Underwater video detection robot for underground water

Abstract

The invention belongs to the technical field of underwater robots, particularly relates to an underwater video detection robot for underground water, and provides the following scheme aiming at the problems that the length of a communication cable of a common underwater video detection robot is fixed, and the cable may be knotted due to improper winding, dislocation and the like during winding and unwinding. The inner walls of the two opposite sides of the rack are fixedly connected with the same bottom plate, the rack is provided with two first mounting holes and a plurality of mutually symmetrical second mounting holes, the two first mounting holes are internally provided with first propellers, the second mounting holes are internally provided with second propellers, and the bottom plate is provided with a wire coiling module and a sampling module. The underground water underwater video detection robot disclosed by the invention has the beneficial effects that the length of a cable can be automatically adjusted according to the requirement of the robot body, winding and the like caused by putting down an overlong cable are avoided, the winding position of the cable is standardized when the cable is taken up and paid off, knotting caused by winding dislocation is avoided, and the use effect of the device is improved.

Description

Technical Field

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

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean; unmanned remote-controlled submersibles are mainly divided into two types: cable remote-controlled submersibles and cable-free remote-controlled submersibles. Among them, cable remote-controlled submersibles are divided into three types: self-propelled in water, towed, and crawling on seabed structures; typical remote-controlled submersibles are composed of surface equipment and underwater equipment. The submersible body moves underwater with the help of thrusters, and the body is equipped with observation equipment (cameras, cameras, lighting, etc.) and operating equipment (manipulators, cutters, cleaners, etc.); the underwater movement and operation of the submersible are controlled and monitored by the operator on the surface mothership. The body is powered and information is exchanged by cables.

[0003] In the prior art, the communication cable length of a general underwater video detection robot is fixed, and the cable length cannot be adjusted according to the requirements of the robot body. If the lowered cable is too long, it may cause adverse effects such as entanglement, and when the cable is retracted, it may become tangled due to improper winding, misalignment, etc., resulting in poor use effect. Summary of the invention

[0004] The invention discloses a groundwater underwater video detection robot, aiming to solve the technical problems in the background technology that the communication cable of a general underwater video detection robot is fixed in length and may become tangled due to improper winding, misalignment, etc. when the cable is retracted or released.

[0005] The present invention proposes a groundwater underwater video detection robot, comprising a frame, wherein inner walls on opposite sides of the frame are fixedly connected to the same base plate, and the frame is provided with two mounting holes one and a plurality of mounting holes two which are symmetrical to each other, each of the two mounting holes one is provided with a propeller one, and each of the plurality of mounting holes two is provided with a propeller two, a wire winding module and a sampling module are provided on the base plate, and the wire winding module comprises a communication cable, one end of the communication cable is fixedly connected to a controller, and the sampling module comprises a rotating seat, and the rotating seat is fixedly connected to the top of the base plate.

[0006] In a preferred embodiment, the top of the bottom plate is fixedly connected to a base, a circular groove is provided on the base, a winding drum is movably connected in the circular groove, and the communication cable is wrapped around the outside of the winding drum, the top of the base is fixedly connected to a motor 2, the motor 2 is fixedly connected to the winding drum, and a gear ring 2 is fixedly connected to the outer wall of the winding drum.

[0007] In a preferred embodiment, the base is provided with an installation groove 1, and an air pump is fixedly connected in the installation groove 1, an air bag is fixedly connected to the output end of the air pump, and a gear ring 1 is fixedly connected to the end of the air bag away from the air pump, and the gear ring 1 and the gear ring 2 are meshed with each other.

[0008] In a preferred solution, a mounting frame is fixedly connected to the top of the base plate, and circular hole one and circular hole two are provided on the mounting frame. A limiting rod is fixedly connected inside circular hole one, and a threaded rod is movably connected inside circular hole two. A fixing piece is fixedly connected to one side of the mounting frame, and motor one is fixedly connected inside the fixing piece. The outer walls of motor one and the threaded rod are fixedly connected to pulleys, and the outer walls of the two pulleys are slidably connected to the same transmission belt.

[0009] In a preferred solution, the outer wall of the threaded rod is connected to a sliding seat via a thread, and the sliding seat slides on the outside of the limiting rod, and two spring rods are fixedly connected to the inner walls on opposite sides of the sliding seat, and the two spring rods on the same side are fixedly connected to the same mounting piece at one end away from the corresponding inner wall of the sliding seat, and the two mounting pieces are each provided with a circular hole three, and thin rods are fixedly connected to the two circular holes three, and the outsides of the two thin rods are movably connected to guide wheels, and the two guide wheels are both tightly attached to the outer wall of the communication cable.

[0010] By providing a winding module, when the robot is put underwater, the staff remotely controls the robot to move underwater through the controller. When the length of the communication cable needs to be adjusted, the air pump is started to extract the air in the airbag, and the gear ring 1 is pulled to separate it from the gear ring 2, so that the winding drum can rotate. After the communication cable length is adjusted, the air pump is started to inflate the airbag again, and the gear ring 1 and the gear ring 2 are pushed to engage again, which can fix the length of the communication cable and avoid the winding drum from rotating at will, resulting in changes in the length of the communication cable and the cable being too long to affect the work; the motor 2 is started to rotate the winding drum to retract and release the communication cable. At this time, the communication cable slides between the two guide wheels, and the guide wheels are pushed by the spring rod to fix the communication cable. At the same time, the motor 1 is started to drive the threaded rod to rotate repeatedly through the transmission belt, so that the sliding seat moves back and forth up and down, so that the communication cable is kept in a fixed position, and the winding position is avoided. Disordered, resulting in the cable knotting so that the robot cannot move, improves the use effect and convenience of the device; the communication cable has waterproof and shielding functions, and the controller has storage, photo taking and video recording functions, which can be remotely controlled and can realize underwater communication transmission.

[0011] In a preferred embodiment, the bottom plate is provided with a plurality of circular holes four with equal distances from each other, the plurality of circular holes four are slidably connected with sampling tubes, the tops of the plurality of sampling tubes are fixedly connected with connecting frames, and the inner walls of the plurality of connecting frames are fixedly connected with racks.

[0012] In a preferred solution, a circular groove No. 2 is provided on the rotating seat, a rotating frame is movably connected in the circular groove No. 2, a mounting hole No. 3 is provided on the rotating frame, a hydraulic rod is fixedly connected in the mounting hole No. 3, a driving end of the hydraulic rod is fixedly connected to a mounting sleeve, a motor No. 4 is fixedly connected inside the mounting sleeve, a gear is fixedly connected to the output end of the motor No. 4, and the gear and the rack are meshed with each other.

[0013] In a preferred solution, a third motor is fixedly connected to the top of the rotating seat, and an output end of the third motor is fixedly connected to the top inner wall of the rotating frame.

[0014] In a preferred solution, the frame is provided with a second installation slot and a third installation slot, and the second installation slot is fixedly connected with a lighting lamp, and the third installation slot is fixedly connected with an image probe.

[0015] In a preferred solution, a mounting hole four is provided on the frame, and a control center is fixedly connected in the mounting hole four.

[0016] By setting up a sampling module, when the robot needs to take samples underwater, the hydraulic rod is started to push the gear to move to mesh with one of the racks, and the motor four is started to rotate the gear. The sampling tube is driven down through the meshing of the rack to take samples. When the device moves to another sampling location, the hydraulic rod is retracted in the opposite direction and the motor three is started to drive the rotating frame to rotate until the gear faces the other sampling tube. The above steps are repeated to take samples again, so that the device can collect multiple times at different locations to obtain different samples, thereby improving the practicality and convenience of the device. The imaging probe can take photos or record videos, and the videos can be uploaded to the background for backup and display through the control center.

[0017] From the above, it can be seen that the groundwater underwater video detection robot provided by the present invention has the beneficial effect of being able to automatically adjust the cable length according to the requirements of the robot body, avoiding entanglement caused by lowering too long cables, and standardizing the winding position of the cables when retracting and releasing the cables, avoiding entanglement caused by winding misalignment, thereby improving the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a groundwater underwater video detection robot proposed by the present invention;

[0019] Figure 2 This is a structural cross-sectional view of the bottom plate of a groundwater underwater video detection robot proposed by the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of a wire coiling module of a groundwater underwater video detection robot proposed by the present invention;

[0021] Figure 4This is a structural schematic diagram of a cable coiling module mounting frame of a groundwater underwater video detection robot proposed by the present invention;

[0022] Figure 5 This is a cross-sectional view of the internal structure of a cable coiling module sliding seat of a groundwater underwater video detection robot proposed by the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of a sampling module of a groundwater underwater video detection robot proposed by the present invention;

[0024] Figure 7 This is a cross-sectional view of the internal structure of a sampling module rotating frame of a groundwater underwater video detection robot proposed by the present invention.

[0025] In the figure: 1, frame; 2, bottom plate; 3, propeller 1; 4, propeller 2; 5, lighting; 6, image probe; 7, control center; 8, winding module; 801, base; 802, winding drum; 803, air pump; 804, air bag; 805, gear ring 1; 806, gear ring 2; 807, fixing part; 808, motor 1; 809, mounting frame; 810, pulley; 811, transmission belt; 812, limit rod; 813 , threaded rod; 814, sliding seat; 815, spring rod; 816, mounting piece; 817, guide wheel; 818, motor two; 819, communication cable; 9, sampling module; 901, sampling tube; 902, connecting frame; 903, rack; 904, rotating seat; 905, motor three; 906, rotating frame; 907, hydraulic rod; 908, mounting sleeve; 909, motor four; 910, gear; 10, controller. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely 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.

[0027] The groundwater underwater video detection robot disclosed in the present invention is mainly used in scenarios where the communication cable of a general underwater video detection robot is fixed in length and may become tangled due to improper winding, misalignment, etc. when the cable is retracted or released.

[0028] Reference Figure 1-7A groundwater underwater video detection robot includes a frame 1, and the inner walls on opposite sides of the frame 1 are fixedly connected to the same base plate 2, and the frame 1 is provided with two mounting holes 1 and multiple symmetrical mounting holes 2, each of the two mounting holes 1 is provided with a propeller 1 3, and each of the multiple mounting holes 2 is provided with a propeller 2 4, a wire coiling module 8 and a sampling module 9 are provided on the base plate 2, and the wire coiling module 8 includes a communication cable 819, one end of the communication cable 819 is fixedly connected to a controller 10, and the sampling module 9 includes a rotating seat 904, and the rotating seat 904 is fixedly connected to the top of the base plate 2.

[0029] Reference Figure 1 , Figure 2 and Figure 3 The top of the bottom plate 2 is fixedly connected to a base 801, a circular groove 1 is provided on the base 801, a winding drum 802 is movably connected in the circular groove 1, and a communication cable 819 is wrapped around the outside of the winding drum 802, a motor 2 818 is fixedly connected to the top of the base 801, the motor 2 818 is fixedly connected to the winding drum 802, and a gear ring 2 806 is fixedly connected to the outer wall of the winding drum 802.

[0030] Reference Figure 1 , Figure 2 and Figure 3 A mounting groove 1 is provided on the base 801, and an air pump 803 is fixedly connected in the mounting groove 1, an air bag 804 is fixedly connected to the output end of the air pump 803, and a gear ring 1 805 is fixedly connected to the end of the air bag 804 away from the air pump 803, and the gear ring 1 805 and the gear ring 2 806 are meshed with each other.

[0031] Reference Figure 1 , Figure 3 and Figure 4 A mounting bracket 809 is fixedly connected to the top of the base plate 2, and a circular hole 1 and a circular hole 2 are opened on the mounting bracket 809. A limiting rod 812 is fixedly connected in the circular hole 1, and a threaded rod 813 is movably connected in the circular hole 2. A fixing piece 807 is fixedly connected to one side of the mounting bracket 809, and a motor 1 808 is fixedly connected inside the fixing piece 807. The outer walls of the motor 1 808 and the threaded rod 813 are fixedly connected to pulleys 810, and the outer walls of the two pulleys 810 are slidably connected to the same transmission belt 811.

[0032] Reference Figure 1 , Figure 4 and Figure 5The outer wall of the threaded rod 813 is connected to a sliding seat 814 through a thread, and the sliding seat 814 slides on the outside of the limiting rod 812. The inner walls on the opposite sides of the sliding seat 814 are fixedly connected with two spring rods 815. The two spring rods 815 on the same side are fixedly connected to the same mounting piece 816 at one end away from the inner wall of the corresponding sliding seat 814. The two mounting pieces 816 are each provided with a circular hole three, and thin rods are fixedly connected in the two circular holes three. The outsides of the two thin rods are movably connected with guide wheels 817, and the two guide wheels 817 are tightly attached to the outer wall of the communication cable 819.

[0033] In a specific application scenario, after the robot is placed underwater, the staff remotely controls the robot to move underwater through the controller 10. When the length of the communication cable 819 needs to be adjusted, the air pump 803 is started to extract the air in the airbag 804, so that the gear ring 1 805 and the gear ring 2 806 are disengaged, so that the winding drum 802 can rotate. After the length adjustment of the communication cable 819 is completed, the air pump 803 is started to inflate the airbag 804 again, pushing the gear ring 1 805 and the gear ring 2 806 to engage again, which can fix the length of the communication cable 819 and prevent the winding drum 802 from rotating at will, resulting in changes in the length of the communication cable 819 and the cable being too long to affect the work; start the motor 2 818 rotates the winding drum 802 to retract and release the communication cable 819. At this time, the communication cable 819 slides between the two guide wheels 817, and the spring rod 815 pushes the guide wheel 817 to fix the communication cable 819. At the same time, the motor 808 is started to drive the threaded rod 813 to rotate repeatedly through the transmission belt 811, so that the sliding seat 814 moves back and forth up and down, so that the communication cable 819 is kept in a fixed position when it is retracted and released, avoiding the disorder of the winding position, causing the cable to be tangled so that the robot cannot move, thereby improving the use effect and convenience of the device; the communication cable 819 has waterproof and shielding functions, and the controller 10 has storage, photo taking and video recording functions, which can be remotely controlled and can realize underwater communication transmission.

[0034] Reference Figure 1 , Figure 6 and Figure 7 A plurality of circular holes 901 are equidistant from each other on the bottom plate 2, and a sampling tube 901 is slidably connected in each of the circular holes 901. A connecting frame 902 is fixedly connected to the top of each of the sampling tubes 901, and a rack 903 is fixedly connected to the inner wall of each of the connecting frames 902.

[0035] Reference Figure 1 , Figure 6 and Figure 7A circular groove 2 is provided on the rotating seat 904, and a rotating frame 906 is movably connected in the circular groove 2. A mounting hole 3 is provided on the rotating frame 906, and a hydraulic rod 907 is fixedly connected in the mounting hole 3. The driving end of the hydraulic rod 907 is fixedly connected to a mounting sleeve 908, and a motor 4 909 is fixedly connected inside the mounting sleeve 908. A gear 910 is fixedly connected to the output end of the motor 909, and the gear 910 and the rack 903 are meshed with each other.

[0036] Reference Figure 1 , Figure 6 and Figure 7 The top of the rotating seat 904 is fixedly connected to a motor 3 905 , and the output end of the motor 3 905 is fixedly connected to the top inner wall of the rotating frame 906 .

[0037] Reference Figure 1 and Figure 2 The frame 1 is provided with a second installation slot and a third installation slot, and a lighting lamp 5 is fixedly connected in the second installation slot, and an image probe 6 is fixedly connected in the third installation slot.

[0038] Reference Figure 1 and Figure 2 A mounting hole four is provided on the frame 1, and a control center 7 is fixedly connected in the mounting hole four.

[0039] In a specific application scenario, when the robot needs to take samples underwater, the hydraulic rod 907 is started to push the gear 910 to move to mesh with one of the racks 903, and the motor four 909 is started to rotate the gear 910. The sampling tube 901 is driven down through the meshing of the rack 903 to take samples. When the device moves to another sampling location, the hydraulic rod 907 is retracted in the opposite direction to start the motor three 905 to drive the rotating frame 906 to rotate until the gear 910 faces the other sampling tube 901. The above steps are repeated to take samples again, so that the device can collect multiple times at different locations to obtain different samples, thereby improving the practicality and convenience of the device. The imaging probe 6 can take photos or record videos, and the video can be uploaded to the background for backup and display through the control center 7.

[0040] Working principle: After the robot is put underwater, the staff remotely controls the robot to move underwater through the controller 10, controls it to turn on the lighting 5 and the image probe 6 to record video, and the video can be backed up through the control center 7 or transmitted to the controller 10 for display. When the length of the communication cable 819 needs to be adjusted, the air pump 803 is started to extract the air in the airbag 804, and the gear ring 1 805 is pulled to disengage it from the gear ring 2 806, so that the winding disk 802 can rotate, and then the motor 2 818 is started to rotate the winding disk 802 to retract and release the communication cable 819. At this time, the communication cable 819 slides between the two guide wheels 817, and the guide wheel 817 is pushed by the spring rod 815 to fix the communication cable 819. At the same time, the motor 1 808 is started to drive the threaded rod 813 to rotate repeatedly through the transmission belt 811, so that the sliding seat 814 moves back and forth up and down, so that the communication cable 819 is kept in a fixed position to avoid the disorder of the winding position. The cable is tangled so that the robot cannot move. After the length adjustment of the communication cable 819 is completed, the air pump 803 is started to inflate the airbag 804 again, and the gear ring 1 805 and the gear ring 2 806 are pushed to engage again to fix the length of the communication cable 819 at this time, so as to prevent the winding disk 802 from rotating at will, causing the length change of the communication cable 819 to affect the work; when the robot needs to take samples underwater, the hydraulic rod 907 is started to push the gear 910 to move to engage with one of the racks 903, and the motor four 909 is continued to start to rotate the gear 910, and the sampling tube 901 is driven to descend through the engagement of the rack 903 for sampling. When the robot moves forward to another sampling location, the hydraulic rod 907 is retracted in the opposite direction, and then the motor three 905 is started to drive the rotating frame 906 to rotate until the gear 910 faces another sampling tube 901, and the above steps are repeated to take samples again, so that the device can collect multiple times at different locations to obtain different samples.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A groundwater underwater video detection robot, comprising a frame (1), characterized in that: The inner walls of the two opposite sides of the frame (1) are fixedly connected to a same bottom plate (2), and the frame (1) is provided with two mounting holes 1 and a plurality of mounting holes 2 which are symmetrical to each other, each of the two mounting holes 1 is provided with a propeller 1 (3), each of the plurality of mounting holes 2 is provided with a propeller 2 (4), and the bottom plate (2) is provided with a wire coiling module (8) and a sampling module (9); The cable winding module (8) comprises a communication cable (819), and one end of the communication cable (819) is fixedly connected to a controller (10); The sampling module (9) comprises a rotating seat (904), and the rotating seat (904) is fixedly connected to the top of the base plate (2).

2. The groundwater underwater video detection robot according to claim 1, characterized in that: The top of the bottom plate (2) is fixedly connected to a base (801), a circular groove (1) is provided on the base (801), a winding drum (802) is movably connected in the circular groove (1), and a communication cable (819) is wrapped around the outside of the winding drum (802), the top of the base (801) is fixedly connected to a second motor (818), the second motor (818) is fixedly connected to the winding drum (802), and the outer wall of the winding drum (802) is fixedly connected to a second gear ring (806).

3. The groundwater underwater video detection robot according to claim 2, characterized in that: The base (801) is provided with a mounting groove 1, and an air pump (803) is fixedly connected in the mounting groove 1, an air bag (804) is fixedly connected to the output end of the air pump (803), and a gear ring 1 (805) is fixedly connected to the end of the air bag (804) away from the air pump (803), and the gear ring 1 (805) and the gear ring 2 (806) are meshed with each other.

4. The groundwater underwater video detection robot according to claim 1, characterized in that: The top of the bottom plate (2) is fixedly connected to a mounting frame (809), and a circular hole 1 and a circular hole 2 are provided on the mounting frame (809), a limiting rod (812) is fixedly connected in the circular hole 1, and a threaded rod (813) is movably connected in the circular hole 2, and a fixing member (807) is fixedly connected to one side of the mounting frame (809), and a motor 1 (808) is fixedly connected inside the fixing member (807), and the outer walls of the motor 1 (808) and the threaded rod (813) are fixedly connected to pulleys (810), and the outer walls of the two pulleys (810) are slidably connected to the same transmission belt (811).

5. The groundwater underwater video detection robot according to claim 4, characterized in that: The outer wall of the threaded rod (813) is connected to a sliding seat (814) through a thread, and the sliding seat (814) slides on the outside of the limiting rod (812). Two spring rods (815) are fixedly connected to the inner walls on opposite sides of the sliding seat (814). The two spring rods (815) on the same side are fixedly connected to the same mounting member (816) at one end away from the inner wall of the corresponding sliding seat (814). The two mounting members (816) are each provided with a circular hole three, and thin rods are fixedly connected to the inside of the two circular holes three. The outsides of the two thin rods are movably connected to guide wheels (817), and the two guide wheels (817) are both tightly attached to the outer wall of the communication cable (819).

6. The groundwater underwater video detection robot according to claim 1, characterized in that: The bottom plate (2) is provided with a plurality of circular holes four with equal distances around the circumference, and a sampling tube (901) is slidably connected in each of the plurality of circular holes four, and a connecting frame (902) is fixedly connected to the top of each of the plurality of sampling tubes (901), and a rack (903) is fixedly connected to the inner wall of each of the plurality of connecting frames (902).

7. The groundwater underwater video detection robot according to claim 6, characterized in that: The rotating seat (904) is provided with a second circular groove, a rotating frame (906) is movably connected in the second circular groove, a third mounting hole is provided on the rotating frame (906), a hydraulic rod (907) is fixedly connected in the third mounting hole, a driving end of the hydraulic rod (907) is fixedly connected to a mounting sleeve (908), a fourth motor (909) is fixedly connected inside the mounting sleeve (908), a gear (910) is fixedly connected to the output end of the fourth motor (909), and the gear (910) and the rack (903) are meshed with each other.

8. The groundwater underwater video detection robot according to claim 7, characterized in that: The top of the rotating seat (904) is fixedly connected to a motor three (905), and the output end of the motor three (905) is fixedly connected to the top inner wall of the rotating frame (906).

9. The groundwater underwater video detection robot according to claim 1, characterized in that: The frame (1) is provided with a second installation slot and a third installation slot, wherein the second installation slot is fixedly connected with a lighting lamp (5), and the third installation slot is fixedly connected with an image probe (6).

10. The groundwater underwater video detection robot according to claim 1, characterized in that: The frame (1) is provided with a mounting hole four, and a control center (7) is fixedly connected in the mounting hole four.

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