Muddy water working condition air isolation cover suitable for magnetic adsorption underwater robot

Abstract

The invention discloses a muddy water working condition air isolation cover suitable for a magnetic adsorption underwater robot, which comprises an underwater shooting camera, an air isolation cover and a flexible compensation structure, and is characterized in that the underwater shooting camera and an acrylic plate observation window are both hermetically connected with the air isolation cover, so that a closed cavity is formed in the cover, and an air area is formed in the cover; external muddy water is isolated to ensure the visual detection definition; the flexible compensation structure forms three revolute pairs through a front-back rotating shaft, a left-right rotating shaft and a lifting arm rotating shaft, multi-degree-of-freedom movement of front-back, left-right and up-down overturning of the air isolation hood is achieved, and the air isolation hood flexibly deforms to surmount obstacles when encountering external force in cooperation with symmetrical pulling force of a left-right tension spring, a front-back tension spring and a lifting arm tension spring and recovers to the center operation posture after the external force disappears. Large-fillet safe edges are arranged on the periphery of the air isolation hood, and smooth obstacle crossing is achieved. The system does not need additional execution elements, can be carried on most magnetic adsorption underwater robots, and solves the technical problems of fuzzy shooting and failure of a visual camera of an underwater robot in a muddy water area.

Description

Technical Field

[0001] This invention relates to a visual inspection component for underwater magnetic adsorption robots operating in murky waters, specifically a murky water air isolation cover structure with multiple degrees of freedom. Background Technology

[0002] Magnetic adsorption underwater robots are widely used in cleaning, maintenance, and inspection operations on underwater vessels and oil and electricity platforms. They are an important type of intelligent equipment in marine equipment and have a large market and application potential.

[0003] Currently, traditional visual cameras suffer from problems such as blurry images or even failure when capturing images of murky water during operations. This prevents robots from directly detecting and observing the adsorption surface when working in murky water, thus affecting the robot's operability and feedback on the operational results.

[0004] Therefore, an air isolation cover suitable for turbid water conditions of magnetic adsorption underwater robots was designed to meet the operational needs of underwater magnetic adsorption robots in turbid water conditions. Summary of the Invention

[0005] This invention proposes an air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots. The purpose is to enable visual inspection of the adsorption surface of magnetic adsorption robots in turbid waters, thereby improving the operational performance of such underwater robots in special environments.

[0006] Benming's technical solution is as follows:

[0007] An air isolation cover for turbid water conditions suitable for magnetically adsorbed underwater robots comprises an underwater camera, an air isolation cover, and a flexible compensation structure. The flexible compensation structure includes a strip frame, a triangular frame, a square frame, left and right tension springs, rounded corner guards, frame fixing blocks, front and rear tension springs, guard fixing blocks, front and rear pivots, left and right pivots, a lifting arm, a lifting arm tension spring, a lifting arm pivot, connecting parts, an acrylic observation window, an observation window sealing O-ring, a short copper sleeve, a plug, a camera sealing O-ring, a long copper sleeve, a tension spring shackle, and various fasteners. The underwater camera and the acrylic observation window are rigidly connected to the air isolation cover by screws and sealed by the camera sealing O-ring and the observation window sealing O-ring, respectively, to achieve air isolation. The interior of the enclosure forms a sealed chamber, isolating the turbid water and creating an air zone. The rounded corner guards are fixed to the air isolation enclosure with screws via guard fixing blocks. The square frame is connected to the air isolation enclosure via frame fixing blocks. The front and rear rotating shafts are fixed to the frame fixing blocks via threads, and the front and rear rotating shafts, short copper sleeves, and square frames form a rotating pair. The square frame and the triangular frame are connected to the short copper sleeves via left and right rotating shafts, forming a rotating pair. One triangular frame is placed symmetrically at the front and rear of the square frame and is fixed via strip frames. One end of the lifting arm is rigidly connected to the triangular frame with bolts, and the other end of the lifting arm is connected to the connecting component via a long copper sleeve, forming a rotating pair. The connecting component is used to connect this structure to the corresponding magnetic adsorption underwater robot.

[0008] Preferably, the air isolation cover forms three rotating joints through front and rear rotating shafts, left and right rotating shafts, and lifting arm rotating shaft, realizing three degrees of freedom of movement relative to the connecting parts: front and rear flipping, left and right flipping, and up and down flipping. That is, through the three rotating joints, the air isolation cover can change its own posture when it encounters obstacles during operation so that it can pass through the obstacles.

[0009] Preferably, the left and right tension springs, front and rear tension springs, and lifting arm tension springs apply symmetrical tension to the three rotating joints, so that the air isolation cover maintains a centered normal working posture when no external force is applied, and the three rotating joints use the symmetrical tension applied by the left and right tension springs, front and rear tension springs, and lifting arm tension springs to keep the air isolation cover in a centered normal working posture.

[0010] Preferably, the rounded corner guard adopts a large rounded corner structure design. The rounded corner guard is fixed to the air isolation cover around the perimeter by guard fixing blocks. The large rounded corner structure design allows the air isolation cover to smoothly pass through obstacles by transitioning the force direction of the obstacles, thus protecting the air isolation cover from structural damage when encountering obstacles and impacts.

[0011] Preferably, a small gap is maintained between the acrylic plate observation window and the working adsorption surface of the magnetic adsorption underwater robot, and the two do not come into contact with each other.

[0012] Preferably, the underwater camera integrates a lighting lamp, which shines through the acrylic observation window onto the working adsorption surface, and the reflected light passes through the acrylic observation window into the underwater camera lens.

[0013] Preferably, the connecting component is a detachable structure, which can be connected and fixed with magnetic adsorption underwater robots on the market.

[0014] Preferably, the high degree of freedom design of the three rotating joints ensures that the designed structure can adapt to complex adsorption surfaces.

[0015] Preferably, the internal sealed chamber can create an air area in front of the underwater camera in turbid water to isolate the underwater turbid water, which facilitates the observation of the adsorption surface and ensures the clarity of visual detection.

[0016] Preferably, the flexible structure formed by symmetrical tension springs for each rotating joint allows the air shield to flexibly deform at each rotating joint when subjected to external force, and to return to its original posture after the external force ends.

[0017] Beneficial Effects: This invention provides an air isolation cover suitable for magnetic adsorption underwater robots operating in murky water. It can be mounted on most commercially available magnetic adsorption underwater robots. Utilizing its own flexible structure, it can handle complex adsorption surfaces and curved environments without the need for additional actuators, exhibiting high degrees of freedom and flexibility. This invention effectively improves the operational performance and feedback of magnetic adsorption underwater robots in murky waters, and solves the technical problems of blurred and malfunctioning visual cameras in murky waters. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of an air isolation cover for turbid water conditions applicable to magnetic adsorption underwater robots according to the present invention;

[0019] Figure 2 This is an internal cross-sectional view of an embodiment of the present invention;

[0020] Figure 3 This is a partial view of a front-to-back flipping revolute joint according to an embodiment of the present invention.

[0021] Figure 4 This is a partial view of a left-right flipping rotation joint according to an embodiment of the present invention;

[0022] Figure 5 This is a partial view of the lifting arm structure according to an embodiment of the present invention;

[0023] Figure 6 This is a structural diagram of an air isolation cover according to an embodiment of the present invention;

[0024] Figure 7This is a schematic diagram of the edge protection structure according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of a work scenario according to an embodiment of the present invention;

[0026] In the image: 1. Underwater camera; 2. Air shield; 3. Strip frame; 4. Triangular frame; 5. Square frame; 6. Left and right tension springs; 7. Rounded corner guards; 8. Frame fixing block; 9. Front and rear tension springs; 10. Guard fixing block; 11. Front and rear pivots; 12. Left and right pivots; 13. Lifting arm; 14. Lifting arm tension spring; 15. Lifting arm pivot; 16. Connecting parts; 17. Acrylic observation window; 18. Observation window sealing O-ring; 19. Short copper sleeve; 20. Plug; 21. Camera sealing O-ring; 22. Long copper sleeve; 23. Working vessel; 24. Magnetic adsorption robot. Specific Implementation

[0027] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments.

[0028] like Figure 1-8 As shown, in this embodiment, the entire unit is fixed to the magnetic adsorption robot 24 via the connecting component 16, and moves together with the magnetic adsorption robot 24 as it is adsorbed onto the iron plate of the work vessel 23. The underwater camera 1 is fixed to the air isolation cover 2. The underwater camera 1 integrates a light. During operation, the light of the underwater camera 1 is turned on, and the light shines through the acrylic observation window 17 onto the work iron plate. There is a small gap between the acrylic observation window 17 and the work iron plate to prevent them from directly contacting each other and avoiding direct wear or scratches. The light shining on the work iron plate is reflected and passes through the acrylic observation window 17 into the lens of the underwater camera 1. The air isolation cover 2 is sealed to the acrylic observation window 17 by the observation window sealing O-ring 18, and to the underwater camera 1 by the camera sealing O-ring 21. The sealed internal cavity that can be used for observation isolates the inside of the air isolation cover 2 from the outside turbid water, allowing the work iron plate to be observed in turbid water.

[0029] During the operation of the working vessel 23, the overall posture remains relatively stable as it moves with the magnetic adsorption robot 24. The square frame 5 is connected to the air isolation cover 2 via the frame fixing block 8 and the short copper sleeve 19 via the front and rear rotating shafts 11. The triangular frame 4 and the strip frame 3 are rigidly fixed together, and the whole is connected to the square frame 5 via the left and right rotating shafts 12 and the short copper sleeve 19 via the left and right rotating shafts 12. The lifting arm 13 is rigidly connected to one side of the triangular frame. At the same time, the lifting arm 13 is connected to the connecting parts via the lifting arm rotating shaft 15 and the long sleeve 22 to form a lifting arm rotating joint.

[0030] When there are protruding obstacles or curved surfaces on the working iron plate, the rounded corner guards 7 fixed around the air isolation cover 2 come into contact with the protruding obstacles or surfaces of the iron plate. The reaction force generated by the contact causes the overall structure to rotate around the rotating pair formed by the front and rear rotating shafts 11 and the short copper sleeve 19. This process changes the symmetrical tension of the front and rear tension springs 9 into an asymmetrical tension. At the same time, the rotating pair formed by the lifting arm rotating shaft 15 and the long copper sleeve 22 rotates, and the lifting arm 13 is lifted upward as a whole, giving the structure an upward floating deformation. When the area of ​​the protruding obstacle or curved surface ends, the asymmetrical tension of the front and rear tension springs 9 and the deformation tension of the lifting arm tension spring 14 cause the structure to return to its original central initial position.

[0031] Similarly, during the movement, if the structure as a whole is subjected to external forces in the left and right directions, the rotational joint formed by the left and right rotating shafts 12 and the short sleeve 19 allows the whole to rotate around the rotational joint. At the same time, the lifting arm 13 rotates around the rotational joint formed by the aforementioned platform arm rotating shaft 15 and the long sleeve 22. The lifting arm 13 drives the whole structure to lift upward, giving it flexible compensation in the left and right directions and adapting to different obstacles and curved surfaces. After moving the obstacle in the left and right directions, the asymmetrical tension of the left and right tension springs 6 and the deformation tension of the lifting arm tension spring 14 cause the structure to return to its original central initial position.

[0032] The rounded edge 7, fixed by the edge fixing block 10, has a large rounded corner transition at its bottom. This ensures that when encountering obstacles or curved surfaces, the rounded edge 7 contacts the obstacles or curved surfaces first. The large rounded corner allows for a smooth transition with the contact surface, preventing jamming. This invention, while ensuring that the air isolation cavity of the underwater camera 1's air isolation cover 2 isolates turbid water, allowing the underwater camera 1 to operate normally in turbid water, features a flexible structure formed by three rotating joints. This structure offers high freedom and flexibility, adapting to most complex surfaces.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An air shield suitable for turbid water conditions in magnetically adsorbed underwater robots, characterized in that, The main structure includes an underwater camera, an air shield, and a flexible compensation structure. The flexible compensation structure includes a strip frame, a triangular frame, a square frame, left and right tension springs, rounded corner guards, frame fixing blocks, front and rear tension springs, guard fixing blocks, front and rear pivots, left and right pivots, a lifting arm, a lifting arm tension spring, a lifting arm pivot, connecting parts, an acrylic observation window, an observation window sealing O-ring, a short copper sleeve, a plug, a camera sealing O-ring, a long copper sleeve, tension spring rings, and various fasteners. The underwater camera and the acrylic observation window are rigidly connected to the air shield with screws and sealed with camera and observation window sealing O-rings respectively, forming a sealed internal chamber inside the air shield. The muddy water is isolated to create an air zone; the rounded edge is fixed to the air isolation cover with screws via edge fixing blocks; the square frame is connected to the air isolation cover via frame fixing blocks; the front and rear rotating shafts are fixed to the frame fixing blocks via threads, and the front and rear rotating shafts, short copper sleeves, and square frame form a rotating pair; the square frame and triangular frame are connected to the short copper sleeves via left and right rotating shafts to form a rotating pair; one triangular frame is set at each of the front and rear symmetrical positions of the square frame, and is fixed via strip frames; one end of the lifting arm is rigidly connected to the triangular frame via bolts, and the other end of the lifting arm is connected to the connecting component via a long copper sleeve to form a rotating pair; the connecting component is used to connect this structure to the corresponding magnetic adsorption underwater robot.

2. The air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The air isolation cover forms three rotating joints through the front and rear rotating shafts, the left and right rotating shafts, and the lifting arm rotating shaft, realizing three degrees of freedom of movement relative to the connecting parts: front and rear flipping, left and right flipping, and up and down flipping. That is, through the three rotating joints, the air isolation cover can change its own posture to pass through the obstacle when it encounters an obstacle during operation.

3. The air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The left and right tension springs, front and rear tension springs, and lifting arm tension springs apply symmetrical tension to the three rotating joints, so that the air isolation cover maintains a centered normal working posture when no external force is applied. The three rotating joints use the symmetrical tension applied by the left and right tension springs, front and rear tension springs, and lifting arm tension springs to keep the air isolation cover in a centered normal working posture.

4. The air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The rounded corner guard adopts a large rounded corner structure design. The rounded corner guard is fixed to the air isolation cover around the perimeter by guard fixing blocks. The large rounded corner structure design allows the air isolation cover to smoothly pass through obstacles by transitioning the force direction of the obstacles, thus protecting the structure of the air isolation cover from damage when encountering obstacles and impacts.

5. An air shield for turbid water conditions suitable for magnetically adsorbed underwater robots according to claim 1, characterized in that, A tiny gap is maintained between the acrylic observation window and the working adsorption surface of the magnetic adsorption underwater robot, and the two do not come into contact with each other.

6. The air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The underwater camera integrates a light source. The light shines through the acrylic observation window onto the working surface, and the reflected light passes through the acrylic observation window into the underwater camera lens.

7. An air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The connecting component is a detachable structure, which can be connected and fixed with magnetic adsorption underwater robots on the market.

8. An air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The high degree of freedom design with three rotating joints ensures that the design structure can adapt to complex adsorption surfaces.

9. An air shield for turbid water conditions suitable for magnetically adsorbed underwater robots according to claim 1, characterized in that, The internal sealed chamber ensures that an air zone is created in front of the underwater camera in turbid water to isolate the underwater turbid water and facilitate observation of the adsorbed surface.

10. An air isolation cover for turbid water conditions suitable for magnetic adsorption underwater robots according to claim 1, characterized in that, The flexible structure formed by symmetrical tension springs for each rotating joint allows the air shield to flexibly deform at each rotating joint when subjected to external force, and to return to its original posture after the external force ends.

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