Three-axis vector underwater robot with mechanical claw operation device

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a three-axis vector underwater robot with a gripper operation device, which comprises a cabin, a monitoring unit is arranged at one end of the cabin, and an interception unit is arranged on one side of the monitoring unit; through the mutual extrusion effect between the ascending wedge block and the descending wedge block, the angle barrel body is controlled to move towards the axis end of the flow guide cover, meanwhile, gas is continuously conveyed into the angle pipe through the micro air pump, then, the pressure intensity in the angle barrel is increased, and the sleeve, the inner barrel and the spring rod are driven to rotate under the extrusion effect of the pressure intensity; by the aid of the spring needle, the inner cylinder, the sleeve and the angle cylinder body which are distributed in the circumferential direction of the fairing, energy loss is reduced, rotating balance of blades in the propeller can be increased, uniform stress is guaranteed, stability is enhanced, friction between strip-shaped impurities such as aquatic plants and components such as the blades and a shaft is avoided, and service life of the propeller is prolonged. Damage to mechanical parts is reduced, and the fault risk is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and in particular relates to a three-axis vector underwater robot with a mechanical claw operating device. Background Art

[0002] Vector underwater robots: These are intelligent underwater devices that precisely adjust their position, posture, and direction of movement in water by controlling their propellers or power units. Compared to traditional underwater robots, their propulsion systems can generate thrust in multiple directions, with both magnitude and direction.

[0003] Vector underwater robots achieve acceleration, deceleration and reversal by changing the magnitude and direction of the thrust of the propeller. However, at the moment of propeller power switching, the speed or thrust direction of the propeller changes. That is, when the propeller starts to accelerate or change the thrust direction, a local negative pressure area will be generated in front of it, and a suction field will be generated, which will then "gather" and gather the materials around it. In particular, when the vector underwater robot passes through an area with strip-shaped impurities such as water plants, in this process, the water plants and other strip-shaped impurities will gradually move closer to the propeller and entangle under the combined action of water flow and negative pressure.

[0004] Strip-shaped impurities such as waterweed are originally in a certain floating or suspended state in a relatively stable water flow. When the vector underwater robot suddenly performs power conversion, the reverse force of the propeller causes the speed and direction of the fluid to change to varying degrees. According to Newton's first law, the waterweed will be carried by the fast-flowing water, and its movement trajectory will become difficult to control independently, making it easier for the waterweed to be rushed towards the propeller.

[0005] In addition, turbulence is an irregular and turbulent water flow state and a conventional expression of fluid. In the turbulent area, the fluid has velocity components in multiple directions, thus forming vortices and backflows of various sizes. At the same time, according to Bernoulli's principle, the pressure is relatively low where the flow rate is faster, that is, there are various local low-pressure areas in the turbulent area, which further increases the probability of strip-shaped impurities such as water plants in the fluid being entangled in the propeller of the vector underwater robot in a moving state. As a result, as the propeller runs, the entangled water plants will produce friction with components such as blades and shafts, and impurities such as mud and sand in the water plants will act like abrasives, further accelerating the wear of the component surface, resulting in increased risk of failure, poor stability, and increased energy consumption due to reduced propeller efficiency. Summary of the Invention

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a three-axis vector underwater robot with a mechanical claw operating device, comprising a cabin, wherein the diameter of the cabin head is larger than the diameter of the tail, a monitoring unit is provided at one end of the cabin, and a retention unit is provided on one side of the monitoring unit;

[0007] The interception unit comprises:

[0008] There is at least one gusset plate provided at one end of the nacelle;

[0009] There is at least one corner tube, which is arranged at one end of the cabin through a shock-absorbing spring and corresponds to the position between the corner plates one by one;

[0010] The sleeve is slidably mounted inside the angle tube;

[0011] An inner cylinder is mounted inside the sleeve in a sliding snap-fit ​​manner;

[0012] The compression springs are respectively arranged between the angle tube and the sleeve and between the sleeve and the inner tube, and the compression springs are respectively mounted in a snap-fit ​​manner with the angle tube, the sleeve and the inner tube at corresponding positions;

[0013] The air inlet is opened in a through-type manner in the middle position of the corner tube, sleeve tube and inner tube on the side away from the axis of the cabin;

[0014] The corner caps are respectively snap-fitted and installed on the corner tube, sleeve and inner tube at one end close to the axis of the cabin.

[0015] Preferably, the inner walls of the angle tube and the sleeve are snap-fitted with a gasket, the number is one and the models are different, the inner wall of the inner tube is symmetrically snap-fitted with a gasket, and the model is different from the gasket model described inside the angle tube or sleeve, the middle position of the gasket is circumferentially opened with an air hole, and the number is at least one, the outer walls of the sleeve and the inner tube away from the cabin axis are snap-fitted with panels corresponding to the air hole positions, the angle tube, the sleeve and the inner wall of the inner tube are snap-fitted with wall panels corresponding to the air hole positions, the wall panels are slidingly snap-fitted with an air plug in the middle position of the end away from the cabin axis, the outer wall of the air plug is sleeved with a coil spring, and the coil spring is snap-fitted with the air plug and the wall panel respectively, the inner wall of the inner tube is slidingly snap-fitted with a spring needle, and in addition, the gasket is slidingly snap-fitted with the sleeve, the inner tube or the spring needle at its corresponding position.

[0016] Preferably, the corner tube is clamped and installed with an end cover at one end away from the cabin axis, the end cover is clamped and installed with a column at one end away from the corner tube, the end face of the end cover away from the cabin axis is clamped and installed with a corner tube, the column is clamped and installed with a downward wedge at one end away from the corner tube, and an upward wedge matching with the downward wedge is provided on the side away from the corner tube.

[0017] Preferably, the cabin is fitted with a deflector on one side close to the corner plate, a micro air pump is fitted inside the deflector, and there is at least one of them, the end face of the deflector away from the cabin is symmetrically fitted with air bags, and there are two of them, the radial inner wall of the end of the deflector away from the cabin is fitted with side ear seats in a circumferentially uniform manner, and the four side ear seats form a group, which are distributed opposite to each other in pairs, and a horizontal axis is fitted between the two side ear seats on the same side in a through-type rotating manner, and a shovel is fitted with a shovel in the middle position of the outer wall of the horizontal axis, and the two shovels in the same group are provided with air holes on the shovel plates close to the cabin side, and a torsion spring is fitted with the outer wall of the horizontal axis on the same side of the shovel plates, and a waterproof ring is fitted symmetrically on the outer wall of the horizontal axis, and the torsion spring is located inside the waterproof ring.

[0018] Preferably, a ball head cover is snap-fitted and installed in the middle position of one end of the cabin away from the air deflector, split sockets are snap-fitted and installed at the four end corner positions of the outer wall of the cabin, side wing thrusters are symmetrically snap-fitted and installed on the outer wall of the cabin away from the air deflector, the main thruster is snap-fitted and installed at the axis of one end of the cabin away from the ball head cover, the rear arms are symmetrically snap-fitted and installed on the end surface of the air deflector away from the ball head cover, a waterproof servo is snap-fitted and installed in the middle position between the two opposite rear arms, a tail thruster is snap-fitted and installed at one end between the two opposite rear arms, and a gimbal is snap-fitted and installed in the middle position of the outer wall of the cabin.

[0019] Preferably, the monitoring unit includes:

[0020] There is at least one top ear seat, which is symmetrically snap-fitted and installed in the middle of the inner wall of the end of the cabin away from the ball head cover;

[0021] The water distribution pipe is installed in the middle of the two top ear seats with a snap fit;

[0022] The outer ring plates are arranged in groups of two and are symmetrically snap-fitted and installed on the inner wall of the water distribution pipe near one end of the ball head cover;

[0023] The T-face rod is installed in the middle position of the two outer ring plates of the same group by sliding and snap-fitting;

[0024] The water drop cap is snap-fitted and installed on the end of the T-face rod close to the ball head cover;

[0025] The telescopic spring is arranged between the two outer ring plates of the same group, and the telescopic spring is installed by snap-fitting with the T-plane rod;

[0026] The inner ring plates are arranged in groups of two and are symmetrically snap-fitted and installed on the inner wall of the water distribution pipe at the end away from the ball head cover;

[0027] The section column is installed in the middle position of the two inner ring plates of the same group by sliding and snap-fitting;

[0028] The return spring is arranged between the two inner ring plates in the same group, and the return spring is installed by snap-fitting with the section column.

[0029] Preferably, the section column is snap-fitted with a positive electrode sheet installed at one end away from the spherical head cover, the inner wall of the water distribution pipe at one end away from the spherical head cover is snap-fitted with a negative electrode sheet matching the positive electrode sheet, the water distribution pipe is snap-fitted with a branch line installed at the axis of one end away from the spherical head cover, a telescopic gas rod is snap-fitted with an outer wall of one end of the cabin away from the spherical head cover through a mounting seat, and the telescopic gas rod is located inside the air guide cover, and there is at least one telescopic gas rod, a pipe wiring is snap-fitted with an end face of the telescopic gas rod close to the spherical head cover, and a fixed ring is snap-fitted with a sliding snap-fit ​​installed with the movable end of the telescopic gas rod on the outer wall of one end of the cabin away from the spherical head cover.

[0030] Preferably, the angle plate is mounted in a snap-fit ​​manner with the inner wall of the vertical section of the fairing away from the cabin, the angle tube is mounted in a through-sliding snap-fit ​​manner with the inner wall of the fairing close to the cabin axis, and the upward wedge is mounted in a snap-fit ​​manner with the movable end of the telescopic gas rod close to the tail propeller.

[0031] Preferably, the aperture of the air hole at one end close to the cabin axis is smaller than the aperture at one end away from the cabin axis, the air plug at one end close to the cabin axis is spherical, and the diameter of the spherical structure is smaller than the aperture of the air hole at one end away from the cabin axis, and larger than the aperture of the air hole at one end close to the cabin axis, the corner tube is connected to the interior of the corner tube, and is connected to the micro air pump through an external conduit, the diameter of the air guide cover is smaller than the diameter of the end of the cabin close to the spherical head cover, and the air guide cover is conical, the cross-sectional shape of the shovel plate is a right-angled trapezoid, and the vertical distance between the two opposite shovel plates is greater than the sum of the lengths of the two shovel plates.

[0032] The method for removing water weeds from the thruster end of a vector underwater robot is performed using the above-mentioned three-axis vector underwater robot with a mechanical claw operation device. The specific steps are as follows:

[0033] S1: First, the pressure change in the fluid is sensed through the water drop cap with a relatively large cross-sectional area. When the pressure in the fluid changes, the T-shaped rod moves closer to or away from the water drop cap under the combined action of the reverse force of the telescopic spring and the guidance of the outer ring plate. During this process, the section column, under the combined action of the reverse force of the return spring and the guidance of the inner ring plate, synchronously drives the positive electrode sheet closer to or away from the negative electrode sheet, thereby changing the interaction force between the positive and negative electrodes.

[0034] S2: The change in the interaction force between the positive and negative electrodes is then transmitted to the telescopic gas rod and the external PLC control system in the form of an electrical signal via the tapped wire. Thereafter, under the control of the external PLC control system, the telescopic gas rod drives the upward wedge toward the angle plate through its movable end. During this process, the downward wedge, under the combined action of the upward wedge squeezing and the air guide, synchronously controls the movement of the angle tube toward the axial end of the air guide.

[0035] S3: Finally, the corner tube is gradually filled with gas through a micro air pump. After that, the air pressure inside the corner tube increases. Under the action of pressure, the sleeve and the inner tube stretch the compression spring and gradually extend toward the axial direction of the air guide cover until they move to the specified position. After that, the shovel plate, under the restoring action of the torsion spring, generates relative movement with the spring needle, inner tube, sleeve and corner tube in the contracted state in turn, so that the shovel plate can further scrape off the water plants and other strip-like impurities on the outer walls of the spring needle, inner tube, sleeve and corner tube, fully ensuring the cleanliness of the outer walls of the spring needle, inner tube, sleeve and corner tube each time, and reducing the accumulation of water plants and other strip-like impurities.

[0036] The present invention has the following beneficial effects:

[0037] 1. The present invention controls the movement of the angle tube body toward the axial end of the air guide cover through the mutual extrusion between the upward wedge block and the downward wedge block. At the same time, gas is continuously delivered to the angle tube through a micro air pump. Thereafter, the internal pressure of the angle tube increases, and the sleeve, inner tube and spring rod synchronously follow the angle tube body to move in the axial direction of the air guide cover under the action of pressure extrusion, until the spring needles, inner tube, sleeve and angle tube body distributed circumferentially of the air guide cover perform a grid-like blockage and interception on the fluid flowing toward the main propeller, thereby reducing the probability of strip-shaped impurities such as water plants in the fluid being entangled with the main propeller, helping to promote a relatively ideal state of the fluid around the propeller, reducing energy loss, improving the efficiency of the propeller and the accuracy of adjusting the direction of travel, and at the same time increasing the rotation balance of the blades in the propeller, ensuring uniform force, enhancing stability, avoiding friction between strip-shaped impurities such as water plants and components such as blades and shafts, reducing damage to mechanical components, and reducing the risk of failure.

[0038] 2. The present invention senses the changes in fluid pressure in the propulsion area of ​​the main thruster through the depth of the water drop cap, and uses the elastic variables of the telescopic spring and the return spring to provide real-time feedback of external environmental changes to the T-surface rod and the section column. That is, when the external environmental pressure changes, the T-surface rod and the section column, under the combined reverse action of the telescopic spring and the return spring, synchronously drive the water drop cap toward or away from the positive electrode sheet, and ultimately change the degree of contact between the positive electrode sheet and the negative electrode sheet, thereby providing real-time feedback of the changing state of the fluid in the propulsion area of ​​the main thruster to the interception unit, and then controlling the interception unit to intercept and remove strip-shaped impurities such as water plants that flow into its propulsion area when the main thruster power is switched, thereby fully ensuring the cleanliness of the fluid in the propulsion area of ​​the main thruster, improving the main thruster's precise control of the travel direction and power of the vector underwater robot, and at the same time reducing the blockage of the cooling channel or lubrication channel in the main thruster by strip-shaped impurities of external water plants.

[0039] 3. The present invention flexibly realizes the sealing and conduction of the air holes through the mutual contact or separation between the panel and the air plug. On the one hand, when the micro air pump fills the gas into the interior of the angle tube, it can ensure the continuous increase of the internal pressure of the angle tube, and then ensure the realization of the technical solution of moving the sleeve, inner tube and spring needle toward the axial end of the air guide cover, thereby reducing the possibility of external water plants and other strip impurities flowing to the main propeller propulsion area; on the other hand, when the power of the main propeller remains constant, the gas delivery from the micro air pump to the angle tube is disconnected. Thereafter, the sleeve, inner tube and spring needle are gradually restored to their initial state under the reverse action of the elastic potential energy of the compression spring itself. In this process, the reverse action force of the coil spring causes the air plug to move away from the air hole, thereby prompting the gas inside the angle tube to flow to the outside through the air hole and along the angle cap, further avoiding the possibility of strip impurities such as water plants in the fluid flowing to the main propeller propulsion area.

[0040] 4. The present invention realizes effective scraping of strip-like impurities such as water plants on the outer wall when the spring needle, inner tube, sleeve and angle tube move away from the axial end of the air deflector through the successive relative movement between the shovel plate and the outer walls of the spring needle, inner tube, sleeve and angle tube. On the one hand, it reduces the effect of water plants and other strip-like impurities on the contraction of the aforementioned components; on the other hand, it fully ensures the cleanliness of the outer wall each time the spring needle, inner tube, sleeve and angle tube are extended, reducing the accumulation of strip-like impurities such as water plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0042] Figure 2 This invention is attached Figure 1 Right view of the middle structure.

[0043] Figure 3 This invention is attached Figure 1 Top view of the structure.

[0044] Figure 4 It is a three-dimensional display diagram of the local structure of the monitoring unit and the interception unit of the present invention.

[0045] Figure 5 This is a three-dimensional display diagram of the position of the monitoring unit of the present invention in the cabin.

[0046] Figure 6 It is a three-dimensional cross-sectional view showing the internal structure of the monitoring unit of the present invention.

[0047] Figure 7 It is a three-dimensional cross-sectional view showing the internal structure of the air deflector of the present invention.

[0048] Figure 8 This invention is attached Figure 7 Front view of the mid-structure (rear arm omitted).

[0049] Figure 9 This invention is attached Figure 8 A magnified schematic diagram of the local structure at point A.

[0050] Figure 10 It is a three-dimensional cross-sectional view showing the internal structure of the interception unit of the present invention.

[0051] Figure 11 This invention is attached Figure 10 A schematic diagram of the partial enlargement of the structure at point B in the middle.

[0052] Figure 12 This is a three-dimensional diagram showing another part of the structure of the interception unit of the present invention (one of the waterproof rings is omitted).

[0053] Figure 13 It is a three-dimensional display diagram of the shovel board of the present invention.

[0054] Markings in the figure: 1, cabin; 2, monitoring unit; 3, interception unit;

[0055] 11. Ball head cover; 12. Split socket; 13. Side thrusters; 14. Main thrusters; 15. Rear arm; 16. Waterproof servo; 17. Tail thrusters; 18. Gimbal;

[0056] 21. Top lug seat; 22. Water distribution pipe; 23. Outer ring plate; 24. T-shaped rod; 25. Water drop cap; 26. Telescopic spring; 27. Inner ring plate; 28. Section column; 29. ​​Return spring;

[0057] 221, positive electrode; 222, negative electrode; 223, tapping wire; 224, telescopic gas rod; 225, pipe connection; 226, fixed ring;

[0058] 31. Angle plate; 32. Angle tube; 33. Sleeve; 34. Inner tube; 35. Compression spring; 36. Air port; 37. Angle cap;

[0059] 311. Gasket; 312. Air hole; 313. Panel; 314. Wall plate; 315. Air plug; 316. Coil spring; 317. Spring pin;

[0060] 321, end cap; 322, column; 323, corner tube; 324, down-going wedge; 325, up-going wedge;

[0061] 371. Air deflector; 372. Micro air pump; 373. Air bag; 374. Side ear seat; 375. Horizontal axis; 376. Shovel plate; 377. Air hole; 378. Torsion spring; 379. Waterproof ring. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0063] It should be noted that the terms “vertical”, “horizontal”, “left”, “right” and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0064] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0065] Reference Figure 1 and Figure 7 It can be seen that a three-axis vector underwater robot with a mechanical claw operating device includes a cabin 1, and the head diameter of the cabin 1 is larger than the tail diameter. A monitoring unit 2 is provided at one end of the cabin 1, and a retention unit 3 is provided on one side of the monitoring unit 2;

[0066] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 7 It can be seen that a ball head cover 11 is snap-fitted and installed in the middle position of one end of the cabin 1 away from the air deflector 371, split sockets 12 are snap-fitted and installed at the four end corners of the outer wall of the cabin 1, side propellers 13 are symmetrically snap-fitted and installed on the outer wall of the cabin 1 on the side away from the air deflector 371, a main propeller 14 is snap-fitted and installed at the axis of one end of the cabin 1 away from the ball head cover 11, rear arms 15 are snap-fitted and installed in a symmetrical manner on the end surface of the side of the air deflector 371 away from the ball head cover 11, a waterproof servo 16 is snap-fitted and installed in the middle position between the two opposite rear arms 15, a tail propeller 17 is snap-fitted and installed at one end between the two opposite rear arms 15, and a pan / tilt platform 18 is snap-fitted and installed in the middle position of the outer wall of the cabin 1;

[0067] Reference Figure 5 、 Figure 6 and Figure 7 It can be seen that the monitoring unit 2 includes: at least one top ear seat 21, which is symmetrically snap-fitted and installed in the middle position of the inner wall of the end of the nacelle 1 away from the ball head cover 11; a water distribution pipe 22, which is snap-fitted and installed in the middle position of the two top ear seats 21; an outer ring plate 23, two of which form a group and are symmetrically snap-fitted and installed in the inner wall of the water distribution pipe 22 near the end of the ball head cover 11; a T-face rod 24, which is slidably snap-fitted and installed in the middle position of the two outer ring plates 23 in the same group; a water drop cap 25, which is snap-fitted and installed on the end of the T-face rod 24 near the ball head cover 11;

[0068] The telescopic spring 26 is arranged between two outer ring plates 23 of the same group, and is installed by snap-fitting between the telescopic spring 26 and the T-surface rod 24; the inner ring plates 27 are grouped into two and are symmetrically snap-fitted and installed on the inner wall of the water distribution pipe 22 at one end away from the ball head cover 11; the section column 28 is slidably snap-fitted and installed in the middle position of the two inner ring plates 27 of the same group; the reset spring 29 is arranged between the two inner ring plates 27 of the same group, and is installed by snap-fitting between the reset spring 29 and the section column 28.

[0069] The monitoring unit 2 monitors the real-time change of the fluid pressure in the propulsion area of ​​the main propeller 14:

[0070] Take the case where the main propeller 14 suddenly increases the power to accelerate the vector underwater robot as an example:

[0071] In the initial state, the positive electrode sheet 221 and the negative electrode sheet 222 are in contact (the telescopic spring 26 and the return spring 29 are in the natural state):

[0072] When the water drop cap 25 senses a change (increase) in the surrounding fluid pressure, the water drop cap 25, under the reverse force of the external fluid, synchronously drives the T-surface rod 24 to move toward the positive electrode plate 221 (at this time, the T-surface rod 24, under the guidance of the outer ring plate 23, stably compresses the telescopic spring 26 to a certain deformation);

[0073] During this process, the section column 28 is squeezed by the T-face rod 24 and guided by the inner ring plate 27, causing the return spring 29 to compress toward the positive electrode sheet 221. At this time, under the combined reverse force of the telescopic spring 26 and the return spring 29, the positive electrode sheet 221 gradually increases the degree of interaction with the negative electrode sheet 222 (i.e., the interaction force between the positive electrode sheet 221 and the negative electrode sheet 222 changes, and ultimately the negative electrode sheet 222 transmits the aforementioned pressure change to the external pressure display device in the form of an electrical signal, and transmits the working command of the interception unit 3 to the interception unit 3 again in the form of an electrical signal through the external PLC control system, thereby realizing the linkage and coordination between the interception unit 3 and the monitoring unit 2);

[0074] Similarly, when the pressure of the external environmental fluid of the water drop cap 25 decreases, the degree of interaction between the telescopic spring 26 and the return spring 29 decreases to a certain extent, and the interaction force between the positive electrode sheet 221 and the negative electrode sheet 222 decreases. At this time, the interception unit 3 can also be controlled by the external PLC control system to perform operations.

[0075] Top ear seat 21, water distribution pipe 22: The top ear seat 21 improves the operating stability of the main body of the monitoring unit 2 and reduces the impact of external impact on the monitoring accuracy of the monitoring unit 2; the water distribution pipe 22 improves the internal waterproofness of the monitoring unit 2 and increases the service life of the internal parts of the monitoring unit 2;

[0076] Ball head cover 11: On the one hand, its streamlined shape reduces the motion resistance of the vector underwater robot, which helps to improve the travel speed and energy efficiency of the vector underwater robot; on the other hand, it reduces turbulent interference (usually the sensors used for vector robot operations are mainly concentrated on the head of the vector robot), that is, it prevents turbulence from scattering and attenuating sonar signals. At the same time, it can provide certain physical protection, improve the waterproof level, and enhance the lighting range.

[0077] Split socket 12: In a specific implementation, the blades that assist the movement of the external vector underwater robot can be installed through the split socket 12, further improving the underwater operation stability of the vector underwater robot;

[0078] The wing thrusters 13, main thrusters 14, and tail thrusters 17 balance the vector underwater robot, ensuring its balance during power switching and further increasing its underwater forward speed and overall flexibility. Furthermore, the three-axis vector underwater robot utilizes a vector propulsion scheme to effectively reduce its maneuvering radius, enabling it to perform maneuvers that are impossible for traditional underwater robots. This allows it to flexibly explore more complex underwater environments, greatly improving its versatility.

[0079] The rear arm 15 and the waterproof steering gear 16 increase the space margin between the main propeller 14 and the external environment through the waterproof steering gear 16 and the rear arm 15, further reducing the possibility of strip-shaped impurities such as water plants in the external water environment surging into the propulsion area of ​​the main propeller 14. At the same time, the rear arm 15 and the waterproof steering gear 16 can assist in intercepting strip-shaped impurities such as water plants in the external fluid environment and provide a certain degree of physical protection for the main equipment.

[0080] PTZ 18: Provides a stable installation environment for external image acquisition entities, while enabling precise posture adjustments of the onboard equipment to achieve all-round acquisition of underwater images.

[0081] Reference Figure 7 、 Figure 8 、 Figure 9 and Figure 10 It can be seen that the interception unit 3 includes: at least one angle plate 31, which is arranged at one end of the cabin 1; at least one angle tube 32, which is arranged at one end of the cabin 1 through a shock-absorbing spring and corresponds to the position between the angle plates 31; a sleeve 33, which is slidably mounted inside the angle tube 32; an inner tube 34, which is slidably mounted inside the sleeve 33; a compression spring 35, which is respectively arranged between the angle tube 32 and the sleeve 33 and between the sleeve 33 and the inner tube 34, and the compression spring 35 is respectively arranged between the angle tube 32 and the sleeve 33 and the inner tube 34. The angle tube 32, sleeve 33 and inner tube 34 at the corresponding position are snap-fitted and installed; the air port 36 is opened in a through-type manner at the middle position of the angle tube 32, sleeve 33 and inner tube 34 on the side away from the axis of the cabin 1; the angle cap 37 is snap-fitted and installed on the angle tube 32, sleeve 33 and inner tube 34 on the end close to the axis of the cabin 1 respectively; the cabin 1 is snap-fitted with a deflector 371 on the side close to the angle plate 31, and a micro air pump 372 is snap-fitted and installed inside the deflector 371, and the number of the micro air pump 372 is at least one;

[0082] Reference Figure 10 and Figure 11 It can be seen that the inner walls of the angle tube 32 and the sleeve 33 are snap-fitted with a gasket 311, the number of which is one and the model is different. The inner wall of the inner tube 34 is symmetrically snap-fitted with a gasket 311, and the model is different from the gasket 311 inside the angle tube 32 or the sleeve 33. The middle position of the gasket 311 is circumferentially opened with an air hole 312, and the number is at least one. The outer wall of the sleeve 33 and the inner tube 34 away from the axis of the cabin 1 is snap-fitted with a panel 313 corresponding to the position of the air hole 312. The angle tube 32, the sleeve 33 and the inner tube 34 are snap-fitted with a panel 313 corresponding to the position of the air hole 312. The inner wall is fitted with a wall plate 314 corresponding to the position of the air hole 312. A gas plug 315 is fitted with a sliding engagement at the middle position of the wall plate 314 at one end away from the axis of the nacelle 1. A coil spring 316 is sleeved on the outer wall of the gas plug 315, and the coil spring 316 is fitted with the gas plug 315 and the wall plate 314 respectively. A spring pin 317 is fitted with a sliding engagement on the inner wall of the inner cylinder 34. In addition, the gasket 311 is fitted with a sliding engagement at the corresponding position of the sleeve 33, the inner cylinder 34, or the spring pin 317.

[0083] Reference Figure 8 、 Figure 9 and Figure 10 As can be seen, an end cap 321 is mounted on the end of the corner tube 32 away from the axis of the nacelle 1, a column 322 is mounted on the end of the end cap 321 away from the corner tube 32, a corner tube 323 is mounted on the outer surface of the end cap 321 away from the axis of the nacelle 1, a downward wedge 324 is mounted on the end of the column 322 away from the corner tube 32, and an upward wedge 325 is provided on the side of the downward wedge 324 away from the corner tube 32;

[0084] Reference Figure 6 、 Figure 8 and Figure 9 It can be seen that the positive electrode sheet 221 is snap-fitted and installed at the end of the section column 28 away from the spherical head cover 11, the negative electrode sheet 222 that matches the positive electrode sheet 221 is snap-fitted and installed on the inner wall of the end of the water distribution pipe 22 away from the spherical head cover 11, and the tapping line 223 is snap-fitted and installed at the axis of the end of the water distribution pipe 22 away from the spherical head cover 11. A telescopic gas rod 224 is snap-fitted and installed on the outer wall of the end of the cabin 1 away from the spherical head cover 11 through a mounting seat, and the telescopic gas rod 224 is located inside the air deflector 371. There is at least one telescopic gas rod 224. The end face of the telescopic gas rod 224 close to the spherical head cover 11 is snap-fitted and installed with a pipe connection 225. The outer wall of the end of the cabin 1 away from the spherical head cover 11 is snap-fitted and installed with a fixed ring 226 that is slidably snap-fitted and installed with the movable end of the telescopic gas rod 224.

[0085] The aperture of the air hole 312 at the end close to the axis of the cabin 1 is smaller than the aperture of the end away from the axis of the cabin 1. The air plug 315 at the end close to the axis of the cabin 1 is spherical, and the diameter of the spherical structure is smaller than the aperture of the air hole 312 at the end away from the axis of the cabin 1, and larger than the aperture of the air hole 312 at the end close to the axis of the cabin 1. The angle tube 323 is connected to the interior of the angle tube 32, and is connected to the micro air pump 372 through an external conduit. The diameter of the air guide cover 371 is smaller than the diameter of the end of the cabin 1 close to the spherical head cover 11, and the air guide cover 371 is conical.

[0086] The interception process of aquatic plants in the external water body by interception unit 3:

[0087] When the interaction force between the positive electrode sheet 221 and the negative electrode sheet 222 changes:

[0088] First, the change in the degree of interaction between the positive electrode sheet 221 and the negative electrode sheet 222 is transmitted to the external PLC control system in the form of an electrical signal via the tapping line 223. Thereafter, the external PLC control system analyzes the aforementioned electrical signal and transmits the command for the main body of the interception unit 3 to start working to the telescopic gas rod 224 in the form of an electrical signal via the pipe connection 225 (in a specific implementation, an information processing chip can be added to the telescopic gas rod 224 to receive external signals and control the telescopic gas rod 224 to extend or retract).

[0089] Next, the movable end of the telescopic gas rod 224, under the guidance of the fixed ring 226, synchronously controls the upward wedge 325 to move away from the ball head cover 11 until the downward wedge 324 is squeezed to a certain extent. During this process, the column 322, under the control of the downward wedge 324, synchronously drives the end cover 321 to move toward the axial end of the air guide cover 371. At this time, under the combined action of the end cover 321 and the guidance of the air guide cover 371, the angle tube 32 synchronously drives the internal sleeve 33, inner tube 34 and spring pin 317 to move toward the axial side of the air guide cover 371.

[0090] Finally, the micro air pump 372 continuously delivers gas to the corner tube 323 (in specific implementation, the corner tube 323 and the micro air pump 372 can be connected by an external conduit). After that, the pressure inside the corner tube 32 increases (in specific implementation, the gas entering the corner tube 32 flows to the corresponding area through the sleeve 33 and the air port 36 of the inner tube 34 close to the end of the column 322). The sleeve 33, the inner tube 34 and the spring rod are squeezed by the pressure (at this time, the compression spring 35 is stretched to a specified deformation amount, and the spring pin 317 is compressed). Under the action of pressure, its own spring is compressed to a certain extent), and synchronously follows the main body of the angle tube 32 to move toward the axis of the air guide cover 371 (because the radial inner wall of the air guide cover 371 is evenly distributed with the angle tube 32 in the circumferential direction, therefore, in a specific implementation, the spring needle 317 will synchronously extend from different directions to the axis of the air guide cover 371), and performs a grid-like blockage and interception on the fluid (there are strip-shaped impurities such as water plants in the fluid) flowing toward the main propeller 14, thereby reducing the probability of strip-shaped impurities such as water plants in the fluid being entangled with the main propeller 14;

[0091] Similarly, when the upward wedge 325 moves toward the initial position, the angle tube 32 gradually moves toward the initial position under the self-restoring action of the shock-absorbing spring (not shown in the figure). At this time, the sleeve 33, the inner tube 34, the spring pin 317 and other components move synchronously away from the axial center end of the air guide cover 371 under the coordinated action of the angle tube 32.

[0092] The flow direction of the gas inside the corner tube 32 when the corner tube 32 moves to the initial position:

[0093] When the main pusher moves at a constant power (at this time, the gas transmission between the micro air pump 372 and the angle tube 323 is disconnected, and the angle tube 323 transmits gas to the outside in the reverse direction at a certain rate):

[0094] Under its own restoring action, the spring pin 317 gradually retracts into the inner tube 34 to its initial position. Similarly, at this time, the inner tube 34 and the sleeve 33 respectively compress the reverse force of the spring 35 at the corresponding positions and move toward the initial position (the spring rod moves into the inner tube 34, the inner tube 34 moves into the sleeve 33, and the sleeve 33 moves into the angle tube 32. In addition, in a specific implementation, the socketing of the spring rod, the inner tube 34, the sleeve 33, and the angle tube 32 can be increased in this manner, that is, it is not limited to the socketing between the aforementioned components. The number and length of the socketing components can be reasonably allocated according to the inner diameter of the air guide cover 371).

[0095] During this process, the panel 313 gradually releases the compression state of the air plug 315 (the air plug 315 gradually returns to its initial state under the elastic force of the coil spring 316 itself) until the air plug 315 is separated from the air hole 312 (in the initial state, when the pressure inside the angle tube 32 increases, the panel 313 at the corresponding position gradually moves toward the air plug 315 at the corresponding position until the air plug 315 completely blocks the air hole 312 under the squeezing action of the panel 313). At this time, the gas inside the angle tube 32 gradually flows to the outside through the air hole 312. During specific implementation, there is a certain gap between the angle cap 37 and the outer wall of the sleeve 33, the outer wall of the inner tube 34 or the outer wall of the spring needle 317 at the corresponding position. , thereby ensuring that the gas flowing from the air hole 312 passes through the aforementioned gap in an orderly manner, and blows the outer walls of the spring needle 317, the inner tube 34, the sleeve 33 and the angle tube 32, as well as the strip-shaped impurities such as water plants in the external fluid. On the one hand, it reduces the impact of strip-shaped impurities such as water plants on the contraction of the spring needle 317, the inner tube 34, the sleeve 33 and the angle tube 32 (avoiding the congestion of impurities such as water plants in the joint gaps between the spring needle 317 and the inner tube 34, the inner tube 34 and the sleeve 33, and the sleeve 33 and the angle tube 32); on the other hand, it fully ensures the neatness of the outer walls of the spring needle 317, the inner tube 34, the sleeve 33 and the angle tube 32 each time they are extended, thereby reducing the accumulation of strip-shaped impurities such as water plants.

[0096] Reference Figure 7 、 Figure 9 、 Figure 12 and Figure 13 The airbags 373 are symmetrically mounted on the end surface of the air deflector 371 away from the cabin 1, and there are two of them. The radial inner wall of the end of the air deflector 371 away from the cabin 1 is circumferentially evenly mounted with side ear seats 374, and the four side ear seats 374 form a group, which are distributed opposite to each other in pairs. A horizontal shaft 375 is mounted in a through-type rotational manner between the two side ear seats 374 on the same side, and a shovel plate 376 is mounted in a snap-fit ​​manner in the middle position of the outer wall of the horizontal shaft 375. The two shovel plates 376 of the same group are provided with air holes 377 on the shovel plates 376 on the side of the cabin 1. A torsion spring 378 is mounted on the outer wall of the horizontal shaft 375 in a snap-fit ​​manner between the ear seats 374 on the same side of the shovel plates 376. A waterproof ring 379 is symmetrically mounted on the outer wall of the horizontal shaft 375, and the torsion spring 378 is located inside the waterproof ring 379.

[0097] The angle plate 31 is snap-fitted with the inner wall of the vertical section of the air deflector 371 away from the cabin 1, the angle tube 32 is snap-fitted with the inner wall of the air deflector 371 at one end close to the axis of the cabin 1 in a through-type sliding manner, and the upward wedge block 325 is snap-fitted with the movable end of the telescopic gas rod 224 close to the tail propeller 17; the cross-sectional shape of the shovel plate 376 is a right-angled trapezoid, and the vertical distance between the two opposite shovel plates 376 is greater than the sum of the lengths of the two shovel plates 376.

[0098] The function of the shovel plate 376 when the spring pin 317, the inner tube 34, the sleeve 33 and the angle tube 32 are in the contracted state is as follows:

[0099] Under the elastic action of the torsion spring 378, the shovel plate 376 can achieve the corresponding angle of rotation and recovery under the support of the horizontal shaft 375 (the rotation stability of the horizontal shaft 375 is improved by the side ear seat 374);

[0100] When the spring pin 317 contracts, the shovel plate 376 on the side close to the main propeller 14 blows gas toward the tail propeller 17 (in specific implementation, gas can be blown to the outside through the air hole 377, and the function of the shovel plate 376 can be guaranteed by an external air pump and a conduit). The auxiliary shovel plate 376 scrapes away strip-shaped impurities such as water plants on the outer wall of the spring pin 317 (including the inner tube 34, the sleeve 33 and the angle tube 32), while further ensuring that impurities such as water plants in the external fluid are away from the direction of the main propeller 14 and further enhancing the feasibility of the shovel plate 376 in scraping away impurities such as water plants on the outer wall of the spring pin 317 (including the inner tube 34, the sleeve 33 and the angle tube 32);

[0101] Waterproof ring 379: increases the service life of torsion spring 378 and reduces erosion by external fluid;

[0102] It is hereby explained that during specific implementation, a retention unit 3 can be added to the propulsion area of ​​the side propeller 13 and the tail propeller 17 to provide all-round protection for the movement of the three-axis vector underwater robot.

[0103] The working principle of a three-axis vector underwater robot with a mechanical claw operating device provided by the present invention is as follows: Step 1: First, the pressure change in the fluid is sensed through the water drop cap 25 with a relatively large cross-sectional area. When the pressure in the fluid changes, the T-surface rod 24 moves closer to or away from the water drop cap 25 under the combined action of the reverse force of the telescopic spring 26 and the guidance of the outer ring plate 23. During this process, the section column 28, under the combined action of the reverse force of the return spring 29 and the guidance of the inner ring plate 27, synchronously drives the positive electrode sheet 221 towards or away from the negative electrode sheet 222, thereby changing the interaction force between the positive electrode sheet 221 and the negative electrode sheet 222;

[0104] Step 2: The change in the interaction force between the positive electrode 221 and the negative electrode 222 is then transmitted to the telescopic gas rod 224 and the external PLC control system in the form of an electrical signal via the tapping line 223. Thereafter, under the control of the external PLC control system, the telescopic gas rod 224 drives the upward wedge 325 through its movable end to move toward the angle plate 31. During this process, the downward wedge 324, under the combined action of the upward wedge 325 squeezing and the guide of the air guide 371, synchronously controls the angle tube 32 to move toward the axial center of the air guide 371.

[0105] Step 3: Finally, the micro air pump 372 is used to gradually fill the corner tube 323 with gas. After that, the air pressure inside the corner tube 32 increases. Under the action of pressure, the sleeve 33 and the inner tube 34 stretch the compression spring 35 and gradually stretch toward the axial direction of the air guide cover 371 until it moves to the specified position; thereafter, the shovel plate 376, under the restoring action of the torsion spring 378, produces relative movement with the spring needle 317, inner tube 34, sleeve 33 and corner tube 32 in the contracted state in turn, so as to achieve the shovel plate 376 to further scrape off the water plants and other strip-like impurities on the outer walls of the spring needle 317, inner tube 34, sleeve 33 and corner tube 32, fully ensuring the cleanliness of the outer walls of the spring needle 317, inner tube 34, sleeve 33 and corner tube 32 each time, and reducing the accumulation of water plants and other strip-like impurities.

[0106] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0107] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A three-axis vector underwater robot with a mechanical claw operating device, comprising a cabin (1), wherein the diameter of the head of the cabin (1) is larger than the diameter of the tail, and characterized in that: A monitoring unit (2) is provided at one end of the cabin (1), and a retention unit (3) is provided on one side of the monitoring unit (2); The interception unit (3) comprises: At least one gusset (31) is provided at one end of the cabin (1); At least one corner tube (32) is provided at one end of the cabin (1) via a shock-absorbing spring and corresponds one-to-one with the corner plate (31); The sleeve (33) is slidably mounted inside the angle tube (32); An inner cylinder (34) is mounted inside the sleeve (33) in a sliding and snap-fitting manner; The compression spring (35) is respectively arranged between the angle tube (32) and the sleeve (33) and between the sleeve (33) and the inner tube (34), and the compression spring (35) is respectively mounted in a snap-fit ​​manner with the angle tube (32), the sleeve (33) and the inner tube (34) at corresponding positions; The air port (36) is provided in a through-type manner at a middle position of one end of the corner tube (32), the sleeve (33) and the inner tube (34) away from the axis of the cabin (1); The corner cap (37) is respectively mounted on the corner tube (32), the sleeve (33) and the inner tube (34) close to one end of the axis of the cabin (1).

2. The three-axis vector underwater robot with a mechanical claw operating device according to claim 1, characterized in that: The inner walls of the angle tube (32) and the sleeve (33) are snap-fitted with a gasket (311), the number of which is one and the model is different. The inner wall of the inner tube (34) is symmetrically snap-fitted with a gasket (311), and the model is different from the gasket (311) inside the angle tube (32) or the sleeve (33). The middle position of the gasket (311) is circumferentially provided with an air hole (312), and the number is at least one. The outer walls of the sleeve (33) and the inner tube (34) at one end away from the axis of the cabin (1) are snap-fitted with a panel (313) corresponding to the position of the air hole (312). The angle tube (32), the sleeve (33) and The inner wall of the inner cylinder (34) is snap-fitted with a wall plate (314) corresponding to the position of the air hole (312). The wall plate (314) is slidably snap-fitted with an air plug (315) at the middle position of one end of the axis away from the cabin (1). The outer wall of the air plug (315) is sleeved with a coil spring (316), and the coil spring (316) is snap-fitted with the air plug (315) and the wall plate (314) respectively. The inner wall of the inner cylinder (34) is slidably snap-fitted with a spring pin (317). In addition, the gasket (311) is slidably snap-fitted with the sleeve (33), the inner cylinder (34) or the spring pin (317) at its corresponding position.

3. The three-axis vector underwater robot with a mechanical claw operating device according to claim 2, characterized in that: The end of the corner tube (32) away from the axis of the cabin (1) is clamped and installed with an end cover (321), the end of the end cover (321) away from the corner tube (32) is clamped and installed with a column (322), the end surface of the end cover (321) away from the axis of the cabin (1) is clamped and installed with a corner tube (323), the end of the column (322) away from the corner tube (32) is clamped and installed with a descending wedge (324), and the side of the descending wedge (324) away from the corner tube (32) is provided with an ascending wedge (325) matched therewith.

4. The three-axis vector underwater robot with a mechanical claw operating device according to claim 3, characterized in that: The cabin (1) is provided with a deflector (371) on one side close to the corner plate (31), and a micro air pump (372) is provided inside the deflector (371), and the number of the micro air pump (372) is at least one. The end surface of the deflector (371) away from the cabin (1) is symmetrically provided with air bags (373) on the other side, and the number of the air bags is two. The radial inner wall of the end of the deflector (371) away from the cabin (1) is provided with a side ear seat (374) in a circumferentially uniform manner, and the four side ear seats (374) form a group, and are distributed in pairs relative to each other. The two side ear seats (374) on the same side are provided with air bags (373) on the other side. 4) is provided with a transverse shaft (375) in a through-type rotational fit, a shovel plate (376) is mounted in a snap-fit ​​manner at the middle position of the outer wall of the transverse shaft (375), the shovel plate (376) on the side close to the cabin (1) of the two shovel plates (376) in the same group is provided with an air hole (377), a torsion spring (378) is mounted on the outer wall of the transverse shaft (375) in a snap-fit ​​manner between the ear seats (374) on the same side of the shovel plates (376), and a waterproof ring (379) is mounted on the outer wall of the transverse shaft (375) in a symmetrical snap-fit ​​manner, and the torsion spring (378) is located inside the waterproof ring (379).

5. The three-axis vector underwater robot with a mechanical claw operating device according to claim 4, characterized in that: The cabin (1) is snap-fitted with a ball head cover (11) at a middle position of one end away from the air deflector (371), split sockets (12) are snap-fitted with four end corners of the outer wall of the cabin (1), wing propellers (13) are snap-fitted with the outer wall of the cabin (1) at one side away from the air deflector (371) in a symmetrical manner, a main propeller (14) is snap-fitted with the axis of one end of the cabin (1) away from the ball head cover (11), a rear arm (15) is snap-fitted with the end surface of one side of the air deflector (371) away from the ball head cover (11) in a symmetrical manner, a waterproof steering gear (16) is snap-fitted with the middle position between the two rear arms (15) facing each other, a tail propeller (17) is snap-fitted with one end between the two rear arms (15) facing each other, and a gimbal (18) is snap-fitted with the middle position of the outer wall of the cabin (1).

6. The three-axis vector underwater robot with a mechanical claw operating device according to claim 5, characterized in that: The monitoring unit (2) comprises: There is at least one top ear seat (21) which is symmetrically snap-fitted and mounted at a middle position of the inner wall of the cabin (1) at one end away from the ball head cover (11); The water distribution pipe (22) is mounted in a snap-fit ​​manner in the middle of the two top lug seats (21); The outer ring plates (23) are arranged in groups of two and are symmetrically snap-fitted and mounted on the inner wall of the water distribution pipe (22) near one end of the ball head cover (11); A T-face rod (24) is mounted in a sliding, snap-fit ​​manner in the middle of the two outer ring plates (23) of the same group; A water drop cap (25) is mounted on one end of the T-face rod (24) close to the ball head cover (11) by snap-fitting; A telescopic spring (26) is provided between the two outer ring plates (23) of the same group, and the telescopic spring (26) is mounted by snap-fitting with the T-plane rod (24); The inner ring plates (27) are arranged in groups of two and are symmetrically mounted on the inner wall of the water distribution pipe (22) at one end away from the ball head cover (11); The section column (28) is mounted in a sliding and snap-fit ​​manner in the middle of the two inner ring plates (27) of the same group; The return spring (29) is arranged between the two inner ring plates (27) of the same group, and the return spring (29) is installed by snap-fitting with the section column (28).

7. The three-axis vector underwater robot with a mechanical claw operating device according to claim 6, characterized in that: The section column (28) is mounted with a positive electrode sheet (221) in a snap-fit ​​manner at one end away from the ball head cover (11); a negative electrode sheet (222) matching the positive electrode sheet (221) is mounted in a snap-fit ​​manner on the inner wall of one end of the water distribution pipe (22) away from the ball head cover (11); a tapping line (223) is mounted in a snap-fit ​​manner at the axis of one end of the water distribution pipe (22) away from the ball head cover (11); and a tapping line (223) is mounted in a snap-fit ​​manner on the outer wall of one end of the engine room (1) away from the ball head cover (11). The mounting seat is snap-fitted with a telescopic gas rod (224), and the telescopic gas rod (224) is located inside the air deflector (371). The number of the telescopic gas rods (224) is at least one, and the end face of the telescopic gas rod (224) close to the ball head cover (11) is snap-fitted with a pipe connection (225). The outer wall of the end of the cabin (1) away from the ball head cover (11) is snap-fitted with a fixed ring (226) that is slidably snap-fitted with the movable end of the telescopic gas rod (224).

8. The three-axis vector underwater robot with a mechanical claw operating device according to claim 7, characterized in that: The angle plate (31) is mounted in a snap-fit ​​manner with the inner wall of the vertical section of the fairing (371) away from the cabin (1); the angle tube (32) is mounted in a through-type sliding snap-fit ​​manner with the inner wall of one end of the fairing (371) close to the axis of the cabin (1); and the upward wedge (325) is mounted in a snap-fit ​​manner with the movable end of the telescopic gas rod (224) close to the tail propeller (17).

9. The three-axis vector underwater robot with a mechanical claw operating device according to claim 7, characterized in that: The aperture of the air hole (312) at one end close to the axis of the cabin (1) is smaller than the aperture of the end away from the axis of the cabin (1); the air plug (315) at one end close to the axis of the cabin (1) is spherical, and the diameter of the spherical structure is smaller than the aperture of the end of the air hole (312) away from the axis of the cabin (1) and larger than the aperture of the end of the air hole (312) close to the axis of the cabin (1); the angle tube (323) is connected to the interior of the angle tube (32) and is connected to the micro air pump (372) through an external conduit; the diameter of the air deflector (371) is smaller than the diameter of the end of the air deflector (371) close to the ball head cover (11) of the cabin (1), and the air deflector (371) is conical; the cross-section of the shovel plate (376) is a right-angled trapezoid, and the vertical distance between two directly opposite shovel plates (376) is greater than the sum of the lengths of the two shovel plates (376).

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