Teleoperation underwater robot for high-risk operation

Abstract

The invention discloses a teleoperation underwater robot for high-risk operation, which comprises a robot body, a plurality of vertical propellers are arranged on the robot body, a plurality of horizontal propellers are arranged at the bottom of the robot body, two illuminating lamps are arranged on one side of the robot body, a camera is arranged between the two illuminating lamps, and the camera is arranged on the other side of the robot body. An auxiliary frame is fixedly installed on the camera, and second round holes are formed in the outer walls of the two sides of the auxiliary frame. According to the invention, a cam can be rotated by starting a first servo motor, two abutting blocks can be close to or far away from each other by arranging a spring, so that the camera can be quickly dismounted or mounted, the operation is simple and convenient, the camera is easy to maintain and replace, a rotating shaft can be rotated by starting a second servo motor, and the camera can be conveniently dismounted or mounted. And the mounting frame, the illuminating lamp and the mounted camera can rotate around the axis of the rotating shaft, so that the illuminating angle and the camera shooting angle can be changed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a remote-controlled underwater robot for high-risk operations. Background Art

[0002] With the growing demand for marine resource development and underwater engineering operations, remote-controlled underwater robots for high-risk operations are playing an increasingly critical role in the fields of ocean exploration, underwater facility maintenance, disaster relief, etc. This type of underwater robot is designed to enable operators to intervene in complex and dangerous underwater environments in a safe area through remote control technology, greatly reducing the possibility of direct exposure to danger. In offshore oil production, regular inspection and maintenance of underwater pipelines face many dangerous factors such as high pressure, low temperature and complex water flow. Remote-controlled underwater robots can be equipped with professional inspection equipment to conduct detailed inspections in-depth inside the pipelines, promptly discover potential hazards and feedback information to ensure the safety of mining operations.

[0003] However, the current remote-controlled underwater robots for high-risk operations are often installed with bolts, which is a cumbersome installation process. When replacing or repairing the camera equipment, it seriously affects the operating efficiency, which is extremely disadvantageous for time-sensitive high-risk operations. At present, some underwater robots are equipped with lighting and camera equipment, but the adjustment mechanism of the lighting angle and camera angle is not flexible and efficient enough. Most robot lighting and camera equipment are fixedly installed, and it is difficult to adjust the lighting and camera angles in real time and accurately according to factors such as light changes and target object position adjustments in the actual operation scene, resulting in unstable shooting picture quality, affecting the accurate judgment of the underwater operation environment, and failing to fully meet the strict requirements of high-risk operations for the accuracy and timeliness of operation information acquisition. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a remote-controlled underwater robot for high-risk operations.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A remote-controlled underwater robot for high-risk operations includes a body, a plurality of vertical thrusters are arranged on the body, a plurality of horizontal thrusters are arranged at the bottom of the body, two lighting lamps are arranged on one side of the body, a camera is arranged between the two lighting lamps, an auxiliary frame is fixedly mounted on the camera, second circular holes are opened on the outer walls on both sides of the auxiliary frame, a steering mechanism is arranged on the body, and a mounting mechanism is arranged on the steering mechanism.

[0007] Preferably, the steering mechanism includes a housing fixedly installed on the outer wall of one side of the body. A second servo motor is fixedly installed at the inner bottom of the housing. The output shaft of the second servo motor is fixedly installed with a worm, and the worm is rotatably connected to the inner top of the housing. A rotating shaft rotatably connected to the housing penetrates through the housing. A worm gear located inside the housing is fixedly installed on the rotating shaft, and the worm gear is meshed and connected with the worm. An installation bracket is arranged outside the housing, and the installation bracket is fixedly installed on the rotating shaft.

[0008] Preferably, the installation mechanism includes a box body fixedly installed on the installation bracket. A first servo motor is fixedly installed on the inner wall of one end of the box body. The output shaft of the first servo motor is fixedly connected with a connecting shaft, and a cam is fixedly installed on the outer wall of the connecting shaft. One ends of two springs are fixedly connected to the inner walls on both sides of the box body, and the other ends of the two springs are fixedly connected with abutting blocks. Both of the abutting blocks are abutted against the cam. Plug rods are fixedly installed on the outer walls of the two abutting blocks away from each other, and first round holes are opened on the inner walls on both sides of the box body.

[0009] Preferably, a handle is fixedly installed on the top of the body.

[0010] Preferably, the installation bracket is in a "U" shape, and both of the lighting lamps are fixedly installed on the installation bracket.

[0011] Preferably, both of the abutting blocks are hemispherical, and the connecting shaft is rotatably connected to the inner wall of the other end of the box body.

[0012] Preferably, the auxiliary frame is adapted to the box body, and the first round hole and the second round hole have the same diameter.

[0013] Preferably, the plug rod is adapted to both the first round hole and the second round hole.

[0014] Advantages of the present invention:

[0015] By providing the installation mechanism, the cam can be rotated by starting the first servo motor. By providing the springs, the two abutting blocks can be made to approach or move away from each other, so that the camera can be quickly disassembled or installed, with simple and convenient operation, and it is easy to maintain and replace the camera.

[0016] By providing the steering mechanism, the rotating shaft can be rotated by starting the second servo motor, so that the installation bracket, the lighting lamp and the installed camera can rotate around the axis of the rotating shaft, thereby changing the lighting angle and the shooting angle to meet the usage requirements in different situations. Description of the Drawings

[0017] Figure 1Schematic three-dimensional structure diagram of one side of a teleoperated underwater robot for high-risk operations proposed by the present invention;

[0018] Figure 2 Schematic three-dimensional structure diagram of the other side of a teleoperated underwater robot for high-risk operations proposed by the present invention;

[0019] Figure 3 Schematic plan structure diagram of the steering mechanism and mounting mechanism of the present invention;

[0020] Figure 4 Schematic three-dimensional structure diagram of the internal structure at the housing and the box of the present invention;

[0021] Figure 5 Schematic three-dimensional structure diagram of the present invention after being cut horizontally along the box;

[0022] Figure 6 Schematic plan structure diagram of the cam of the present invention.

[0023] In the figure: 1 body, 2 handle, 3 vertical thruster, 4 horizontal thruster, 5 housing, 6 mounting bracket, 7 lighting lamp, 8 camera, 9 box, 10 auxiliary frame, 11 worm, 12 worm gear, 13 rotating shaft, 14 first servo motor, 15 second servo motor, 16 connecting shaft, 17 cam, 18 abutting block, 19 insertion rod, 20 spring, 21 first round hole, 22 second round hole. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0025] Refer to Figures 1-6, A teleoperated underwater robot for high-risk operations, including a body 1. A handle 2 is fixedly installed at the top of the body 1, which is convenient for users to carry and use the device. A plurality of vertical thrusters 3 are arranged on the body 1, so that the body 1 can be controlled to move up and down in the water. And there are four groups of vertical thrusters 3, and they are distributed in pairs on both sides of the body 1. The symmetrical arrangement can improve the stability of the body 1 during lifting and moving. A plurality of horizontal thrusters 4 are arranged at the bottom of the body 1, which can control the body 1 to move horizontally in the water. And the use angle of the horizontal thrusters 4 in this device can be rotated, so that the body 1 in this device can realize the turning function (this is the prior art, and the specific structure will not be described in detail). Two lighting lamps 7 are arranged on one side of the body 1, and a camera 8 is arranged between the two lighting lamps 7. An auxiliary frame 10 is fixedly installed on the camera 8. Second round holes 22 are opened on the outer walls of both sides of the auxiliary frame 10. A steering mechanism is arranged on the body 1. The steering mechanism includes a cover body 5 fixedly installed on the outer wall of one side of the body 1. The cover body 5 is made of a high-strength and pressure-resistant alloy material, which provides a stable installation environment for other components of the steering mechanism. At the same time, it can effectively protect the internal components from the erosion of the underwater environment. A second servo motor 15 is fixedly installed on the inner bottom of the cover body 5. A worm 11 is fixedly installed on the output shaft of the second servo motor 15. The worm 11 is rotatably connected to the inner top of the cover body 5. A bearing seat for the rotation of the worm 11 is arranged on the inner top of the cover body 5. A rotating shaft 13 rotatably connected to the cover body 5 penetrates through the cover body 5. A worm gear 12 located inside the cover body 5 is fixedly installed on the rotating shaft 13. The worm gear 12 is meshed with the worm 11. The worm gear 12 and the worm 11 can be automatically locked to prevent the mounting frame 6, the lighting lamps 7 and the camera 8 from accidentally rotating due to external force or water flow impact, ensuring that the lighting and camera angles remain stable during the operation and providing reliable visual protection for high-risk operations. An installation frame 6 is arranged on the outside of the cover body 5. The installation frame 6 is fixedly installed on the rotating shaft 13. The installation frame 6 is in a "U" shape. Both lighting lamps 7 are fixedly installed on the installation frame 6. By setting the camera 8, the underwater terrain can be photographed when moving underwater. By setting the lighting lamps 7, the underwater light conditions can be improved, making the quality of the images taken by the camera 8 clearer.

[0026] An installation mechanism is provided on the steering mechanism. The installation mechanism includes a box body 9 fixedly installed on the mounting bracket 6. A first servo motor 14 is fixedly installed on the inner wall at one end of the box body 9. The output shaft of the first servo motor 14 is fixedly connected to a connecting shaft 16. A cam 17 is fixedly installed on the outer wall of the connecting shaft 16. One end of a spring 20 is fixedly connected to each of the inner walls on both sides of the box body 9. The other end of each of the two springs 20 is fixedly connected to a pressing block 18. When the cam 17 pushes the pressing block 18 to move, the spring 20 is compressed to generate an elastic restoring force; when the cam 17 continues to rotate and the pressing block 18 loses the pushing force of the cam 17, the elastic restoring force of the spring 20 can enable the pressing block 18 and the insertion rod 19 to quickly reset, ensuring that the installation mechanism can normally complete the telescopic movement of the insertion rod 19, guaranteeing the smooth installation and disassembly of the camera 8. Both pressing blocks 18 are in contact with the cam 17. An insertion rod 19 is fixedly installed on the side wall of each of the two pressing blocks 18 facing away from each other. First round holes 21 are formed in the inner walls on both sides of the box body 9. Both pressing blocks 18 are hemispherical. The connecting shaft 16 is rotatably connected to the inner wall at the other end of the box body 9. The auxiliary frame 10 is adapted to the box body 9. The first round hole 21 and the second round hole 22 have the same diameter. When installing and disassembling the camera 8, the first round hole 21 and the second round hole 22 with the same diameter can ensure that installation failure or difficult disassembly caused by size mismatch is avoided, ensuring that the installation mechanism can quickly and accurately complete the installation and disassembly operations of the camera. The insertion rod 19 is adapted to both the first round hole 21 and the second round hole 22. When installing the camera 8, the insertion rod 19 can be inserted into the second round hole 22 to ensure a firm and reliable connection between the camera 8 and the mounting bracket 6; when disassembling the camera 8, the insertion rod 19 can smoothly withdraw from the second round hole 22 to complete the disassembly of the camera 8.

[0027] When the present invention is used, by providing a handle 2, it is convenient for the user to carry the device, by providing a vertical propeller 3, the body 1 can be controlled to move up and down in the water, by providing a horizontal propeller 4, the body 1 can be controlled to move horizontally in the water, and the use angle of the horizontal propeller 4 in the present device can be rotated, so that the body 1 in the present device can realize the steering function (this is the prior art, and the specific structure does not need to be repeated), so that the auxiliary frame 10 on the camera 8 and the box body 9 cooperate with each other until the camera 8 and the box body 9 are against each other, at this time the first circular hole 21 is aligned with the second circular hole 22, and the initial state In the state, one end of the insertion rod 19 is located in the first circular hole 21. By starting the first servo motor 14 to rotate the connecting shaft 16 and the cam 17, the abutment block 18 abuts against the cam 17, so that the two abutment blocks 18 can move away from each other when the cam 17 rotates, and the spring 20 is compressed, so that one end of the insertion rod 19 can pass through the first circular hole 21 and be inserted into the second circular hole 22. In this way, the camera 8 can be installed. When removing the thread, the operation is reversed. By setting the camera 8, the underwater ground conditions can be photographed when moving underwater. By setting the lighting lamp 7, the underwater light conditions can be improved, so that the quality of the image taken by the camera 8 is clearer.

[0028] By starting the second servo motor 15, the worm 11 can be rotated, and the worm 11 is meshed with the worm wheel 12 to rotate the shaft 13, so that the mounting frame 6, the lighting lamp 7 and the installed camera 8 can all rotate around the axis of the shaft 13. In this way, the lighting angle and the camera angle can be adjusted, which is more convenient to use and can meet the use requirements of high-risk operations.

[0029] 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 remotely operated underwater robot for high-risk operations, comprising a body (1), characterized in that, A plurality of vertical thrusters (3) are arranged on the body (1), a plurality of horizontal thrusters (4) are arranged at the bottom of the body (1), two lighting lamps (7) are arranged on one side of the body (1), a camera (8) is arranged between the two lighting lamps (7), an auxiliary frame (10) is fixedly installed on the camera (8), second round holes (22) are formed in the outer walls on both sides of the auxiliary frame (10), a steering mechanism is arranged on the body (1), and a mounting mechanism is arranged on the steering mechanism.

2. The remotely operated underwater robot for high-risk operations according to claim 1, wherein The steering mechanism includes a cover body (5) fixedly installed on the outer wall of one side of the body (1), a second servo motor (15) is fixedly installed on the inner bottom of the cover body (5), a worm (11) is fixedly installed on the output shaft of the second servo motor (15), the worm (11) is rotationally connected to the inner top of the cover body (5), a rotating shaft (13) rotatably connected to the cover body (5) penetrates through the cover body (5), a worm gear (12) located inside the cover body (5) is fixedly installed on the rotating shaft (13), the worm gear (12) is meshed with the worm (11), a mounting frame (6) is arranged on the outside of the cover body (5), and the mounting frame (6) is fixedly installed on the rotating shaft (13).

3. The remotely operated underwater robot for high-risk operations according to claim 2, characterized in that, The mounting mechanism includes a box body (9) fixedly installed on the mounting frame (6), a first servo motor (14) is fixedly installed on the inner wall of one end of the box body (9), a connecting shaft (16) is fixedly connected to the output shaft of the first servo motor (14), a cam (17) is fixedly installed on the outer wall of the connecting shaft (16), one ends of two springs (20) are fixedly connected to the inner walls on both sides of the box body (9), the other ends of the two springs (20) are fixedly connected to a resisting block (18), both the two resisting blocks (18) are abutted against the cam (17), inserting rods (19) are fixedly installed on the outer walls on the sides where the two resisting blocks (18) are away from each other, and first round holes (21) are formed in the inner walls on both sides of the box body (9).

4. The remotely operated underwater robot for high-risk operations according to claim 1, wherein, A handle (2) is fixedly installed on the top of the body (1).

5. The teleoperated underwater robot for high-risk operations according to claim 2, characterized in that, The mounting frame (6) is in a "U" shape, and both the two lighting lamps (7) are fixedly installed on the mounting frame (6).

6. The teleoperated underwater robot for high-risk operations according to claim 3, characterized in that, Both the two resisting blocks (18) are hemispherical, and the connecting shaft (16) is rotationally connected to the inner wall of the other end of the box body (9).

7. The remotely operated underwater robot for high-risk operations according to claim 3, characterized in that, The auxiliary frame (10) is adapted to the box body (9), and the first round holes (21) and the second round holes (22) are the same in diameter.

8. The teleoperated underwater robot for high-risk operations according to claim 3, wherein, The inserting rods (19) are adapted to both the first round holes (21) and the second round holes (22).

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