Underwater robot with anti-collision protection function

Abstract

The invention relates to the technical field of robots, and discloses an underwater robot with an anti-collision protection function, which comprises a main body shell of the underwater robot, a ballast bin and a sonar detector, a first partition layer and a second partition layer are fixedly arranged in the ballast bin and divide the interior of the ballast bin into a high-pressure gas cavity, a middle cavity and a ballast cavity in sequence, an opening is formed in the single side of the ballast cavity, and a recycling assembly is installed in the ballast bin and comprises a gas guide pipe and a sealing plate. High-pressure gas is injected into the ballast cavity, ballast water in the ballast cavity is squeezed out, the effect of reducing the weight is achieved, meanwhile, the air bag is pushed to pop out of the ballast cavity and expands under the inflation effect of the high-pressure gas, and therefore buoyancy is provided for the underwater robot, and the underwater robot emerges from the water surface; the problem that the underwater robot cannot be recycled after faults occur is avoided, and the air bag is stored in the ballast cavity and is not prone to being damaged due to the influence of factors such as external collision or scratching.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an underwater robot with anti-collision protection function. BACKGROUND

[0002] The underwater robot is also called an unmanned remote control submersible, which is an extreme operation robot working underwater. The underwater environment is harsh and dangerous, and the diving depth of a person is limited, so the underwater robot has become an important tool for developing the ocean. When the underwater robot fails during detection in the ocean, the robot will sink to the seabed and cannot be retrieved, resulting in high use cost of the underwater robot.

[0003] According to the search, the underwater robot disclosed in the publication number CN117208175B includes a shell and a safety device; a trigger device is arranged on the shell and can be triggered under a preset pressure; a gas reactor is arranged in the shell, and the trigger device is connected with the gas reactor; a sealed bin is fixedly arranged on the side wall of the shell, and a drain port is formed in the side wall of the sealed bin; the two ends of a first connecting pipe are respectively connected with the sealed bin and the gas reactor, and the gas generated by the gas reactor enters the sealed bin through the first connecting pipe; an air bag is fixedly arranged on the upper part of the shell; a transmission device is arranged on the first connecting pipe, and after the water in the sealed bin is discharged, the first connecting pipe drives the transmission device to pump the gas generated by the gas reactor into the air bag. The present application enables the robot to quickly float to the water surface after a problem occurs, and avoids the situation that the safety device cannot normally operate due to the use of electronic components.

[0004] In the above-mentioned application, the air bag is located on the outside of the robot, which is easy to be damaged by collision or scratching during use, thereby affecting the recovery of the underwater robot. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an underwater robot with anti-collision protection function, which solves the problem that the air bag lacks protection measures and is easy to be damaged when the air bag is arranged on the outside of the underwater robot for use in the prior art.

[0006] In order to achieve the above object, the underwater robot with anti-collision protection function is realized through the following technical scheme: an underwater robot with anti-collision protection function, comprising a main body shell of the underwater robot, a ballast bin and a sonar detector, a first partition layer and a second partition layer are fixedly arranged in the ballast bin, and the ballast bin is sequentially divided into a high-pressure gas cavity, an intermediate cavity and a ballast cavity, the ballast cavity is single-sidedly opened, a recovery assembly is installed in the ballast bin, the recovery assembly comprises an air guide pipe and a sealing plate, the air guide pipe is arranged in the intermediate cavity and communicates the high-pressure gas cavity and the ballast cavity, a control valve is fixedly arranged on the air guide pipe, the sealing plate is slidingly arranged in the ballast cavity, a flow-through channel is formed in the surface of the sealing plate, an annular air bag is fixedly arranged on the side wall of the sealing plate, a connecting rod is fixedly connected to the center of the sealing plate, a sealing cover is fixedly connected to the end of the connecting rod away from the sealing plate, and the flow-through channel is used for communicating the air bag and the air guide pipe.

[0007] By adopting the above technical scheme, the outer side wall of the ballast bin is fixedly connected with a plurality of telescopic supporting rods, and the other end of the telescopic supporting rod is fixedly connected with the sealing cover, so that the stability of the sealing cover when being opened is improved by supporting the sealing cover through the telescopic supporting rods.

[0008] Preferably, a groove one is formed in the center of the side wall of the second partition layer, an L-shaped channel is formed in the lower surface of the groove one, the L-shaped channel communicates the groove one and the air guide pipe, a protrusion is fixedly connected to the side wall of the sealing plate, an installation cavity one is formed in the inside of the protrusion, a T-shaped connecting head is slidingly connected to the inside of the installation cavity one, and a sealing ring one is fixedly connected to the bottom end of the connecting head penetrating through the installation cavity one.

[0009] Preferably, a protection cylinder is fixedly connected to the side wall of the sealing plate, the air bag is arranged in the protection cylinder, and a water-permeable hole is formed in the surface of the protection cylinder.

[0010] Preferably, the flow-through channel comprises a connecting channel located in the middle side, an air outlet channel is horizontally formed in the end of the connecting channel close to the ballast bin and close to one side of the air bag, an air inlet channel is horizontally formed in the end of the connecting channel away from the ballast bin and away from the air bag, and a one-way valve is fixedly arranged in the inside of the air inlet channel and the air outlet channel respectively.

[0011] Preferably, an annular groove is formed in the inside of the connecting channel, a sealing ring three is arranged in the inside of the annular groove, a through channel is formed in the end of the connecting channel close to the outer side wall of the ballast bin, a limiting column is fixedly connected to the end of the sealing ring three facing the through channel, and an annular groove two is formed in the inner side wall of the end of the ballast bin away from the limiting column.

[0012] Preferably, an elastic member four is fixedly connected to the end of the sealing ring three away from the limiting column, and the end of the elastic member four away from the sealing ring three is fixedly connected with the inner wall of the connecting channel.

[0013] Preferably, the inside of the through channel is provided with a slot, the surface of the limiting column is provided with a limiting hole, the side wall of the limiting hole is inserted with a locking rod, one end of the locking rod away from the limiting hole is fixedly connected with a tension spring, and the other end of the tension spring away from the locking rod is fixedly connected with the inside wall of the slot.

[0014] Preferably, the surface of the locking rod is provided with a clamping groove, a convex plug rod is arranged through the surface of the clamping groove, one end of the plug rod away from the locking rod is fixedly connected with a second sealing ring, the outside of the second sealing ring is provided with a sealing cylinder, one end of the sealing cylinder away from the locking rod is fixedly connected with the inner wall of the slot, the surface of the slot is provided with an L-shaped air guide channel corresponding to the sealing cylinder, the other end of the air guide channel is communicated with the air bag and fixedly connected with a sealing piece, and the sealing piece and the air bag are fixedly connected with a pull rope.

[0015] Preferably, the inside of the sealing cover is provided with a storage cavity, the storage cavity is provided with a positioning assembly, the positioning assembly comprises a dyeing agent stored in the storage cavity and a discharge port, and the discharge port is arranged on the lower surface of the storage cavity.

[0016] Preferably, the discharge port is provided with a first channel, a second channel and a third channel from top to bottom, the diameter of the first channel is gradually increased, the inside of the second channel is provided with a sealing block, the bottom end of the sealing block is fixedly connected with an elastic member two, the bottom end of the elastic member two is fixedly connected with the inner bottom wall of the third channel, the top end of the sealing block is embeddedly connected with a magnetic block one, the outside wall of the sealing cover is provided with a sliding groove, the inside of the sliding groove is slidably connected with a counterweight block, the lower surface of the counterweight block is fixedly connected with a magnetic block two which is repulsive to the magnetic block one, and the outside wall of the counterweight block is fixedly connected with a buoyancy layer made of high-buoyancy material.

[0017] Working principle: when the underwater robot appears power failure or power failure, the control valve is opened, the high-pressure gas in the high-pressure gas cavity enters the ballast cavity through the air guide pipe, pushes the sealing plate to slide to the opening of the ballast cavity, so as to extrude the ballast water in the ballast cavity, achieve the effect of reducing weight, at the same time, push the air bag out of the ballast cavity and inflate under the action of high-pressure gas, so as to provide buoyancy for the underwater robot, so that the underwater robot floats out of the water surface.

[0018] The underwater robot with anti-collision protection function is provided. 1. The present application injects high-pressure gas into the ballast cavity to extrude the ballast water in the ballast cavity, thereby achieving the effect of reducing weight, and at the same time, pushing the air bag out of the ballast cavity and expanding under the action of high-pressure gas inflation, thereby providing buoyancy for the underwater robot, making the underwater robot float to the water surface, avoiding the problem that the underwater robot cannot be recovered after failure, and the air bag is stored in the ballast cavity and is not easily damaged by external collision or scratching.

[0019] 2. The present application uses a protective cylinder to protect the air bag, which helps to avoid damage caused by the air bag when it is ejected and expanded, resulting in air leakage and affecting the recovery of the underwater robot, thereby still playing a protective effect when the air bag is ejected.

[0020] 3. When the air bag is inflated to the maximum amplitude, the sealing ring three closes the connecting channel, thereby realizing the relative quantitative inflation of the air bag, avoiding the problems of damage caused by excessive inflation amplitude and insufficient buoyancy caused by small inflation amplitude.

[0021] 4. When the sealing cover seals the ballast cavity, it also seals the discharge port, so that the dyeing agent is sealed and stored in the storage cavity, and when the sealing cover is opened, the dyeing agent flows out to dye the seawater near the underwater robot, so that the recovery personnel can find and recover the underwater robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a perspective view of the present application; Figure 2 is a ballast compartment cross-sectional view of the present application; Figure 3 is a second partition layer cross-sectional view of the present application; Figure 4 is a sealing plate cross-sectional view of the present application; Figure 5 is an enlarged view of A of the present application; Figure 4 Figure 6 is a limiting column and locking rod structure schematic view of the present application; Figure 7 is a blocking ring and limiting rod structure schematic view of the present application; Figure 8 is a sealing cover cross-sectional view of the present application; Figure 9 is an enlarged view of B of the present application; Figure 8 Figure 10 is a discharge port opening schematic view of the present application.

[0023] ​​Wherein, 1, shell; 2, ballast bin; 21, high-pressure gas cavity; 22, intermediate cavity; 23, ballast cavity; 24, sealing cover; 3, recovery assembly; 301, air guide pipe; 302, control valve; 303, sealing plate; 304, flow-through channel; 305, air bag; 306, connecting rod; 307, sealing ring one; 308, protrusion; 309, mounting cavity one; 310, connecting head; 312, protective cylinder; 313, sealing ring three; 314, through channel; 315, limiting column; 316, elastic piece four; 323, limiting hole; 324, locking rod; 325, tension spring; 326, clamping groove; 327, insertion rod; 328, sealing ring two; 329, sealing cylinder; 330, air guide channel; 331, sealing sheet; 332, pull rope; 3041, connecting channel; 3042, air outlet channel; 3043, air inlet channel; 3044, annular groove; 3045, one-way valve; 3051, rubber layer; 3052, plate body; 4, first separation layer; 5, second separation layer; 6, groove two; 7, groove one; 8, storage cavity; 9, positioning assembly; 91, discharge port; 92, sealing block; 93, elastic piece two; 95, magnetic block one; 96, chute; 97, counterweight block; 98, magnetic block two; 99, buoyancy layer; 911, first channel; 912, second channel; 913, third channel; 10, slot; 11, L-shaped channel; 12, sliding block; 13, elastic piece five; 14, limiting rod; 15, magnetic ring; 16, position blocking ring; 17, elastic piece three. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] Embodiment one, please refer to the attached Figure 1 -attached Figure 4The embodiment of the present application provides a kind of underwater robot with anti-collision protection function, including the main body shell 1 of underwater robot, ballast compartment 2 and echo sounder detector, ballast compartment 2 surface is provided with pumping line and air pipe, pumping line is used to suck or discharge seawater into ballast water tank, each ballast water tank is connected with ballast water pump by separate pipeline, air pipe guarantees when water is pressed into ballast water tank, air in tank can be discharged outside tank, echo sounder detector is inducted the distance between underwater robot and front obstacle by echo sounder signal, the inside of ballast compartment 2 is fixedly provided with first partition layer 4 and second partition layer 5 and sequentially separates high-pressure gas cavity 21, intermediate cavity 22 and ballast cavity 23 in ballast compartment 2, high-pressure gas cavity 21 is used to store high-pressure gas, ballast cavity 23 is used to store ballast water, ballast cavity 23 one side opening, the inside of ballast compartment 2 is installed with recovery assembly 3, recovery assembly 3 includes air pipe 301 and sealing plate 303, air pipe 301 is arranged in intermediate cavity 22 and is communicated with high-pressure gas cavity 21 and ballast cavity 23, control valve 302 is fixedly arranged on air pipe 301, control valve 302 closes air pipe 301, sealing plate 303 is slidably arranged in ballast cavity 23, surface of sealing plate 303 is provided with flow-through passage 304, annular air bag 305 is fixedly arranged on the side wall of sealing plate 303, connecting rod 306 is fixedly connected at the center of sealing plate 303, sealing cover 24 is fixedly connected to the end of connecting rod 306 away from sealing plate 303, when assembling, sealing plate 303 and sealing cover 24 are sequentially inserted into the inside of ballast cavity 23 until sealing cover 24 blocks the opening of ballast cavity 23, close control valve 302, under the action of negative pressure between ballast cavity 23 and sealing plate 303, sealing plate 303 and sealing cover 24 are limited, sealing ring is fixedly arranged on the surface of the intersection of sealing cover 24 and the opening of ballast cavity 23, for sealing the intersection, control valve 302 adopts electric power-off reset valve, electric power-off reset valve is automatically opened when underwater robot fails to power off, and electric power-off reset valve can be opened by the control system of underwater robot when power failure occurs.

[0026] Specifically, when the underwater robot is in use, the sonar detector detects the distance between the underwater robot and the front obstacle through the sonar signal, which is beneficial to the precise obstacle avoidance of the underwater robot to realize the anti-collision protection function. When the underwater robot has a power failure or a power-off failure, the control valve 302 is opened, the high-pressure gas in the high-pressure gas cavity 21 enters the ballast cavity 23 through the gas guide pipe 301, and pushes the sealing plate 303 to slide towards the opening of the ballast cavity 23, so as to extrude the ballast water in the ballast cavity 23 and achieve the effect of reducing the weight. At the same time, the gas bag 305 is pushed out of the ballast cavity 23 and expands under the inflation of the high-pressure gas, thereby providing buoyancy for the underwater robot, making the underwater robot float to the water surface, avoiding the problem that the underwater robot cannot be recovered after failure, and when the underwater robot is in normal use, the gas bag 305 is stored in the ballast cavity 23 and is not easy to be damaged by external collision or scratching.

[0027] Please refer to the accompanying drawings Figure 3 A recess one 7 is formed at the center of the side wall of the second separation layer 5, an L-shaped channel 11 is formed at the lower surface of the recess one 7, the L-shaped channel 11 communicates the recess one 7 and the gas guide pipe 301, the side wall of the sealing plate 303 is fixedly connected with a protrusion 308, an installation cavity one 309 is formed in the inside of the protrusion 308, a T-shaped connecting head 310 is slidably connected in the inside of the installation cavity one 309, the bottom end of the connecting head 310 penetrates through the installation cavity one 309 and is fixedly connected with a sealing ring one 307, the top end of the connecting head 310 is fixedly connected with an elastic piece three 17, and the end of the elastic piece three 17 away from the connecting head 310 is fixedly connected with the inner wall of the installation cavity one 309.

[0028] Specifically, when assembling, the protrusion 308 is inserted into and abuts against the recess one 7, the connecting head 310 is pushed to slide downward by the elastic force of the elastic piece three 17, so that the connecting head 310 drives the sealing ring one 307 to be inserted into the inside of the L-shaped channel 11, and after the control valve 302 is closed, the sealing ring one 307 is stably inserted into the inside of the L-shaped channel 11 under the action of negative pressure and elastic force, so as to achieve the effect of stably limiting the protrusion 308 and the sealing plate 303, and the impact force of the added ballast water on the sealing plate 303 or the negative pressure adsorption pulling force applied to the sealing plate 303 when being discharged can be dispersed. The sealing plate 303 is connected with the sealing cover 24 through the connecting rod 306, which can limit the sealing cover 24, so that the sealing cover 24 seals the opening of the ballast cavity 23, and when the high-pressure gas is discharged through the gas guide pipe 301 and enters the inside of the L-shaped channel 11, the sealing ring one 307 is pushed to slide outward, so that the sealing ring one 307 exits the L-shaped channel 11, thereby automatically canceling the limitation of the protrusion 308, and the sealing plate 303 can slide outward.

[0029] Please refer to the accompanying drawings Figure 4The side wall of the sealing plate 303 is fixedly connected with a protection cylinder 312, the air bag 305 is arranged in the protection cylinder 312, and the surface of the protection cylinder 312 is provided with a water permeable hole.

[0030] Specifically, the protection cylinder 312 is used for protecting the air bag 305, which helps to avoid the air bag 305 from being ejected and damaged when the air bag 305 is in contact with external objects during expansion, thereby affecting the recovery of the underwater robot, so that the protection effect is still achieved when the air bag 305 is ejected.

[0031] Please refer to the accompanying drawings Figure 7 The air bag 305 is composed of two layers of rubber layers 3051 and an annular plate body 3052, the outer side wall of the plate body 3052 is slidably connected with a sliding block 12, one side of the sliding block 12 is fixedly connected with an elastic element five 13, the end of the elastic element five 13 away from the sliding block 12 is fixedly connected with the plate body 3052, the end of the sliding block 12 away from the elastic element five 13 is fixedly connected with a limiting rod 14 made of ferromagnetic material, the limiting rod 14 penetrates through the protection cylinder 312, and the inner wall of the ballast cavity 23 is embeddedly and fixedly connected with a magnetic ring 15 at the position corresponding to the limiting rod 14, and the surface of the connecting rod 306 is fixedly provided with a blocking ring 16, and the blocking ring 16 and the limiting rod 14 are located on the two sides of the plate body 3052 respectively.

[0032] Specifically, the limiting rod 14 penetrates through the protection cylinder 312 through the magnetic attraction force with the magnetic ring 15, and the plate body 3052 is limited on one side, and the limiting rod 14 and the magnetic ring 15 are disengaged when the plate body 3052 slides under the action of the high-pressure gas, so that the limiting rod 14 is retracted in the protection cylinder 312 under the action of the tension of the elastic element five 13, so that the plate body 3052 is not locked, and the air bag 305 can be normally expanded and stretched.

[0033] Please refer to the accompanying drawings Figure 5 -Appendix Figure 6 The flow-through channel 304 includes a connecting channel 3041 located in the middle side, the connecting channel 3041 is provided with an air outlet channel 3042 transversely at one end close to the ballast bin 2 and one side close to the air bag 305, the connecting channel 3041 is provided with an air inlet channel 3043 transversely at the end away from the ballast bin 2 and the side away from the air bag 305, and the inner parts of the air inlet channel 3043 and the air outlet channel 3042 are fixedly provided with one-way valves 3045 respectively.

[0034] Specifically, the high-pressure gas enters the air bag 305 through the air guide pipe 301 and the flow-through channel 304, and the one-way valves 3045 are used for controlling the gas to pass through the air inlet channel 3043 and the air outlet channel 3042 in sequence and enter the air bag 305 in one direction.

[0035] Please refer to the attached Figure 5 - attached Figure 6 Because the underwater robot cannot be accurately inflated when it is powered off, which can cause the air bag to expand excessively and be damaged, the embodiment proposes the following scheme to solve the above problems. The inside of the connecting channel 3041 is provided with an annular groove 3044, and the annular groove 3044 is provided with a sealing ring three 313. The diameter of the sealing ring three 313 matches the diameter of the connecting channel 3041. The end of the connecting channel 3041 close to the outer side wall of the ballast compartment 2 is provided with a through channel 314. The end of the sealing ring three 313 facing the through channel 314 is fixedly connected with a limiting column 315. The inner side wall of the end of the ballast compartment 2 away from the limiting column 315 is provided with an annular groove two 6. The end of the sealing ring three 313 away from the limiting column 315 is fixedly connected with an elastic piece four 316. The end of the elastic piece four 316 away from the sealing ring three 313 is fixedly connected with the inner wall of the connecting channel 3041.

[0036] Specifically, the bottom end of the limiting column 315 abuts against the inner wall of the ballast cavity 23, so that the sealing ring three 313 is kept in the annular groove 3044, and the gas can flow through the connecting channel 3041 into the air bag 305. When the sealing plate 303 slides to the opening of the ballast cavity 23, the limiting column 315 moves to align the groove two 6 and slides outward under the elastic force of the elastic piece four 316 to insert into the inside of the groove two 6. When the limiting column 315 slides, the sealing ring three 313 slides outward and inserts into the connecting channel 3041 under the high gas pushing, so as to cut off the connecting channel 3041, avoiding the excessive injection of high-pressure gas into the air bag 305, which can cause the air bag 305 to expand excessively and burst.

[0037] Embodiment two, please refer to the attached Figure 5 - attached Figure 6In order to solve the above problem, the inside of the through channel 314 is provided with a slot 10, the surface of the limiting column 315 is provided with a limiting hole 323, the side wall of the limiting hole 323 is inserted with a locking rod 324, one end of the locking rod 324 away from the limiting hole 323 is fixedly connected with a tension spring 325, one end of the tension spring 325 away from the locking rod 324 is fixedly connected with the inside wall of the slot 10, the surface of the locking rod 324 is provided with a clamping groove 326, the clamping groove 326 is provided with a convex plug rod 327, the plug rod 327 comprises a short column with a large diameter and a long column with a small diameter, wherein the width of the clamping groove 326 is the same as the diameter of the long column, one end of the plug rod 327 away from the locking rod 324 is fixedly connected with a sealing ring two 328, the outside of the sealing ring two 328 is provided with a sealing cylinder 329, one end of the sealing cylinder 329 away from the locking rod 324 is fixedly connected with the inside wall of the slot 10, the surface of the slot 10 is provided with an L-shaped air guide channel 330 corresponding to the sealing cylinder 329, the other end of the air guide channel 330 is connected with the air bag 305 and is fixedly connected with a sealing piece 331, the sealing piece 331 and the air bag 305 are fixedly connected with a pull rope 332, and the length of the pull rope 332 is less than the length of the protection cylinder 312.

[0038] Specifically, during assembly, the sealing ring two 328 is inserted into the bottom of the sealing cylinder 329, and then the plug rod 327 is inserted into the clamping groove 326, the sealing ring two 328 and the plug rod 327 are limited by the negative pressure adsorption, the plug rod 327 limits the locking rod 324, and the locking rod 324 is inserted into the limiting hole 323 two, so that the limiting column 315 will not move outward when being inserted into the recess two 6, thereby leaving enough time for the air bag 305 to inflate, when the air bag 305 is inflated to fill the protection cylinder 312, the sealing piece 331 is pulled by the pull rope 332 to break and open the air guide channel 330, so that the high-pressure gas in the air bag 305 enters the sealing cylinder 329 through the air guide channel 330, and pushes the sealing ring two 328 to slide, so that the thick end of the plug rod 327 moves out of the clamping groove 326, and the locking rod 324 exits the limiting hole 323 under the action of the tension of the tension spring 325, so that when the air bag 305 is inflated to the maximum, the sealing ring three 313 closes the connecting channel 3041, thereby realizing the relative quantitative inflation of the air bag 305, and avoiding the problem that the air bag 305 cannot be accurately inflated when the underwater robot is powered off, so that the inflation amplitude is too large to damage or the inflation amplitude is too small to have insufficient buoyancy.

[0039] Embodiment three, please refer to the attached Figure 8 The inside of the sealing cover 24 is provided with a storage cavity 8, the storage cavity 8 is provided with a positioning assembly 9, the positioning assembly 9 comprises a dyeing agent stored in the storage cavity 8 and a discharge port 91, and the discharge port 91 is formed in the lower surface of the storage cavity 8.

[0040] Specifically, the sealing cover 24 seals the ballast cavity 23, and simultaneously seals the discharge port 91, so that the dyeing agent is sealed and stored in the storage cavity 8, and when the sealing cover 24 is opened, the dyeing agent flows out to dye the seawater near the underwater robot, so that the recovery personnel can find and recover the underwater robot.

[0041] Based on the above embodiment, please refer to the accompanying drawings Figure 9 - the accompanying drawings Figure 10 When the underwater robot is at a deep diving depth, the storage amount of the dyeing agent is limited, and cannot be used up or has a small amount when the underwater robot floats to the water surface, thereby causing waste or insufficient problems, and affecting the search for the underwater robot. The embodiment proposes the following scheme to solve the above problems. The discharge port 91 is provided with a first channel 911, a second channel 912 and a third channel 913 from top to bottom, the diameter of which gradually increases. The inside of the second channel 912 is provided with a sealing block 92, the bottom end of the sealing block 92 is fixedly connected with an elastic member two 93, the bottom end of the elastic member two 93 is fixedly connected with the inner bottom wall of the third channel 913, the top end of the sealing block 92 is embeddedly connected with a magnetic block one 95, the outer side wall of the sealing cover 24 is provided with a sliding groove 96, the inside of the sliding groove 96 is slidably connected with a counterweight block 97, the lower surface of the counterweight block 97 is fixedly connected with a magnetic block two 98 which is magnetically repulsive with the magnetic block one 95, and the outer side wall of the counterweight block 97 is fixedly connected with a buoyancy layer 99 made of high buoyancy material.

[0042] Specifically, when the air bag 305 extends and expands, the whole body is staggered with the shell 1, and is affected by the buoyancy of the air bag 305 and the weight of the underwater robot, so that the underwater robot will tilt to make the air bag 305 upward and the shell 1 downward. The sealing block 92 is inserted into the second channel 912 by the elastic force of the elastic member two 93 and the pressure of the seawater, so as to block the discharge port 91, so that the dyeing agent does not flow out when the underwater robot floats up, and the counterweight block 97 is driven by the buoyancy of the buoyancy layer 99 to slide upward along the sliding groove 96, so that the magnetic block one 95 is staggered with the magnetic block two 98. When the underwater robot floats to the water surface, the buoyancy layer 99 is located on the water surface and does not exert buoyancy on the counterweight block 97, so that the counterweight block 97 slides downward to drive the magnetic block two 98 to approach the magnetic block one 95. Under the magnetic repulsion of the magnetic block one 95 and the magnetic block two 98, the sealing block 92 is pushed to slide into the third channel 913, so that the dyeing agent flows out from the discharge port 91 when the underwater robot floats to the water surface, thereby fully utilizing the dyeing agent and reducing the waste of the dyeing agent.

[0043] The workflow is that when the underwater robot is in use, the sonar detector detects the distance between the underwater robot and the front obstacle through the sonar signal, which is beneficial to the precise obstacle avoidance of the underwater robot to realize the function of collision protection. When the underwater robot has a power failure or a power failure, the control valve 302 is opened, the high-pressure gas in the high-pressure gas cavity 21 enters the ballast cavity 23 through the gas guide pipe 301, and pushes the sealing plate 303 to slide to the opening of the ballast cavity 23, so as to extrude the ballast water in the ballast cavity 23, achieve the effect of reducing weight, and at the same time push the air bag 305 out of the ballast cavity 23 and inflate under the action of high-pressure gas, thereby providing buoyancy for the underwater robot, so that the underwater robot floats out of the water surface. The protective cylinder 312 is used to protect the air bag 305, which helps to avoid damage to the air bag 305 when it is ejected and inflated, and to avoid air leakage caused by the intersection with external objects, which affects the recovery of the underwater robot, thereby still playing a protective effect when the air bag 305 is ejected.

[0044] When assembling, the sealing ring two 328 is first inserted into the bottom of the sealing cylinder 329, and the insertion rod 327 is inserted into the clamping groove 326. The sealing ring two 328 and the insertion rod 327 are limited by the negative pressure adsorption effect, so that the insertion rod 327 limits the locking rod 324. The locking rod 324 is inserted into the limiting hole 323 two, so that the limiting column 315 will not move outward when it is inserted into the recess two 6, thereby leaving enough time for the air bag 305 to inflate. When the air bag 305 is inflated and fills the protective cylinder 312, the sealing sheet 331 is pulled by the pull rope 332 to break and open the gas guide channel 330, so that the high-pressure gas in the air bag 305 enters the sealing cylinder 329 through the gas guide channel 330, and pushes the sealing ring two 328 to slide, so that the thicker end of the insertion rod 327 moves out of the clamping groove 326, so that the locking rod 324 is pulled out of the limiting hole 323 under the action of the tension spring 325. Thus, when the air bag 305 is inflated to the maximum amplitude, the sealing ring three 313 closes the connecting channel 3041, thereby realizing the relative quantitative inflation of the air bag 305, avoiding the problems of damage caused by excessive inflation of the air bag 305 and insufficient buoyancy caused by insufficient inflation.

[0045] When the sealing cover 24 seals the ballast cavity 23, it also seals the discharge port 91, so that the dyeing agent is sealed and stored in the storage cavity 8. When the sealing cover 24 is opened, the dyeing agent flows out to dye the seawater near the underwater robot, so that the recovery personnel can find and recover the underwater robot.

[0046] When the air bag 305 extends and expands, the whole air bag 305 is misaligned with the outer shell 1, and the buoyancy of the air bag 305 and the weight of the underwater robot make the underwater robot tilt so that the air bag 305 faces upward and the outer shell 1 faces downward. The sealing block 92 is inserted into the second channel 912 by the elastic force of the elastic member two 93 and the pressure of seawater, thereby blocking the discharge port 91, so that the dyeing agent does not flow out when the underwater robot floats upward, and the buoyancy of the buoyancy layer 99 drives the counterweight block 97 to slide upward along the sliding groove 96, so that the magnetic block one 95 is misaligned with the magnetic block two 98. When the underwater robot floats to the water surface, the buoyancy layer 99 is located on the water surface and does not exert buoyancy on the counterweight block 97, so that the counterweight block 97 slides downward to drive the magnetic block two 98 to approach the magnetic block one 95. Under the repulsive action of the magnetic block one 95 and the magnetic block two 98, the sealing block 92 is pushed to slide into the third channel 913, so that the dyeing agent flows out from the discharge port 91 when the underwater robot floats to the water surface, thereby fully utilizing the dyeing agent and reducing the waste of the dyeing agent.

[0047] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An underwater robot with anti-collision protection function, comprising a main body shell (1), a ballast tank (2), and a sonar detector, characterized in that: The ballast chamber (2) is fixedly provided with a first partition layer (4) and a second partition layer (5) to sequentially divide the interior of the ballast chamber (2) into a high-pressure gas chamber (21), an intermediate chamber (22), and a ballast chamber (23). The ballast chamber (23) is open on one side. A recovery assembly (3) is installed inside the ballast chamber (2). The recovery assembly (3) includes a gas guide pipe (301) and a sealing plate (303). The gas guide pipe (301) is located in the intermediate chamber (22) and connects the high-pressure gas chamber (21) and the ballast chamber (23). A control valve (302) is fixedly installed on the ballast chamber (23). The sealing plate (303) is slidably installed in the ballast chamber (23). A flow channel (304) is opened on the surface of the sealing plate (303). An annular airbag (305) is fixedly installed on the side wall of the sealing plate (303). The flow channel (304) is used to connect the airbag (305) and the air guide tube (301). A connecting rod (306) is fixedly connected to the center of the sealing plate (303). A sealing cap (24) is fixedly connected to the end of the connecting rod (306) away from the sealing plate (303).

2. The underwater robot with anti-collision protection function according to claim 1, characterized in that: The second partition layer (5) has a groove (7) at the center of its side wall. The lower surface of the groove (7) has an L-shaped channel (11) that connects the groove (7) and the air duct (301). The side wall of the sealing plate (303) has a protrusion (308) that is fixedly connected. The interior of the protrusion (308) has an installation cavity (309). The interior of the installation cavity (309) has a T-shaped connector (310) that is slidably connected. The bottom end of the connector (310) is inserted into the interior of the installation cavity (309) and a sealing ring (307) is fixedly connected.

3. An underwater robot with anti-collision protection function according to claim 1, characterized in that: The side wall of the sealing plate (303) is fixedly connected to a protective cylinder (312), the airbag (305) is placed inside the protective cylinder (312), and the surface of the protective cylinder (312) is provided with water-permeable holes.

4. An underwater robot with anti-collision protection function according to claim 1, characterized in that: The circulation channel (304) includes a connecting channel (3041) located in the middle. The connecting channel (3041) has a horizontally opened air outlet channel (3042) on the side near the airbag (305), and a horizontally opened air inlet channel (3043) on the side away from the airbag (305). One-way valves (3045) are fixedly installed inside the air inlet channel (3043) and the air outlet channel (3042).

5. An underwater robot with anti-collision protection function according to claim 4, characterized in that: The connecting channel (3041) has an annular groove (3044) inside, and a sealing ring three (313) is provided inside the annular groove (3044). The connecting channel (3041) has a through channel (314) at one end near the outer wall of the ballast tank (2). The sealing ring three (313) is fixedly connected to a limiting post (315) at one end facing the through channel (314). The inner wall of the ballast tank (2) away from the limiting post (315) has an annular groove two (6).

6. An underwater robot with anti-collision protection function according to claim 5, characterized in that: The end of the sealing ring three (313) away from the limiting post (315) is fixedly connected to the elastic element four (316), and the end of the elastic element four (316) away from the sealing ring three (313) is fixedly connected to the inner wall of the connecting channel (3041).

7. An underwater robot with anti-collision protection function according to claim 5, characterized in that: The through channel (314) has a slot (10) inside. The surface of the limiting post (315) has a limiting hole (323). A locking rod (324) is inserted into the side wall of the limiting hole (323). A tension spring (325) is fixedly connected to the end of the locking rod (324) away from the limiting hole (323). The end of the tension spring (325) away from the locking rod (324) is fixedly connected to the inner side wall of the slot (10).

8. An underwater robot with anti-collision protection function according to claim 7, characterized in that: The surface of the locking rod (324) is provided with a square slot (326), and a convex insert rod (327) is provided through the surface of the slot (326). A sealing ring (328) is fixedly connected to one end of the insert rod (327) away from the locking rod (324). A sealing cylinder (329) is provided on the outside of the sealing ring (328). One end of the sealing cylinder (329) away from the locking rod (324) is fixedly connected to the inner wall of the slot (10). An L-shaped air guide channel (330) is provided on the surface of the slot (10) corresponding to the sealing cylinder (329). The other end of the air guide channel (330) is connected to the airbag (305) and a sealing sheet (331) is fixedly connected. A pull rope (332) is fixedly connected between the sealing sheet (331) and the airbag (305).

9. An underwater robot with anti-collision protection function according to claim 1, characterized in that: The sealing cover (24) has a storage cavity (8) inside, and a positioning component (9) is installed in the storage cavity (8). The positioning component (9) includes a dye stored in the storage cavity (8) and a discharge port (91). The discharge port (91) is located on the lower surface of the storage cavity (8).

10. An underwater robot with anti-collision protection function according to claim 9, characterized in that: The discharge port (91) is provided with a first channel (911), a second channel (912) and a third channel (913) with gradually increasing diameter from top to bottom. A sealing block (92) is slidably arranged inside the second channel (912). An elastic element (93) is fixedly connected to the bottom end of the sealing block (92). The bottom end of the elastic element (93) is fixedly connected to the inner bottom wall of the third channel (913). A magnetic block (95) is embedded and connected to the top of the sealing block (92). A sliding groove (96) is opened on the outer side wall of the sealing cover (24). A counterweight (97) is slidably connected inside the sliding groove (96). A magnetic block (98) whose magnetism is repulsive to that of the magnetic block (95) is fixedly connected to the lower surface of the counterweight (97). A buoyancy layer (99) made of high buoyancy material is fixedly connected to the outer side wall of the counterweight (97).

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