generates a lot of heat during high-load operation, and using its own electricity as power supply for an external heat dissipation device will affect the endurance of the submersible robot. In view of this, the present application provides a mining underwater detection robot. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a mining underwater detection robot with a long endurance, which utilizes static diving to replace the impact diving mode and uses an internal water tank to dissipate heat for the battery.

[0005] The technical solution of the present invention is achieved in this way: A mining underwater detection robot comprises a pressure-resistant chamber and a battery chamber, water tanks are arranged on both sides of the bottom of the pressure-resistant chamber, the water tanks are connected to a water pump, a buffer box is arranged on the top of the pressure-resistant chamber, the side of the buffer box is connected to the top of the water tank through a water cooling pipe, and the water cooling pipe passing through the battery chamber is distributed on the surface of the battery chamber in a serpentine shape, a fan-shaped swing box is arranged below the buffer box, two symmetrically distributed transfer chambers are arranged on the top of the swing box, and the swing box is swung to the left or right to the extreme position so that the transfer chamber on the right side is Or the transfer chamber on the left is connected to the bottom of the buffer box, and a piston structure is arranged in the water tank. The piston structure is pressed into one of the water tanks so that the water inside it enters the buffer box through the water cooling pipe, and when the water in the buffer box enters any transfer chamber, the swing box swings toward the transfer chamber filled with water, and when the swing box swings to one side, it drives the piston structure to move to the other side. The top of the water tank is connected to a reflux box, and when the swing box is located at the left or right extreme position, the water in the transfer chamber on the left or right side enters the reflux box.

[0006] Furthermore, there are two battery compartments, which are respectively located directly above the two water tanks, and the two battery compartments and the two water tanks are symmetrically distributed on both sides of the buffer tank.

[0007] Furthermore, the piston structure includes a plug plate and a plug rod. The plug plate is located inside the water tank. One end of the plug rod extends out of the water tank and is connected with a swing arm. The top end of the swing arm is connected with a swing box, and the part between the two ends of the swing arm is rotatably installed on the pressure-resistant chamber through a rotating shaft.

[0008] Furthermore, the rotating shaft is directly below the rotation center of the swing box. The swing arm includes an elastic telescopic rod and a swing plate which are distributed vertically. The rotating shaft is located at the top end of the swing plate. The movable end of the elastic telescopic rod is rotatably connected to the side surface of the swing box, and the plug rod is connected to the bottom end of the swing plate.

[0009] Furthermore, the relative ends of the two plug rods are connected by an inverted "C"-shaped connecting plate. A strip-shaped hole is provided at the bottom end of the swing plate. A connecting rod is arranged in the strip-shaped hole, and the end of the connecting rod is rotatably connected to the connecting plate.

[0010] Furthermore, water outlets are provided on both sides of the top of the swing box. When the swing box is at the left or right extreme position, the water outlet on the right or left side is communicated with the buffer box.

[0011] Furthermore, a water blocking cover is fixedly installed inside the pressure-resistant chamber. The water blocking cover is sleeved outside the swing box. A down pipe is arranged at the middle position of the bottom of the buffer box, and the down pipe penetrates through the inner surface of the top of the water blocking cover. Through holes communicating with the top sides of the two return boxes are provided on both sides of the water blocking cover. When the swing box is at the left or right extreme position, the water outlet on the left or right side is communicated with the corresponding through hole.

[0012] Furthermore, the bottom of the return box is communicated with the top of the water tank through a return port. The inner cavity of the return box is in an inverted "L" shape. When the plug plate is pressed into the water tank, the return port is blocked. When the plug plate is at the outermost position of the water tank, the return port is in an open state, and the water flow in the return port impacts the pushing water surface of the plug plate at the outermost side of the water tank.

[0013] Furthermore, the plug plate includes a longitudinal plate body, an inclined plate body and a transverse plate body. The transverse plate body is used to block or open the return port, and the inclined plate body is perpendicular to the return port.

[0014] Furthermore, when the return port is in an open state, the water level in the water tank is lower than the height of the inner top wall of the water tank. When the return port is blocked, the water tank is filled with water.

[0015] The present invention has the following beneficial effects: 1. By using a water pump to pump external water into the water tank, diving is achieved in a static diving manner, and the effect of floating in a water layer is realized, which is more stable and energy-saving compared with the current method of using a propeller for propulsion on the market.

[0016] 2. The swing box automatically allows the water in the water tank to pass through the water cooling pipe under the action of partial weight, and the water in the water cooling pipe is replaced. Without consuming battery power, the battery can be better cooled, achieving long battery life and more energy-saving effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall schematic diagram of the mining underwater detection robot of the present invention; Figure 2 The present invention Figure 1 Schematic diagram of the middle pressure-resistant warehouse after being cut open; Figure 3 The present invention Figure 2 Enlarged view of point A in the middle; Figure 4 The present invention Figure 2 Schematic diagram of the cutaway of the grey water tank, buffer tank, reflux tank and swing tank; Figure 5 It is a schematic diagram of the water retaining cover of the present invention; Figure 6 is a schematic diagram of a swing box of the present invention; Figure 7 is a schematic diagram of the piston structure of the present invention; Figure 8 It is a schematic diagram of the connection between the propeller and the crank connecting rod structure of the present invention and the swing box.

[0018] In the figure: 1. Pressure-resistant compartment; 2. Battery compartment; 3. Water tank; 4. Buffer tank; 5. Water-cooling pipe; 6. Swing box; 7. Transfer chamber; 8. Reflux box; 9. Plug plate; 9.1. Longitudinal plate; 9.2. Oblique plate; 9.3. Horizontal plate; 10. Plug rod; 11. Rotating shaft; 12. Elastic telescopic rod; 13. Swing plate; 14. Connecting plate; 15. Strip hole; 16. Connecting rod; 17. Water outlet; 18. Water shield; 19. Downpipe; 20. Through hole; 21. Reflux port; 22. Propeller; 23. Crank-connecting rod structure; 24. Water pump. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0020] like Figures 1 to 8As shown, a typical embodiment of the present invention provides an underwater detection robot for mining, including a pressure-resistant chamber 1 and a battery chamber 2. Water tanks 3 are arranged on both sides of the bottom of the pressure-resistant chamber 1. The water tanks 3 are connected to a water pump 24. A buffer box 4 is arranged on the top of the pressure-resistant chamber 1. The side of the buffer box 4 is connected to the top of the water tank 3 through a water cooling pipe 5. The water cooling pipe 5 passing through the battery chamber 2 is distributed in a serpentine shape on the surface of the battery chamber 2. A fan-shaped swing box 6 is arranged below the buffer box 4. Two symmetrically distributed transfer chambers 7 are arranged on the top of the swing box 6. The swing box 6 swings left or right to the limit. The position makes the transfer chamber 7 located on the right or left side connected with the bottom of the buffer box 4, and a piston structure is arranged in the water tank 3. The piston structure is pressed into one of the water tanks 3 so that the water inside it passes through the water cooling pipe 5 and enters the buffer box 4, and when the water in the buffer box 4 enters any transfer chamber 7, the swing box 6 swings in the direction of the transfer chamber 7 filled with water, and when the swing box 6 swings to one side, it drives the piston structure to move to the other side. The top of the water tank 3 is connected with a reflux box 8, and when the swing box 6 is located at the left or right extreme position, the water in the transfer chamber 7 located on the left or right side enters the reflux box 8.

[0021] In this embodiment, in the initial state, the swing box 6 is located at the extreme position on the left or right side. Please refer to the figure. For the convenience of explaining the scheme of this embodiment, it is assumed that in the initial state, the swing box 6 is located at the extreme position on the left side. At this time, the piston structure is pressed into the deepest position of the right water tank 3, and the piston structure is located at the outermost position of the left water tank 3 relative to the left water tank 3. The transfer chamber 7 on the right side of the swing box 6 is in a connected state with the buffer tank 4.

[0022] When the mining underwater detection robot is submerged, two water pumps are started, and the two water pumps replenish water to the two water tanks 3 at the same time. During this process: since the volume of the water tank 3 on the right is smaller than the volume of the water tank 3 on the left, when the left and right water tanks 3 are replenished with equal volumes of water, a part of the water in the right water tank 3 will enter the buffer tank 4 through the water-cooling pipe 5 on the right, and this part of the water will pass through the buffer tank 4 and enter the transfer chamber 7 on the right.

[0023] When the transfer chamber 7 on the right is full of water, the swing box 6 will swing to the right under the effect of the eccentric weight. During this process, the swing box 6 drives the piston structure to move to the left, so that the pressure in the water tank 3 on the right is reduced, and the water in the water-cooling pipe 5 on the right will flow back to the water tank 3 on the right. The water in the water tank 3 on the left is pressed into the water-cooling pipe 5 on the left by the piston structure and enters the buffer tank 4 after passing through the water-cooling pipe 5 on the left.

[0024] When the swing box 6 swings rightward to the extreme position, the water in the transfer chamber 7 on the right side enters the reflux box 8 on the right side, and enters the water tank 3 on the right side through the reflux box 8. At the same time, the water entering the buffer tank 4 from the left water cooling pipe 5 will enter the transfer chamber 7 on the left side, making the swing box 6 heavier on the left side, and then swinging to the left again, and using the swing box 6 to the left to push the piston structure to move to the right.

[0025] This cycle is repeated, so that the eccentric weight of the swing box 6 is used to realize its own automatic swing, and the eccentric gravity is used to drive the piston structure to move back and forth, so as to realize the water circulation between the left water tank 3, the left water cooling pipe 5, the buffer tank 4, the left transfer chamber 7 and the left return tank 8, and realize the water circulation between the right water tank 3, the right water cooling pipe 5, the buffer tank 4, the right transfer chamber 7 and the right return tank 8. During the circulation process, the water in the water cooling pipe 5 is replaced. By replacing the water in the water cooling pipe 5, the heat dissipation effect of the battery can be improved during the underwater operation of the mining underwater detection robot, so as to ensure the long-term stable operation of the mining underwater detection robot and improve its service life.

[0026] There are two battery compartments 2, which are respectively located directly above the two water tanks 3, and the two battery compartments 2 and the two water tanks 3 are symmetrically distributed on both sides of the buffer box 4. This arrangement makes the pressure-resistant compartment 1 more balanced as a whole, and at the same time, the two battery compartments 2 are respectively heat-dissipated by two water-cooling pipes 5 to improve the heat dissipation effect.

[0027] The piston structure includes a plug plate 9 and a plug rod 10. The plug plate 9 is located in the water tank 3. One end of the plug rod 10 extends out of the water tank 3 and is connected to a swing arm. The top of the swing arm is connected to the swing box 6, and the part between the two ends of the swing arm is rotatably mounted on the pressure-resistant chamber 1 through a rotating shaft 11. When the swing box 6 swings under the action of eccentric weight, a force is applied to the top of the swing arm, so that the swing arm swings around the rotating shaft 11. At this time, the swing arm drives the plug plate 9 to move in the water tank 3 through the plug rod 10.

[0028] Furthermore, the rotating shaft 11 is located directly below the rotating center of the swing box 6, and the swing arm includes an elastic telescopic rod 12 and a swing plate 13 which are distributed up and down. The rotating shaft 11 is located at the top of the swing plate 13, and the movable end of the elastic telescopic rod 12 is rotatably connected to the side surface of the swing box 6, and the plug rod 10 is connected to the bottom end of the swing plate 13. By providing the elastic telescopic rod 12, by utilizing its elastic force, when the swing box 6 is located at the left or right extreme position, the elastic telescopic rod 12 can stabilize the swing box 6 at the extreme position until the swing box 6 is almost full of water, and the eccentric gravity of the swing box 6 itself is greater than the resistance provided by the elastic telescopic rod 12, and the swing box 6 deflects, thereby ensuring that the swing box 6 swings only when the amount of water in the swing box 6 reaches a certain amount, so as to ensure the balance of the water amount.

[0029] The opposite ends of the two plug rods 10 are connected by an inverted "C"-shaped connecting plate 14. A strip-shaped hole 15 is provided at the bottom end of the swing plate 13. A connecting rod 16 is provided in the strip-shaped hole 15, and the end of the connecting rod 16 is rotatably connected to the connecting plate 14.

[0030] On both sides of the top of the swing box 6, water outlets 17 are provided. When the swing box 6 is in the left or right extreme position, the water outlet 17 on the right or left is communicated with the buffer box 4. When the swing box 6 moves to the left or right extreme position, the water in the left or right transfer cavity 7 will quickly pour into the return box 8 through the water outlet 17.

[0031] A water retaining cover 18 is fixedly installed in the pressure-resistant chamber 1. The water retaining cover 18 is sleeved outside the swing box 6. A down pipe 19 is provided at the middle position of the bottom of the buffer box 4, and the down pipe 19 penetrates through the inner surface of the top of the water retaining cover 18. Through holes 20 communicating with the top sides of the two return boxes 8 are respectively provided on both sides of the water retaining cover 18. When the swing box 6 is in the left or right extreme position, the water outlet 17 on the left or right is communicated with the corresponding through hole 20.

[0032] The water retaining cover 18 is used to provide a stable guiding track for the swing of the swing box 6. Specifically, support plates are provided on both sides of the inner surface of the water retaining cover 18. When the swing box 6 is in the left or right extreme position, the swing box 6 is respectively supported by the support plates on the left or right.

[0033] When the swing box 6 swings between the left and right extreme positions, the part of the top of the swing box 6 between the water outlets 17 blocks the bottom end of the down pipe 19.

[0034] The bottom of the return box 8 is communicated with the top of the water tank 3 through a return port 21. The inner cavity of the return box 8 is in an inverted "L" shape. When the plug plate 9 is pressed into the water tank 3, the return port 21 is blocked. When the plug plate 9 is in the outermost position of the water tank 3, the return port 21 is in an open state, and the water flow in the return port 21 impacts the pushing surface of the plug plate 9 at the outermost side of the water tank 3.

[0035] With such a setting, when the water entering the return box 8 flows into the water tank 3 from the return port 21, the impact pressure of the water flow is utilized to keep the piston structure more stable. Since when the water in one of the transfer cavities 7 pours into one of the return boxes 8 of the water tank 3, the water in the buffer box 4 is inclined towards the other transfer cavity 7. During this process, the piston structure is more stable, which can effectively ensure that the swing box 6 is more stable, and can reduce the swing of the swing box 6 forced by the impact of the water pouring down in the buffer box 4, improving the overall stability.

[0036] The plug plate 9 includes a longitudinal plate body 9.1, an oblique plate body 9.2 and a transverse plate body 9.3, wherein the transverse plate body 9.3 is used to block or open the reflux port 21, and the oblique plate body 9.2 is arranged perpendicular to the reflux port 21. The arrangement of the oblique plate body 9.2 can improve the effect of the water flowing out of the reflux port 21 on maintaining the stability of the piston structure.

[0037] When the reflux port 21 is in an open state, the water level in the water tank 3 is lower than the height of the inner top wall of the water tank 3, and when the reflux port 21 is blocked, the water tank 3 is filled with water. When the plug plate 9 is pressed into the water tank 3, the water push surface pushes the water in the water tank 3 toward the side of the water cooling pipe 5. At this time, the water level in the water tank 3 continues to rise until the water fills the water tank 3. The piston structure continues to move to press the water in the water tank 3 through the water cooling pipe 5 into the buffer tank 4, and in this process, the water in the water cooling pipe 5 is replaced.

[0038] Among them, the swinging process of the swing box 6 is consistent with the process of the plug plate 9 being pressed into the water tank 3. In the process of the plug plate 9 raising the water level in the water tank 3, the swing box 6 is in the initial process of deflecting to one side. When the water in the water tank 3 is full of water, the plug plate 9 presses the water into the buffer tank 4. The swing box 6 has its own inertia and the performance of the downward component of the weight state that continues to increase. Combined with the leverage of the swing arm and the impact of the water flow in the reflux port 21 on the other side on the piston structure, it can provide a sufficiently large force for the movement of the piston structure to ensure the effective implementation of water replacement in the water-cooling pipe 5.

[0039] Among them, a propeller 22 is arranged on the side of the pressure-resistant chamber 1, and the propeller 22 is connected to the side of the swing box 6 through a crank connecting rod structure 23. During the swinging process of the swing box 6, the propeller 22 is driven by the swing box 6 to rotate adaptively. At the same time, during the underwater movement of the mining underwater detection robot, the water flow drives the screw to rotate, and then the screw can assist the swinging of the swing box 6 to a certain extent.

[0040] Furthermore, when the water in one of the transfer chambers 7 in the swing box 6 is full and the swing box 6 cannot swing automatically under the eccentric weight, the propeller 22 can assist the swing box 6 in swinging. When the swing box 6 can swing automatically under the eccentric weight, the propeller 22 automatically rotates to adapt to the swinging process of the swing box 6. By using the crank connecting rod structure 23, the propeller 22 rotates in the same direction whether the swing box 6 swings to the left or the right.

[0041] Since the process of water in the buffer tank 4 entering the transfer chamber 7, the process of water in the transfer tank entering the return tank 8, and the process of water in the return tank 8 entering the water tank 3 are all pouring processes, the time for water flow to flow in this process is short and it is a process completed instantly. Therefore, it will not be disturbed by the rotation of the propeller 22 under the action of the external water flow, that is, the propeller 22 will not cause the swing box 6 to swing when one of the transfer chambers 7 in the swing box 6 is not full of water. The setting of the propeller 22 can assist the swing box 6 to overcome the mechanical stagnation and improve stability by using the external water thrust when the swing box 6 is mechanically stuck.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mining underwater detection robot, comprising a pressure-resistant compartment (1) and a battery compartment (2), characterized in that: On both sides of the inner bottom of the pressure-resistant chamber (1), water tanks (3) are provided. The water tanks (3) are connected to water pumps (24). At the top of the pressure-resistant chamber (1), a buffer tank (4) is provided. The side of the buffer tank (4) is communicated with the top of the water tank (3) through a water-cooling pipe (5). The water-cooling pipe (5) passing through the battery chamber (2) is distributed in a serpentine shape on the surface of the battery chamber (2). Below the buffer tank (4), a fan-shaped swing tank (6) is provided. At the top of the swing tank (6), two symmetrically distributed transfer chambers (7) are provided. When the swing tank (6) swings to the left or right to the extreme position, the transfer chamber (7) on the right or left is communicated with the bottom of the buffer tank (4). A piston structure is provided in the water tank (3). By pressing water into one of the water tanks (3), the water inside it enters the buffer tank (4) through the water-cooling pipe (5). When the water in the buffer tank (4) enters any one of the transfer chambers (7), the swing tank (6) swings in the direction of the transfer chamber (7) filled with water. When the swing tank (6) swings to one side, it drives the piston structure to displace to the other side. The top of the water tank (3) is communicated with a return tank (8). When the swing tank (6) is at the left or right extreme position, the water in the transfer chamber (7) on the left or right enters the return tank (8).

2. The underwater mining detection robot according to claim 1, characterized in that: There are two battery chambers (2), and the two battery chambers (2) are respectively located directly above the two water tanks (3). The two battery chambers (2) and the two water tanks (3) are symmetrically distributed on both sides of the buffer tank (4).

3. The underwater mining detection robot according to claim 1, characterized in that: The piston structure includes a plug plate (9) and a plug rod (10). The plug plate (9) is located inside the water tank (3). One end of the plug rod (10) extends out of the water tank (3) and is connected to a swing arm. The top end of the swing arm is connected to the swing tank (6). The part between the two ends of the swing arm is rotatably installed on the pressure-resistant chamber (1) through a rotating shaft (11).

4. The underwater mining detection robot according to claim 3, characterized in that: The rotating shaft (11) is directly below the rotation center of the swing tank (6). The swing arm includes an elastic telescopic rod (12) and a swing plate (13) distributed up and down. The rotating shaft (11) is located at the top end of the swing plate (13). The movable end of the elastic telescopic rod (12) is rotatably connected to the side surface of the swing tank (6). The plug rod (10) is connected to the bottom end of the swing plate (13).

5. The underwater mining detection robot according to claim 4, characterized in that: The relative ends of the two plug rods (10) are connected through an inverted "C"-shaped connecting plate (14). A strip-shaped hole (15) is provided at the bottom end of the swing plate (13). A connecting rod (16) is provided in the strip-shaped hole (15). The end of the connecting rod (16) is rotatably connected to the connecting plate (14).

6. The underwater mining detection robot according to claim 3, characterized in that: On both sides of the top of the swing tank (6), water outlets (17) are provided. When the swing tank (6) is at the left or right extreme position, the water outlet (17) on the right or left is communicated with the buffer tank (4).

7. The underwater mining detection robot according to claim 6, characterized in that: A water shield (18) is fixedly installed in the pressure-resistant chamber (1), and the water shield (18) is sleeved on the outside of the swing box (6). A downpipe (19) is provided in the middle position of the bottom of the buffer box (4), and the downpipe (19) passes through the top inner surface of the water shield (18). Through holes (20) are provided on both sides of the water shield (18) and are respectively connected to the top of the two reflux boxes (8). When the swing box (6) is located at the left or right extreme position, the water outlet (17) located on the left or right side is connected to the through hole (20) on the corresponding side.

8. The underwater mining detection robot according to claim 3, characterized in that: The bottom of the return box (8) is connected to the top of the water tank (3) via a return port (21); the inner cavity of the return box (8) is an inverted "L"-shaped structure; when the plug plate (9) is pressed into the water tank (3), the return port (21) is blocked; when the plug plate (9) is at the outermost position of the water tank (3), the return port (21) is in an open state, and the water flow in the return port (21) impacts the water pushing surface of the plug plate (9) at the outermost position of the water tank (3).

9. The underwater mining detection robot according to claim 8, characterized in that: The plug plate (9) comprises a longitudinal plate body (9.1), an oblique plate body (9.2) and a transverse plate body (9.3); the transverse plate body (9.3) is used to block or open the return opening (21); and the oblique plate body (9.2) is arranged perpendicular to the return opening (21).

10. The underwater mining detection robot according to claim 8, characterized in that: When the reflux port (21) is in an open state, the water level in the water tank (3) is lower than the height of the inner top wall of the water tank (3); and when the reflux port (21) is blocked, the water tank (3) is filled with water.

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