An underwater video detection robot for groundwater

Abstract

The application belongs to the technical field of underwater robots, and particularly relates to an underground water underwater video detection robot. In view of the problem that the communication cable length of a general underwater video detection robot is fixed, and a knot is generated due to improper winding, misplacement and the like when the cable is reeled in and out, the following scheme is proposed, which comprises a rack, opposite two side inner walls of the rack are fixedly connected with a same bottom plate, two mounting holes one and a plurality of mutually symmetrical mounting holes two are formed in the rack, a propeller one is arranged in each of the two mounting holes one, a propeller two is arranged in each of the plurality of mounting holes two, and a wire winding module and a sampling module are arranged on the bottom plate. The underground water underwater video detection robot has the beneficial effect that the cable length can be automatically adjusted according to the requirement of the robot body, winding and the like caused by excessively long cable is avoided, the winding position is standardized when the cable is reeled in and out, a knot caused by winding misplacement is avoided, and the use effect of the device is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of underwater robots, in particular to an underground water underwater video detection robot. BACKGROUND

[0002] The underwater robot, also called the unmanned remote control submersible, is an extreme operation robot working underwater. The underwater environment is harsh and dangerous, and the diving depth of a person is limited, so the underwater robot has become an important tool for developing the ocean; the unmanned remote control submersible mainly includes the cable remote control submersible and the cableless remote control submersible, wherein the cable remote control submersible is divided into the water self-propelled type, the towed type and the type capable of climbing on the seabed structure; the typical remote control submersible is composed of the water surface equipment and the underwater equipment. The submersible body moves underwater by the propeller, and the body is provided with observation equipment (a camera, a camera, a light, etc.) and operation equipment (a manipulator, a cutter, a cleaner, etc.); the underwater movement and operation of the submersible are controlled and monitored by the operator on the water surface mother ship. The cable provides power and exchanges information to the body.

[0003] In the prior art, the communication cable length of the general underwater video detection robot is fixed, the cable length cannot be adjusted according to the requirement of the robot body, if the cable is too long when being put down, winding and other adverse effects may be caused, and when the cable is retracted, knots may be caused due to improper winding, misplacement and the like, and the use effect is poor. SUMMARY

[0004] The application discloses an underground water underwater video detection robot, and aims to solve the technical problems that the communication cable length of the general underwater video detection robot in the background art is fixed, and knots may be caused due to improper winding, misplacement and the like when the cable is retracted.

[0005] The underground water underwater video detection robot provided by the application has the advantages that the communication cable length of the general underwater video detection robot in the background art is fixed, and knots may be caused due to improper winding, misplacement and the like when the cable is retracted.

[0006] In a preferred scheme, the top of the bottom plate is fixedly connected with a base, a circular groove one is formed in the base, a winding reel is movably connected in the circular groove one, the communication cable is wound outside the winding reel, a motor two is fixedly connected to the top of the base, the motor two is fixedly connected with the winding reel, and a gear ring two is fixedly connected to the outer wall of the winding reel.

[0007] In a preferred scheme, the base is provided with a mounting groove one, and a gas pump is fixedly connected in the mounting groove one, the output end of the gas pump is fixedly connected with a gas bag, the end of the gas bag away from the gas pump is fixedly connected with a gear ring one, and the gear ring one is engaged with the gear ring two.

[0008] In a preferred scheme, the top of the bottom plate is fixedly connected with a mounting bracket, the mounting bracket is provided with a round hole one and a round hole two, a limiting rod is fixedly connected in the round hole one, a threaded rod is movably connected in the round hole two, and one side of the mounting bracket is fixedly connected with a fixing piece, the inside of the fixing piece is fixedly connected with a motor one, and the outer walls of the motor one and the threaded rod are fixedly connected with a belt wheel, and the outer walls of the two belt wheels are slidably connected with the same transmission belt.

[0009] In a preferred scheme, the outer wall of the threaded rod is threadedly connected with a sliding seat, the sliding seat slides on the outside of the limiting rod, the opposite inner walls of the sliding seat are fixedly connected with two spring rods, the ends of the two spring rods on the same side away from the corresponding inner wall of the sliding seat are fixedly connected with the same mounting piece, the two mounting pieces are provided with a round hole three, two thin rods are fixedly connected in the two round hole threes, the outer parts of the two thin rods are movably connected with guide wheels, and the two guide wheels are in close contact with the outer wall of the communication cable.

[0010] When the robot is placed 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 in the air bag is extracted by starting the air pump, the gear ring one is pulled to disengage from the gear ring two, the reel can rotate, and after the length adjustment of the communication cable is completed, the air bag is inflated again by starting the air pump, the gear ring one and the gear ring two are engaged again, the length of the communication cable can be fixed, the reel is prevented from rotating randomly, the length of the communication cable is changed, and the communication cable is too long to affect the work; the reel is retracted and extended by starting the motor two, at this time, the communication cable slides between the two guide wheels, the guide wheels are pushed by the spring rods to fix the communication cable, at the same time, the motor one is started to drive the threaded rod to rotate repeatedly through the transmission belt, so that the sliding seat moves up and down reciprocatingly, the communication cable is kept in a fixed position, the winding position is prevented from being disordered, the cable is knotted, and the robot cannot move, the use effect and convenience of the device are improved; the communication cable has waterproof and shielding functions, the controller has storage, photographing and video recording functions, can be remotely controlled, and can realize underwater communication transmission.

[0011] In a preferred scheme, the bottom plate is provided with a plurality of circumferentially equidistant round holes four, a plurality of sampling cylinders are slidably connected in the plurality of round holes four, the top of the plurality of sampling cylinders is fixedly connected with a connecting bracket, and the inner wall of the plurality of connecting brackets is fixedly connected with a rack.

[0012] In a preferred scheme, the rotating seat is provided with a circular groove two, the rotating seat is movably connected with a rotating frame, the rotating frame is provided with a mounting hole three, the mounting hole three is fixedly connected with a hydraulic rod, the driving end of the hydraulic rod is fixedly connected with a mounting sleeve, the inside of the mounting sleeve is fixedly connected with a motor four, the output end of the motor four is fixedly connected with a gear, and the gear is meshed with the rack.

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

[0014] In a preferred scheme, the rack is provided with a mounting groove two and a mounting groove three, the mounting groove two is fixedly connected with a lighting lamp, and the mounting groove three is fixedly connected with an image probe.

[0015] In a preferred scheme, the rack is provided with a mounting hole four, and the mounting hole four is fixedly connected with a control center.

[0016] When the robot needs to take samples underwater, the hydraulic rod is started to push the gear to mesh with one of the racks, the motor four is started to rotate the gear, the sampling cylinder is lowered through the meshing of the rack, sampling is carried out, when the device moves to another sampling site, the hydraulic rod is reversely retracted, the motor three is started to drive the rotating frame to rotate, the gear faces another sampling cylinder, the above steps are repeated to sample again, the device can collect samples at different places, different samples are obtained, the practicability and convenience of the device are improved, the image probe can take photos or record videos, and the videos can be uploaded to the background backup and displayed through the control center.

[0017] As can be seen from the above, the underground water underwater video detection robot has the beneficial effects that the length of the cable can be automatically adjusted according to the needs of the robot body, winding and the like caused by too long cable is avoided, the winding position of the cable is standardized when the cable is retracted and extended, knotting caused by winding misalignment is avoided, and the use effect of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The overall structure schematic view of the underground water underwater video detection robot is provided.

[0019] Figure 2 The bottom plate structure sectional view of the underground water underwater video detection robot is provided.

[0020] Figure 3 The wire winding module structure schematic view of the underground water underwater video detection robot is provided.

[0021] Figure 4A structure schematic view of a wire winding module mounting frame of an underground water underwater video detection robot is provided in the present application.

[0022] Figure 5 An internal structure sectional view of a wire winding module sliding seat of an underground water underwater video detection robot is provided in the present application.

[0023] Figure 6 A structure schematic view of a sampling module of an underground water underwater video detection robot is provided in the present application.

[0024] Figure 7 An internal structure sectional view of a sampling module rotating frame of an underground water underwater video detection robot is provided in the present application.

[0025] In the figure: 1, frame; 2, bottom plate; 3, propeller one; 4, propeller two; 5, illuminating lamp; 6, image probe; 7, control center; 8, wire winding module; 801, base; 802, wire reel; 803, air pump; 804, air bag; 805, gear ring one; 806, gear ring two; 807, fixing piece; 808, motor one; 809, mounting frame; 810, pulley; 811, transmission belt; 812, limiting 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 cylinder; 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 application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0027] The underground water underwater video detection robot disclosed in the present application is mainly applied to fixing the length of the communication cable of a general underwater video detection robot, and may generate a knot due to improper winding, misplacement and the like when the cable is reeled in and out.

[0028] REFERENCE Figures 1-7The utility model relates to an underwater video detection robot of groundwater, including frame 1, the same bottom plate 2 is fixedly connected with the opposite two sides inner wall of frame 1, and two mounting holes one and multiple mutually symmetrical mounting holes two are seted up on frame 1, two mounting holes one are all seted up with propeller one 3, multiple mounting holes two are all seted up with propeller two 4, and the wire winding module 8 and sampling module 9 are seted up on bottom plate 2, and the wire winding module 8 includes communication cable 819, one end of communication cable 819 is fixedly connected with controller 10, and sampling module 9 includes rotating seat 904, and rotating seat 904 is fixedly connected to the top of bottom plate 2.

[0029] With reference to Figure 1 、 Figure 2 and Figure 3 , the bottom of bottom plate 2 is fixedly connected with base 801, and the circular groove one is seted up on base 801, and the wire winding disc 802 is movably connected in circular groove one, and communication cable 819 is wound outside wire winding disc 802, and the top of base 801 is fixedly connected with motor two 818, and motor two 818 is fixedly connected with wire winding disc 802, and the outer wall of wire winding disc 802 is fixedly connected with gear ring two 806.

[0030] With reference to Figure 1 、 Figure 2 and Figure 3 , the mounting groove one is seted up on base 801, and the air pump 803 is fixedly connected in mounting groove one, and the output end of air pump 803 is fixedly connected with air bag 804, and the end away from air pump 803 of air bag 804 is fixedly connected with gear ring one 805, and gear ring one 805 and gear ring two 806 are engaged with each other.

[0031] With reference to Figure 1 、 Figure 3 and Figure 4 , the top of bottom plate 2 is fixedly connected with mounting frame 809, and the circular hole one and circular hole two are seted up on mounting frame 809, and the limiting rod 812 is fixedly connected in circular hole one, and the screw rod 813 is movably connected in circular hole two, and one side of mounting frame 809 is fixedly connected with fixed part 807, and the inside of fixed part 807 is fixedly connected with motor one 808, and the outer wall of motor one 808 and screw rod 813 are all fixedly connected with pulley 810, and the outer wall of two pulleys 810 is all slidably connected with same transmission belt 811.

[0032] With reference to Figure 1 、 Figure 4 and Figure 5The outer wall of the threaded rod 813 is threadedly connected with a sliding seat 814, and the sliding seat 814 slides on the outside of the limiting rod 812. The opposite two side inner walls of the sliding seat 814 are fixedly connected with two spring rods 815. The ends, away from the inner wall of the corresponding sliding seat 814, of the two spring rods 815 on the same side are fixedly connected with the same mounting piece 816. The two mounting pieces 816 are both provided with a circular hole three. Two thin rods are fixedly connected in the two circular hole threes. The outer parts of the two thin rods are both movably connected with a guide wheel 817. The two guide wheels 817 are both in close contact with the outer wall of the communication cable 819.

[0033] In a specific application scenario, when the robot is placed underwater, the staff remotely controls the robot to move underwater through the controller 10. When it is necessary to adjust the length of the communication cable 819, the air pump 803 is started to extract the air in the air bag 804, so that the tooth ring one 805 and the tooth ring two 806 are disengaged, the winding reel 802 can be rotated, and after the length adjustment of the communication cable 819 is completed, the air pump 803 is started to inflate the air bag 804 again, the tooth ring one 805 and the tooth ring two 806 are engaged again, the length of the communication cable 819 can be fixed, and the winding reel 802 is prevented from rotating randomly, so that the length of the communication cable 819 changes, and the cable is too long to affect the work. The electric motor two 818 is started to rotate the winding reel 802 to wind and unwind the communication cable 819. At this time, the communication cable 819 slides between the two guide wheels 817. The guide wheels 817 are pushed by the spring rods 815 to fix the communication cable 819. At the same time, the electric motor one 808 is started to drive the threaded rod 813 to rotate repeatedly through the transmission belt 811, so that the sliding seat 814 moves up and down reciprocally, the winding and unwinding of the communication cable 819 are kept in a fixed position, the winding position is prevented from being disordered, the cable is prevented from being knotted, and the robot cannot move, the use effect and convenience of the device are improved. The communication cable 819 has waterproof and shielding functions. The controller 10 has storage, photographing, and video recording functions, can be remotely controlled, and can realize underwater communication transmission.

[0034] Referring to Figure 1 , Figure 6 and Figure 7 , a plurality of circular holes four are arranged on the bottom plate 2 at equal intervals. A plurality of sampling cylinders 901 are slidably connected in the plurality of circular holes four. The top of each sampling cylinder 901 is fixedly connected with a connecting frame 902. The inner wall of each connecting frame 902 is fixedly connected with a rack 903.

[0035] Referring to Figure 1 , Figure 6 and Figure 7The rotating seat 904 is provided with a circular groove 2, the circular groove 2 is movably connected with a rotating frame 906, the rotating frame 906 is provided with a mounting hole 3, the mounting hole 3 is fixedly connected with a hydraulic rod 904, the driving end of the hydraulic rod 904 is fixedly connected with a mounting sleeve 905, the inside of the mounting sleeve 905 is fixedly connected with a motor 3 906, the output end of the motor 3 906 is fixedly connected with a gear 907, and the gear 907 is meshed with the rack 2.

[0036] Referring to Figure 1 , Figure 6 and Figure 7 , the top of the rotating seat 904 is fixedly connected with 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] Referring to Figure 1 and Figure 2 , the rack 1 is provided with a mounting groove 2 and a mounting groove 3, and the mounting groove 2 is fixedly connected with a light 5, and the mounting groove 3 is fixedly connected with an image probe 6.

[0038] Referring to Figure 1 and Figure 2 , the rack 1 is provided with a mounting hole 4, and the mounting hole 4 is fixedly connected with a control center 7.

[0039] In a specific application scenario, when the robot needs to sample underwater, the hydraulic rod 907 is started to push the gear 910 to mesh with one of the racks 903, the motor 4 909 is started to rotate the gear 910, the sampling cylinder 901 is driven to descend through the meshing of the rack 903, and sampling is performed. When the device moves to another sampling site, the hydraulic rod 907 is retracted in reverse, the motor 3 905 is started to drive the rotating frame 906 to rotate, and the gear 910 faces another sampling cylinder 901. Repeat the above steps to sample again, so that the device can collect multiple samples at different locations, obtain different samples, improve the practicality and convenience of the device, the image probe 6 can take photos or record videos, and the video can be uploaded to the background backup and displayed through the control center 7.

[0040] Working principle: when the robot is put into the water, the staff controls the robot to move underwater through the controller 10, controls it to open the lighting lamp 5 and the image probe 6 to record the video, the video can be backed up through the control center 7 or transmitted to the controller 10 to show, when the length of the communication cable 819 needs to be adjusted, the air pump 803 is started to extract the air in the air bag 804, the tooth ring one 805 is pulled to make it disengage from the tooth ring two 806, so that the winding disc 802 can rotate, then the motor two 818 is started to rotate the winding disc 802 to collect and release the communication cable 819, at this time the communication cable 819 slides between the two guide wheels 817, the guide wheel 817 is pushed by the spring rod 815 to fix the communication cable 819, at the same time the motor one 808 is started to drive the threaded rod 813 to rotate repeatedly through the transmission belt 811, so that the sliding seat 814 moves up and down reciprocatingly, so that the collection and release of the communication cable 819 remain in the fixed position, avoid the winding position disorder, cause the cable to be knotted so that the robot cannot move, after the length of the communication cable 819 is adjusted, the air pump 803 is started to inflate the air bag 804 again, the tooth ring one 805 and the tooth ring two 806 are pushed to engage again, fix the length of the communication cable 819 at this time, avoid the winding disc 802 rotating randomly, cause the length of the communication cable 819 to change, affect the work; when sampling is needed underwater, the hydraulic rod 907 is started to push the gear 910 to move to engage with one of the racks 903, the motor four 909 is continued to start to rotate the gear 910, the sampling cylinder 901 is driven to descend through the rack 903 engagement, sampling is carried out, when the robot moves to another sampling site, the hydraulic rod 907 is reversely retracted, then the motor three 905 is started to drive the rotating frame 906 to rotate, to the gear 910 facing another sampling cylinder 901, repeat the above steps to sample again, so that the device can collect multiple times at different places, obtain different samples.

[0041] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A groundwater underwater video inspection robot, comprising a frame (1), characterized in that, The frame (1) has a base plate (2) fixedly connected to the inner walls of the opposite sides. The frame (1) has two mounting holes and multiple symmetrical mounting holes. Each mounting hole has a pusher (3) and each mounting hole has a pusher (4). The base plate (2) has a coiling module (8) and a sampling module (9). The coil module (8) includes a communication cable (819), and one end of the communication cable (819) is fixedly connected to a controller (10). 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); The base plate (2) is fixedly connected to the top of the base (801). A circular groove is provided on the base (801). A winding disc (802) is movably connected in the circular groove. A communication cable (819) is wrapped around the outside of the winding disc (802). A motor (818) is fixedly connected to the top of the base (801). The motor (818) is fixedly connected to the winding disc (802). A toothed ring (806) is fixedly connected to the outer wall of the winding disc (802). The base (801) has an installation groove, and an air pump (803) is fixedly connected in the installation groove. An air bag (804) is fixedly connected to the output end of the air pump (803). A toothed ring (805) is fixedly connected to the end of the air bag (804) away from the air pump (803). The toothed ring (805) and the toothed ring (806) mesh with each other. The top of the base plate (2) is fixedly connected to a mounting bracket (809). The mounting bracket (809) has a first round hole and a second round hole. A limit rod (812) is fixedly connected in the first round hole, and a threaded rod (813) is movably connected in the second round hole. A fastener (807) is fixedly connected to one side of the mounting bracket (809). A motor (808) is fixedly connected inside the fastener (807). Pulleys (810) are fixedly connected to the outer walls of both the motor (808) and the threaded rod (813). The same transmission belt (811) is slidably connected to the outer walls of both pulleys (810). The outer wall of the threaded rod (813) is connected to a sliding seat (814) by a thread, and the sliding seat (814) slides outside the limiting rod (812). Two spring rods (815) are fixedly connected to the inner walls of opposite sides of the sliding seat (814). The ends of the two spring rods (815) located on the same side away from the inner wall of the corresponding sliding seat (814) are fixedly connected to the same mounting part (816). Two mounting parts (816) are provided with three round holes. Two thin rods are fixedly connected in the two round holes. Two guide wheels (817) are movably connected to the outside of the two thin rods. Two guide wheels (817) are in close contact with the outer wall of the communication cable (819). The base plate (2) has multiple circumferentially spaced circular holes four, each of which is slidably connected to a sampling tube (901). The top of each sampling tube (901) is fixedly connected to a connecting frame (902), and the inner wall of each connecting frame (902) is fixedly connected to a rack (903). The rotating seat (904) has a circular groove 2, and a rotating frame (906) is movably connected in the circular groove 2. The rotating frame (906) has a mounting hole 3, 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). The inside of the mounting sleeve (908) is fixedly connected to a motor 4 (909). The output end of the motor 4 (909) is fixedly connected to a gear (910), and the gear (910) meshes with the rack (903). The top of the rotating seat (904) is fixedly connected to the 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).

2. The underground video inspection robot for groundwater according to claim 1, characterized in that, The frame (1) is provided with mounting slot 2 and mounting slot 3, and a lighting lamp (5) is fixedly connected in mounting slot 2, and an image probe (6) is fixedly connected in mounting slot 3.

3. The underground video inspection robot for groundwater according to claim 1, characterized in that, The frame (1) has four mounting holes, and a control center (7) is fixedly connected inside the four mounting holes.

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