Waterproof underwater crawling device convenient to disassemble and assemble

Abstract

The application provides a waterproof underwater crawler which is convenient to disassemble and assemble, comprising a vehicle body, wherein the vehicle body comprises a chassis, an upper mounting shell and a lower mounting shell are respectively fixed to the top and bottom of the chassis, the surface of the upper mounting shell is provided with a shielding frame, a mounting structure for mounting a sensor is arranged between the shielding frame and the side wall of the upper mounting shell, and the mounting structure and the sensor are clamped and connected; and the mounting structure comprises a follow-up assembly for enabling the sensor to move with water flow. The application provides a modular sensor mounting platform suitable for an underwater crawler, the quick installation and replacement of the sensor are realized through a clamping type connection structure, and the openness and universality of the platform are significantly improved. The follow-up assembly which can fluctuate up and down with water flow is integrated, so that the sensor can dynamically respond to water body disturbance and obtain more representative and authentic multi-level environmental data. The structure is simple, low in cost and strong in adaptability, and is particularly suitable for ecological monitoring and scientific experiments in a complex and changeable marine environment.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, specifically a waterproof underwater crawler that is easy to assemble and disassemble. Background Technology

[0002] Currently, my country's underwater technology system started relatively late, and the related industrial chain is still relatively weak, especially in key areas such as structural compatibility between sensors and underwater robot platforms, multi-task adaptability, and dynamic data acquisition capabilities. Most current underwater robot platforms use fixed sensor installation methods, which are cumbersome to install and replace, have a closed structure, and cannot meet the needs of rapid deployment and collaborative operation of multiple sensor models. Furthermore, fixed installation also limits the working state and spatial coverage of the sensors, resulting in limited representativeness and accuracy of the collected data, failing to fully reflect the multidimensional changes in the dynamic aquatic environment, and affecting the effectiveness of scientific research, monitoring, and engineering applications.

[0003] Therefore, there is an urgent need for an underwater robot platform structure with open mounting capabilities, support for rapid adaptation of multiple sensors, and the ability to improve the integrity and authenticity of data acquisition, so as to better meet the diversified needs of the current marine industry development and promote the localization of key technologies for related underwater equipment.

[0004] Therefore, a waterproof underwater crawler that is easy to assemble and disassemble is provided to address the above problems. Summary of the Invention

[0005] This invention aims to solve the following technical problems:

[0006] 1. Poor compatibility of sensor installation methods: Currently, most underwater robots use fixed connection methods such as threads and welding, which makes it difficult to quickly replace and modularly mount sensors of different specifications, seriously affecting the equipment's versatility and experimental efficiency;

[0007] 2. Lack of dynamic sampling capability and poor data representativeness: In traditional fixed installation structures, sensors can only sample at a single depth, making it difficult to acquire multi-layered or continuous environmental information and failing to reflect the vertical structure or dynamic changes of the real water body. Therefore, a waterproof underwater crawler that is easy to assemble and disassemble is provided.

[0008] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0009] The present invention provides a waterproof underwater crawler that is easy to assemble and disassemble, including a vehicle body, the vehicle body including a chassis, an upper mounting shell and a lower mounting shell respectively fixed to the top and bottom of the chassis, a shielding frame provided on the surface of the upper mounting shell, and a mounting structure for mounting a sensor provided between the shielding frame and the side wall of the upper mounting shell, the mounting structure and the sensor being engaged and connected.

[0010] The mounting structure includes a follow-up component that moves the sensor with the water flow;

[0011] The chassis is equipped with a self-propelled structure on both sides, and the two self-propelled structures are symmetrically arranged. Each self-propelled structure includes a power component, and the power component and the moving component are connected to each other through transmission.

[0012] A barrier net is placed on the surface of the shielding frame to prevent aquatic organisms and debris from affecting the sensor.

[0013] The sensor is fixed by a snap-fit ​​connection structure, which improves the crawler's compatibility with different sensors and enables the function of an open platform.

[0014] Meanwhile, by fixing the sensor with a follow-up component that can move up and down with the water flow, the data collected by the sensor can be more comprehensive.

[0015] In this technical solution, the power assembly includes a power box, which is fixedly connected to the side of the chassis. The power box has two symmetrically installed and self-rotating transmission wheels inside.

[0016] A drive belt, which is wound around the surfaces of two drive pulleys and is tensioned by the two drive pulleys;

[0017] A drive motor is fixed on the inner wall of the power box and is connected to one of the transmission wheels via a belt drive. The belt drive includes a drive wheel, a driven wheel, and a transmission belt or chain. The drive wheel is fixed on the output end of the drive motor and is connected to the driven wheel via a transmission belt or chain. The driven wheel and the corresponding transmission wheel form a coaxial mounting structure, that is, the driven wheel is fixed at the center of the corresponding transmission wheel via a connecting rod or directly.

[0018] Both drive wheels are connected to the moving assembly via rods that penetrate the side wall of the power box. The rods and the side wall of the power box are connected by a waterproof rotating seal structure.

[0019] The drive motor drives two transmission wheels to rotate via a belt drive, thereby driving the moving components.

[0020] In this technical solution, the moving component includes two symmetrically arranged rotating wheels, and the surfaces of the two rotating wheels are covered with tracks that move with the rotation of the rotating wheels;

[0021] The two rotating wheels are fixedly connected to the corresponding two transmission wheels.

[0022] It crawls on the seabed by rotating tracks, making it suitable for crawling on soft soil such as sand and soil, as well as complex terrain such as seabed rocks and seaweed. The tracks can be made of rubber materials.

[0023] In this technical solution, two symmetrically arranged searchlights are fixed on the outer wall of the vehicle body on the side facing forward, and a camera is installed between the two symmetrically arranged searchlights.

[0024] Use searchlights to provide a good shooting environment for the camera.

[0025] In this technical solution, the follower component is mounted on the surface of the upper housing via a connecting part. The connecting part includes a mounting guide rail that is parallel or perpendicular to the vehicle's travel direction, and the follower component is slidably connected to the mounting guide rail.

[0026] By sliding the follower component on the mounting rail, the position of the follower component can be adjusted, thereby adjusting the position of the sensor relative to the vehicle body. This allows for the installation of more sensors while also preventing interference between sensors.

[0027] In this technical solution, the follower component includes a vertically arranged support strip plate, a movable groove is provided on the support strip plate, and a limiting part is provided at the bottom of the support strip plate. The limiting part includes a mounting plate, which extends outward to the side of the mounting guide rail, and a limiting screw is inserted into the mounting plate. The limiting screw passes through the mounting plate and is threadedly engaged with the mounting plate.

[0028] A movable slider is slidably connected to a movable slide groove. A fixing part and a follower part of a fixed sensor are respectively connected to both sides of the movable slider. A through groove is opened on the bearing strip on both sides of the fixing part, and the through groove communicates with the movable slide groove.

[0029] The direction from the moving part to the fixed part is the forward direction of the vehicle body.

[0030] When water flows through the follower, the follower is propelled by the water flow, causing the moving slider to slide on the moving groove, thus achieving the follower effect.

[0031] In this technical solution, the fixing part includes a connecting plate, which is fixedly connected to the portion of the movable slider that protrudes from the bearing strip plate, and the connecting plate is engaged with the sensor through a snap-fit ​​part.

[0032] It facilitates the installation and removal of sensors.

[0033] In this technical solution, the snap-fit ​​part includes a snap-fit ​​block that is inserted into the slot of the connecting plate. The two outer walls of the snap-fit ​​block are provided with insertion slots distributed in the horizontal direction, and a sensor is installed on the surface of the snap-fit ​​block.

[0034] Both sides of the snap-fit ​​block are also fixed with snap-fit ​​parts that mate with the insertion slots;

[0035] The snap-fit ​​component includes an outer cover, which is fixed to the side wall of the connecting plate. The inside of the outer cover is provided with a pin that is inserted into the insertion slot, and a first spring is sleeved on the surface of the pin.

[0036] The pin penetrates the side wall of the slot and is inserted into the slot. One end of the traction rope is connected to the end of the pin away from the locking block. The other end of the traction rope passes around the guide wheel and is connected to the transmission plate.

[0037] The transmission plate is connected to the inner wall of the outer cover via telescopic rods distributed in the horizontal direction on the side near the connecting plate, and a second spring is sleeved on the surface of the telescopic rods;

[0038] A pressing rod is fixed on the other side of the transmission plate, which is distributed horizontally. The pressing rod passes through the side wall of the outer cover and extends to the surface of the outer cover. The pressing rod and the side wall of the outer cover have a waterproof sliding seal structure.

[0039] The top of the snap-fit ​​block is fixed with a plug-in lever for inserting and removing the snap-fit ​​block.

[0040] In this technical solution, the follower part includes a transmission rod, which passes through a corresponding through groove and is fixedly connected to the diversion plate. The diversion plate is an arc plate that is concave upward or downward.

[0041] When water flows over the diversion plate, the water flow pushes the diversion plate, which is concave downwards or upwards, to move, thereby causing the sensor to move vertically and producing a follow-up effect.

[0042] In this technical solution, a floating platform is fixed to the top of the diversion plate.

[0043] The buoyancy of the entire follower component in the water is increased by using a floating platform, thereby adjusting the sensitivity of the follower component in the water flow.

[0044] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0045] The positive and progressive effects of this invention are as follows:

[0046] By adopting a snap-fit ​​connection structure to enable modular and rapid installation and disassembly of the sensor, the following advantages are achieved:

[0047] Enhancing the platform's openness and versatility: The snap-fit ​​connection structure is compatible with sensors of various sizes and specifications, breaking down the compatibility barriers caused by traditional threaded or custom installation methods. This allows sensors from different manufacturers and of different types to be flexibly replaced, combined, and expanded on a unified platform, significantly improving the underwater crawler's adaptability and openness as a scientific research / inspection platform.

[0048] At the same time, the crawler platform also integrates a servo component structure that can move up and down with the water flow for mounting sensors, which has the following beneficial effects:

[0049] 1. Improve the authenticity and representativeness of water sampling data:

[0050] Traditional fixed installation methods can only acquire single-point data at a specific depth, making it difficult to comprehensively reflect the vertical or dynamic characteristics of water bodies. However, the servo component allows the sensor to float up and down within a certain range under water flow disturbance, thereby collecting parameter data covering multiple depths and obtaining more representative environmental data such as water quality, water temperature, turbidity, and dissolved oxygen.

[0051] 2. Simulating water disturbance sampling under natural conditions:

[0052] This structure allows the sensor to more realistically simulate the internal fluctuation environment of the water body during the sampling process, making the acquired data closer to the real underwater ecological process. It is suitable for scenarios with high requirements for sampling authenticity, such as ecological monitoring and environmental assessment.

[0053] 3. Achieve low-cost integration of platform-level dynamic sampling functionality:

[0054] Compared to complex electric lifting devices, this structure achieves dynamic depth change function with simple mechanical or buoyancy components, reducing system complexity and energy consumption, and providing an effective solution for low-cost, multi-point underwater data collection.

[0055] The technical solutions in this application are particularly applicable to marine environments. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the external three-dimensional structure of the present invention;

[0057] Figure 2 This is a top view of the structure of the present invention;

[0058] Figure 3 For the present invention Figure 2 Schematic diagram of the cross-section structure at point AA;

[0059] Figure 4 This is a schematic diagram of the overall structure of the present invention after the removal of the occlusion shield;

[0060] Figure 5 This is a three-dimensional structural schematic diagram of the follower component of the present invention;

[0061] Figure 6 This is a top view of the follower component of the present invention.

[0062] Figure 7 For the present invention Figure 6 Schematic diagram of the cross-sectional structure at point BB;

[0063] Figure 8 For the present invention Figure 6 Schematic diagram of the cross-sectional structure at CC;

[0064] Figure 9 For the present invention Figure 8 A magnified structural diagram of point I;

[0065] Figure 10 This is a schematic diagram of the overall external structure of the present invention with connecting joints;

[0066] Figure 11 This is a schematic diagram of the structure of the present invention from a bottom view;

[0067] Figure 12 This is a front view structural diagram of the present invention.

[0068] Explanation of reference numerals in the attached figures

[0069] 1. Chassis; 11. Upper mounting shell; 12. Lower mounting shell;

[0070] 2. Power assembly; 21. Power box; 22. Transmission pulley; 23. Transmission belt; 24. Drive motor;

[0071] 3. Moving components; 31. Rotating wheel; 32. Tracks;

[0072] 4. Screen bracket;

[0073] 5. Install the guide rails;

[0074] 6. Bearing strip; 61. Moving slide; 62. Mounting plate; 63. Limiting screw;

[0075] 7. Follower component; 71. Moving slider; 72. Connecting plate; 73. Transmission rod; 74. Diverter plate; 75. Floating platform; 76. Vertical plate;

[0076] 8. Connecting connectors;

[0077] 9. Snap-fit ​​part; 91. Snap-fit ​​block; 911. Insertion slot; 912. Pull-out rod; 92. Outer cover; 93. Pin; 94. Traction rope; 95. Guide wheel; 96. Transmission plate; 97. Pressing rod;

[0078] a. Sensor; b. Camera; c. Searchlight. Detailed Implementation

[0079] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0080] like Figure 1 and Figure 2As shown, the waterproof underwater crawler that is easy to assemble and disassemble includes a vehicle body, the vehicle body including a chassis 1, an upper mounting shell 11 and a lower mounting shell 12 are fixed to the top and bottom of the chassis 1 respectively, a shielding frame 4 is provided on the surface of the upper mounting shell 11, and a mounting structure for mounting a sensor a is provided between the shielding frame 4 and the side wall of the upper mounting shell 11, and the mounting structure and the sensor a are engaged and connected.

[0081] The mounting structure includes a follow-up component 7 that moves sensor a with the water flow;

[0082] The chassis 1 is provided with a self-propelled structure on both sides, and the two self-propelled structures are arranged symmetrically to each other. The self-propelled structure includes a power component 2, and the power component 2 and the moving component 3 are connected to each other through transmission.

[0083] The vehicle body is also equipped with multiple connection joints that can be plugged into underwater.

[0084] A barrier net is covered on the surface of the shield 4 to prevent aquatic organisms and debris from affecting sensor a.

[0085] By installing sensor a with a follow-up component 7 that can move up and down with the water flow, sensor a is no longer fixed at a single depth or posture during actual operation. Instead, it can achieve vertical floating or dynamic response movement within a certain range under the influence of water flow disturbance, thereby significantly improving the spatial coverage and representativeness of the collected data.

[0086] Compared with traditional fixed installations, this structure has the following significant advantages:

[0087] 1. Enhance the multi-layered and dynamic nature of data collection:

[0088] The follow-up component 7 allows sensor a to move passively in the vertical direction, enabling it to automatically sample within a certain depth range. This reflects changes in environmental parameters at different water layers and provides richer profile data. It is particularly suitable for collecting water depth-sensitive indicators such as water temperature, dissolved oxygen, conductivity, and turbidity.

[0089] 2. Enhance the ability to respond to real water body dynamics:

[0090] This structure requires no electronic control drive and can achieve dynamic sampling by utilizing the natural disturbance of water flow. This allows sensor a to collect data in the natural state of the water body, and the sampling results are closer to the real underwater environment. It is suitable for application scenarios with high requirements for data accuracy and authenticity, such as ecological monitoring and water quality early warning.

[0091] 3. Solve the problem of data limitations in fixed installation structures:

[0092] Fixed installations typically only acquire data at a specific location or instant, making it difficult to reflect changes over time or between water layers. The servo-mounted component achieves "quasi-three-dimensional" sampling capabilities through its structure, providing more continuous and comprehensive data support for the underwater environment.

[0093] 4. Simple structure, sensitive response, and strong adaptability:

[0094] Dynamic sampling can be achieved using a simple floating / flexible structure, eliminating the need for a complex control system, reducing costs and energy consumption, and allowing buoyancy or response sensitivity to be adjusted according to different sensor masses and sampling requirements, adapting to diverse operating environments.

[0095] Example 1

[0096] like Figure 3 and 4 As shown, the power assembly 2 includes a power box 21, which is fixedly connected to the side of the chassis 1. The power box 21 has two symmetrically installed and self-rotating transmission wheels 22 inside.

[0097] A transmission belt 23 is wound around the surface of two transmission pulleys 22 and is tensioned by the two transmission pulleys 22.

[0098] The drive motor 24 is fixed on the inner wall of the power box 21 and is connected to one of the transmission wheels 22 via a belt drive. The belt drive includes a drive wheel, a driven wheel, and a transmission belt or chain. The drive wheel is fixed on the output end of the drive motor 24 and is connected to the driven wheel via a transmission belt or chain. The driven wheel and the corresponding transmission wheel 22 form a coaxial mounting structure, that is, the driven wheel is fixed at the center of the corresponding transmission wheel 22 via a connecting rod or directly.

[0099] Both drive wheels 22 are connected to the moving assembly 3 by rods that penetrate the side wall of the power box 21. The rods and the side wall of the power box 21 are connected by a waterproof rotating seal structure.

[0100] The drive motor 24 drives two transmission wheels 22 to rotate via a belt drive unit, thereby driving the moving component 3 to run.

[0101] Furthermore, the moving component 3 includes two symmetrically arranged rotating wheels 31, and the surfaces of the two rotating wheels 31 are covered with tracks 32 that move with the rotation of the rotating wheels 31.

[0102] The two rotating wheels 31 are fixedly connected to the two corresponding transmission wheels 22 respectively.

[0103] The self-rotating wheel 31 rotates under the drive of the power component 2, thereby driving the track 32 to rotate. The rotating track 32 drives the entire vehicle body to move. The vehicle can crawl on the seabed by rotating the track 32. It is suitable for crawling on soft soil such as seabed sand and soil, as well as complex terrain such as seabed rocks and seaweed. The track 32 can be made of rubber material.

[0104] Example 2

[0105] like Figure 4 and 12 As shown, two symmetrically arranged searchlights c are fixed on the outer wall of the vehicle body on the side facing forward, and a camera b is installed between the two symmetrically arranged searchlights c.

[0106] The searchlight c provides a good shooting environment for the camera b.

[0107] Example 3

[0108] like Figure 4-9 As shown, the follower component 7 is mounted on the surface of the upper housing via a connecting part. The connecting part includes a mounting guide rail 5 that is parallel or perpendicular to the vehicle's travel direction, and the follower component 7 is slidably connected to the mounting guide rail 5.

[0109] By sliding the follower component 7 on the mounting rail 5, the position of the follower component 7 can be adjusted, thereby adjusting the position of the sensor a relative to the vehicle body, so as to install more sensors a, and at the same time avoid mutual interference between sensors a.

[0110] The follower component 7 includes a vertically arranged support plate 6, a movable groove 61 is provided on the support plate 6, and a limiting part is provided at the bottom of the support plate 6. The limiting part includes a mounting plate 62, which extends outward to the side of the mounting guide rail 5, and a limiting screw 63 is inserted into the mounting plate 62. The limiting screw 63 passes through the mounting plate 62 and is threadedly engaged with the mounting plate 62.

[0111] The movable slider 71 is slidably connected to the movable slide groove 61. The two sides of the movable slider 71 are respectively connected to the fixing part and the follower part of the fixed sensor a. The bearing strips 6 on both sides of the fixing part are provided with through grooves, which are connected to the movable slide groove 61.

[0112] The direction from the moving part to the fixed part is the forward direction of the vehicle body.

[0113] When water flows through the follower, the follower is propelled by the water flow, causing the movable slider 71 to slide on the movable groove 61, thus achieving a follower effect.

[0114] The fixing part includes a connecting plate 72, which is fixedly connected to the portion of the movable slider 71 that protrudes from the bearing strip 6. The connecting plate 72 is engaged with the sensor a through a snap-fit ​​part 9.

[0115] This facilitates the installation and removal of sensor a.

[0116] The snap-fit ​​part 9 includes a snap-fit ​​block 91 that is inserted into the slot of the connecting plate 72. The two outer walls of the snap-fit ​​block 91 are provided with insertion slots 911 distributed in the horizontal direction. The sensor a is installed on the surface of the snap-fit ​​block 91. The sensor a can be installed on the snap-fit ​​block 91 by existing installation methods such as bolts.

[0117] Both sides of the snap-fit ​​block 91 are also fixed with snap-fit ​​parts that are matched with the insertion slot 911;

[0118] The snap-fit ​​component includes an outer cover 92, which is fixed to the side wall of the connecting plate 72. The outer cover 92 has a pin 93 that is inserted into the insertion slot 911 inside, and a first spring is sleeved on the surface of the pin 93.

[0119] The pin 93 penetrates the side wall of the slot and is inserted into the insertion slot 911. One end of the traction rope 94 is connected to the end of the pin 93 away from the locking block 91. The other end of the traction rope 94 passes around the far end of at least one guide wheel 95 and is connected to the transmission plate 96.

[0120] The transmission plate 96 is connected to the inner wall of the outer cover 92 via a telescopic rod distributed in the horizontal direction on the side near the connecting plate 72, and a second spring is sleeved on the surface of the telescopic rod.

[0121] A pressing rod 97 distributed in a horizontal direction is fixed on the other side of the transmission plate 96. The pressing rod 97 penetrates the side wall of the outer cover 92 and extends to the surface of the outer cover 92. The pressing rod 97 and the side wall of the outer cover 92 have a waterproof sliding seal structure.

[0122] The top of the snap-fit ​​block 91 is fixed with a plug-in lever for inserting and removing the snap-fit ​​block 91.

[0123] Insert or remove the snap block 91 with sensor a from the slot on the connecting plate 72 using the insert rod.

[0124] During the insertion of the snap-fit ​​block 91 into the slot, when the snap-fit ​​block 91 moves to one side of the pin 93, the bottom sidewall of the snap-fit ​​block 91 pushes the pin 93 outward, causing the pin 93 to retract into the outer cover 92. At this time, the first spring is compressed. With the continuous movement of the snap-fit ​​block 91, the pin 93 is inserted into the insertion slot 911 under the action of the first spring, thus completing the fixing of the snap-fit ​​block and thereby completing the fixing of the sensor a.

[0125] When it is necessary to pull out or remove sensor a, press the pressing rod 97 towards one side of the connecting plate 72. The movement of the pressing rod 97 drives the traction rope 94 to move. Under the action of the guide wheel 95 changing the traction direction, the traction rope 94 pulls the pin 93 away from the connecting plate 72. At this time, both the first spring and the second spring are deformed until the pin 93 is disengaged from the insertion slot 911. Then, the locking block 91 is pulled out by the pulling rod 912.

[0126] This allows for the rapid installation and removal of sensor a.

[0127] The follower part includes a transmission rod 73, which passes through a corresponding through groove and is fixedly connected to a guide plate 74. The guide plate 74 is an arc plate that is concave upward or downward.

[0128] When the water flows through the diversion plate 74, the water flow pushes the downward or upward concave diversion plate 74 to move, thereby driving the sensor a to move vertically and producing a follow-up effect.

[0129] Specifically, this invention further optimizes the structural design of the flow guide plate in the sensor mounting assembly, enabling it to adjust the water flow sensing capability based on the sensor's weight difference:

[0130] When the diversion plate 74 is in the form of an upward concave structure (i.e., high in the center and low at the edges), its water-facing area is large, "clamping" the water flow. Under the action of the water flow, it can generate greater buoyancy or upward disturbance force, thereby effectively driving the sensor a, which has a large self-weight, to fluctuate up and down with the water flow, and realize dynamic sampling of deeper areas of the water body.

[0131] When the diversion plate 74 has a downward concave structure (i.e., low in the center and high at the edges), its water flow disturbance response is weaker, and its buoyancy or lift is smaller. It is more suitable for sensor a with a smaller self-weight, avoiding measurement distortion or instability of sensor a structure due to excessive fluctuations.

[0132] A floating platform 75 is fixed to the top of the diversion plate 74;

[0133] Furthermore, a vertical plate 76 is fixed to the bottom of the diversion plate 74, and the vertical plate 76 is perpendicular to the plane on which the diversion plate 74 is located.

[0134] The present invention further includes a floating platform 75, which, through structural integration with the follower component 7, effectively enhances the overall buoyancy of the follower component 7 in water. The floating platform 75 can be made of foam plastic, hollow shell, or closed buoyancy material as needed, and is arranged on the upper part or around the follower component to assist in buoyancy and stability.

[0135] The additional buoyancy provided by the floating platform 75 allows the follower component 7 to be in a relatively neutral or slightly orthostatic state in the water, thereby:

[0136] On the one hand, it reduces the gravitational burden that the driving force of water flow needs to overcome, and improves its response sensitivity to water flow disturbance;

[0137] On the other hand, the vertical fluctuation amplitude or frequency of the follower component in the water flow can be precisely adjusted by adjusting the volume, position or buoyancy parameters of the floating platform 75.

[0138] This structure can effectively cope with complex working conditions such as differences in the weight of different sensors and changes in the flow rate of different water bodies, ensuring that the sensors are always in a dynamic tracking state and improving the coverage and representativeness of data acquisition.

[0139] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A waterproof underwater crawler convenient to disassemble, comprising a vehicle body, the vehicle body comprising a chassis (1), the top and bottom of the chassis (1) are respectively fixed with an upper mounting shell (11) and a lower mounting shell (12), the surface of the upper mounting shell (11) is provided with a shielding frame (4), characterized in that: The mounting structure for mounting the sensor (a) is arranged between the shielding frame (4) and the side wall of the upper mounting shell (11), and the mounting structure and the sensor (a) are clampedly connected; The mounting structure comprises a follow-up assembly (7) for moving the sensor (a) along with the water flow; Both sides of the chassis (1) are provided with self-walking structures, and the two self-walking structures are symmetrically arranged, the self-walking structure comprises a power assembly (2), and the power assembly (2) and the moving assembly (3) are drivingly connected with each other; The follow-up assembly (7) is mounted on the surface of the upper shell through a connecting portion, the connecting portion comprises a mounting guide rail (5) arranged in parallel or perpendicular to the advancing direction of the vehicle body, and the follow-up assembly (7) is slidingly connected on the mounting guide rail (5); The follow-up assembly (7) comprises a vertically arranged bearing strip plate (6), the bearing strip plate (6) is provided with a moving sliding groove (61), and the bottom of the bearing strip plate (6) is provided with a limiting portion, the limiting portion comprises a mounting plate (62), the mounting plate (62) extends outward to the side surface of the mounting guide rail (5), and the mounting plate (62) is inserted with a limiting screw (63), the limiting screw (63) penetrates through the mounting plate (62) and is in threaded engagement connection with the mounting plate (62); A moving sliding block (71) is slidingly connected on the moving sliding groove (61), and the moving sliding block (71) is connected with a fixing portion and a follow-up portion for fixing the sensor (a) on both sides, respectively, the bearing strip plate (6) on both sides of the fixing portion is provided with a through groove, and the through groove is communicated with the moving sliding groove (61).

2. The waterproof underwater crawler easy to disassemble of claim 1, characterized in that: The power assembly (2) comprises a power box (21), the power box (21) is fixedly connected with the side edge of the chassis (1), and the inside of the power box (21) is provided with two symmetrically mounted and self-rotatable transmission wheels (22); A transmission belt (23) is wound around the surfaces of the two transmission wheels (22), and the transmission belt (23) is tensioned by the two transmission wheels (22); A driving motor (24) is fixed on the inner wall of the power box (21), and the driving motor (24) is drivingly connected with one of the transmission wheels (22) through a belt transmission part, the belt transmission part comprises a driving wheel, a driven wheel and a transmission belt or chain, the driving wheel is fixed on the output end of the driving motor (24), the driving wheel is drivingly connected with the driven wheel through the transmission belt or chain, and the driven wheel and the corresponding transmission wheel (22) form a coaxial mounting structure; The two transmission wheels (22) are connected with the moving assembly (3) through a rod penetrating through the side wall of the power box (21).

3. The waterproof underwater crawler easy to disassemble of claim 2, wherein: The moving assembly (3) comprises two symmetrically arranged self-rotating wheels (31), and the surfaces of the two self-rotating wheels (31) are covered with a track (32) moving along with the self-rotating wheels (31); The two self-rotating wheels (31) are fixedly connected with the corresponding two transmission wheels (22), respectively.

4. The waterproof underwater crawler easy to disassemble of claim 1, wherein: Two symmetrically arranged searchlights (c) are fixed on the outer wall of the advancing direction side of the vehicle body, and a camera (b) is mounted between the two symmetrically arranged searchlights (c).

5. The waterproof underwater crawler easy to disassemble according to claim 1, characterized in that: The fixed part comprises a connecting plate (72) fixedly connected with the part of the moving slider (71) protruding from the bearing strip (6), and the connecting plate (72) is clampedly connected with the sensor (a) through a clamping part (9).

6. The waterproof underwater crawler that facilitates dismounting according to claim 5, characterized in that: The clamping part (9) comprises a clamping block (91) inserted into the clamping groove of the connecting plate (72), and the two side walls of the clamping block (91) are both provided with an insertion groove (911) distributed in the horizontal direction, and the surface of the clamping block (91) is provided with the sensor (a); The two sides of the clamping block (91) are further fixed with a clamping piece matched with the insertion groove (911); The clamping piece comprises an outer cover (92) fixed on the side wall of the connecting plate (72), and the inner part of the outer cover (92) is provided with a bolt (93) inserted into the insertion groove (911), and the surface of the bolt (93) is sleeved with a first spring; The bolt (93) penetrates through the side wall of the clamping groove and is inserted into the insertion groove (911), one end of a traction rope (94) is connected to the side end of the bolt (93) away from the clamping block (91), and the other end of the traction rope (94) is connected with a transmission plate (96) through a guide wheel (95); The side of the transmission plate (96) close to the connecting plate (72) is connected with the inner wall of the outer cover (92) through an elastic rod distributed in the horizontal direction, and the surface of the elastic rod is sleeved with a second spring; The other side of the transmission plate (96) is fixed with a pressing rod (97) distributed in the horizontal direction.

7. The waterproof underwater crawler that facilitates dismounting according to claim 1, wherein: The follower part comprises a transmission rod (73) fixedly connected with a drainage plate (74) through a corresponding through groove, and the drainage plate (74) is an arc plate concave upward or downward.

8. The waterproof underwater crawler that facilitates dismounting according to claim 7, characterized in that: The top of the drainage plate (74) is fixed with a floating platform (75).

Images