An underwater search and rescue robot for underwater emergency rescue

Abstract

The application relates to the technical field of underwater search and rescue robots, and discloses an underwater search and rescue robot for underwater emergency rescue, which comprises a robot host, mounting racks are connected to the two sides of the robot host, motors are installed in the mounting racks, and plug-in sockets are connected to the lower surfaces of the four corners of a bottom plate. A transmission shaft is arranged at the middle position in the bottom plate, a transmission frame is arranged on the transmission shaft, telescopic rods are arranged in the plug-in sockets, counterweight seats are connected to the outer ends of the telescopic rods, assembly pins penetrating through the transmission frame are connected to the outer sides of the telescopic rods, a connecting frame is arranged at the bottom of the robot host, the connecting frame is connected with a swing arm and a first gear, a second gear meshing with the first gear is arranged in the swing arm, and a protective shield is connected to the outer end of the swing arm. The robot can improve search and rescue imaging stability, protect the camera and improve the maneuverability, and ensure continuous rescue tasks.

Description

Technical Field

[0001] This invention relates to the field of underwater search and rescue robot technology, specifically to an underwater search and rescue robot for underwater emergency rescue. Background Technology

[0002] Underwater emergency rescue is a crucial link in ensuring the safety of production operations on water and handling various underwater emergencies. As the core equipment in the underwater emergency rescue system, underwater search and rescue robots can replace human beings to enter complex and dangerous underwater environments to perform detection, positioning and search and rescue tasks. They are now widely used in various rescue scenarios such as shipwrecks, drownings, and underwater engineering collapses, playing an irreplaceable role in improving emergency rescue efficiency and ensuring the safety of rescue personnel.

[0003] Existing underwater search and rescue robots use a propeller-driven system, which lacks effective linkage with the camera's operating mode. This results in the robot being unable to automatically deploy to increase its bottom support area and lower its center of gravity during fixed-point search and rescue imaging. The robot body is prone to shaking under water current disturbances, causing blurred images and target loss, increasing the risk of missed detections and misjudgments. At the same time, the existing robot's camera is directly exposed to the water current, making it susceptible to scratches and impacts from underwater mud and debris, causing equipment damage and forcing the search and rescue mission to be interrupted. This does not meet the working requirements of underwater search and rescue robots. Therefore, an underwater emergency rescue underwater search and rescue robot is proposed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an underwater search and rescue robot for underwater emergency rescue, which solves the technical problems of poor search and rescue imaging stability and the difficulty in balancing camera protection and mobility efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater emergency rescue and underwater search and rescue robot, comprising a robot main unit, mounting brackets connected to both external sides of the robot main unit, a camera mounted on the detection surface of the robot main unit, and lighting components mounted on both sides of the camera:

[0006] The top of the robot host is equipped with a sonar mechanism, the inside of the mounting frame is equipped with a motor, the bottom of the mounting frame is covered with a base plate, and the four corners of the lower surface of the base plate are connected with plug-in sockets.

[0007] A drive shaft is inserted into the middle of the base plate. The top end of the drive shaft is coaxially connected to the bottom end of the motor rotor. A drive frame is sleeved on the outside of the drive shaft. Telescopic rods are inserted into the inside of each connector. A counterweight is connected to the outer end of each telescopic rod.

[0008] Assembly pins are connected to the outer ends of the telescopic rods at positions corresponding to the outer ends of the transmission frame. The assembly pins penetrate the interior of the transmission frame. A connecting frame is installed at the bottom of the robot host.

[0009] The connecting frame is connected to a swing arm on its inner and outer sides, and a second gear is inserted inside the swing arm. A protective cover is connected to the outer end of the swing arm. A first gear is connected to the lower side of the connecting frame, and a rack that meshes with the first gear is connected to the top of the counterweight on the corresponding side.

[0010] Preferably, the motor is equipped with a waterproof cover, and a waterproof gasket is snapped into the connection between the motor rotor and the base plate. The outer surface of the transmission shaft is connected to the lower surface of the base plate through a ball bearing. This effectively prevents water and sediment from entering the motor from the underwater environment, protecting the motor from entering its normal operation. At the same time, it reduces the frictional resistance when the transmission shaft rotates, improving transmission efficiency and extending the service life of the mechanism.

[0011] Preferably, the transmission frame has a cross-shaped structure, with through slots at each of the four internal corners. The mounting pins pass through the corresponding through slots, and the height of the mounting pins is greater than the thickness of the transmission frame. The cross-shaped structure ensures that the four telescopic rods can move synchronously and symmetrically. The through slots and mounting pins cooperate to convert rotational motion into linear motion, preventing the mounting pins from coming out of the transmission frame.

[0012] Preferably, the bottom end of each assembly pin is coaxially connected to a limiting piece. The diameter of the limiting piece is greater than the width of the through groove, and the length of the through groove is at least four times the diameter of the assembly pin. The limiting piece can effectively prevent the assembly pin from falling off from below the through groove during movement. The length of the through groove is designed to provide sufficient extension and retraction stroke for the telescopic rod, ensuring smooth movement of the mechanism.

[0013] Preferably, the counterweight has an L-shaped cross-section, with the upper part of the counterweight being vertical and the lower part being inclined. The vertical part facilitates the installation and fixation of the rack, while the inclined structure can effectively lower the overall center of gravity of the robot and also play a guiding role during movement, reducing water resistance.

[0014] Preferably, the connecting frame is connected to the bottom of the robot host by bolts, the first gear and the second gear mesh, and the exterior of the first gear and the second gear are coated with a waterproof coating. The bolt connection method facilitates the disassembly and maintenance of the connecting frame, the gear meshing transmission is precise and reliable, and the waterproof coating can prevent the gears from rusting in the underwater environment.

[0015] Preferably, sealing gaskets are engaged at the connection points of the first gear and the second gear with the connecting frame. The area of ​​the protective cover is larger than the area of ​​the camera. The sealing gaskets can prevent moisture and mud from entering the rotating connection points of the gears. The protective cover can completely cover the camera, providing comprehensive and effective protection for the camera.

[0016] Preferably, a flexible cleaning cloth is laid on the side of the protective cover facing the camera. The area of ​​the flexible cleaning cloth is equal to the area of ​​the protective cover. The surface of the flexible cleaning cloth is in contact with the surface of the camera. During the opening and closing of the protective cover, the flexible cleaning cloth can automatically wipe the surface of the camera, remove the attached mud and water droplets, and maintain the image clarity of the camera.

[0017] Preferably, a torsion spring is fitted at the hinge of the swing arm and the connecting frame. The spring force of the torsion spring is opposite to the opening direction of the protective cover. One end of the torsion spring is connected to the connecting frame, and the other end of the torsion spring is connected to the swing arm. The torsion spring can provide auxiliary restoring force for the closing of the protective cover, making the protective cover close more tightly, while buffering the impact during the opening and closing process and reducing the wear of mechanical parts.

[0018] Preferably, sealing gaskets are installed at the positions where the opening of the connector penetrates the telescopic rod. The length of the telescopic rod is at least four times the length of the connector. The sealing gaskets can effectively prevent water and mud from entering the connector and avoid the telescopic rod from getting stuck. The length design of the telescopic rod ensures that the counterweight seat has a sufficient range of expansion.

[0019] Compared with the prior art, the present invention provides an underwater emergency rescue and underwater search and rescue robot, which has the following beneficial effects:

[0020] This underwater emergency rescue robot uses an underwater search and rescue system. The rotation of the transmission frame is driven by a motor, which allows the telescopic rod to expand synchronously through the assembly pin. This, in turn, allows the counterweight to expand synchronously, thereby raising the bottom center of gravity of the robot's main body. This improves the stability during search and rescue imaging and enhances the robot's resistance to disturbances in complex water flow environments. It also avoids problems such as blurred imaging and target loss caused by body shaking, and reduces the probability of missed detections and misjudgments.

[0021] Simultaneously, when the counterweight is deployed, it drives the first gear to rotate via a rack and pinion, which in turn drives the swing arm and protective shield to open via the second gear. This allows the counterweight to deploy and stabilize the robot when it needs to perform fixed-point imaging for search and rescue, while simultaneously opening the protective shield. When the robot moves quickly to change locations, the counterweight retracts and simultaneously closes the protective shield, blocking the camera from view. This not only effectively reduces water resistance during rapid robot movement, improving maneuverability and endurance, but also provides comprehensive protection for the camera from underwater mud, sand, and debris, preventing search and rescue interruptions due to equipment damage, extending the equipment's lifespan, and ensuring the continuous operation of rescue missions. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the motor structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the base plate connection structure of the present invention;

[0025] Figure 4 This is a bottom view of the base plate structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the assembly structure of the telescopic rod and transmission frame of the present invention;

[0027] Figure 6 This is a schematic diagram of the unfolded structure of the protective shield of the present invention;

[0028] Figure 7 This is a schematic diagram of the connecting frame structure of the present invention.

[0029] In the diagram: 1. Robot host; 2. Mounting frame; 3. Sonar mechanism; 4. Motor; 5. Base plate; 6. Plug-in socket; 7. Drive shaft; 8. Drive frame; 81. Through slot; 9. Telescopic rod; 91. Counterweight seat; 92. Rack; 10. Assembly pin; 101. Limiting plate; 11. Camera; 12. Lighting assembly; 13. Connecting frame; 14. Swing arm; 15. Protective shield; 16. First gear; 17. Second gear. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This invention provides a technical solution: an underwater emergency rescue and search robot, comprising a robot host 1, a mounting frame 2, a sonar mechanism 3, a motor 4, a base plate 5, a connector 6, a drive shaft 7, a transmission frame 8, a through groove 81, a telescopic rod 9, a counterweight 91, a rack 92, an assembly pin 10, a limiting plate 101, a camera 11, a lighting assembly 12, a connecting frame 13, a swing arm 14, a protective shield 15, a first gear 16, and a second gear 17.

[0032] Please see Figure 1 Mounting brackets 2 are connected to both external sides of the robot main unit 1. Please refer to [link / reference]. Figure 6 The robot host 1 is equipped with a camera 11 on its detection surface, and lighting components 12 are installed on both sides of the camera 11. Please refer to [link / reference]. Figure 1 The top of the robot host 1 is equipped with a sonar mechanism 3, please refer to [link / reference]. Figure 2 The motor 4 is installed inside the mounting bracket 2. Please refer to [link / reference]. Figure 3 The bottom of the mounting bracket 2 is covered with a base plate 5, and the four corners of the lower surface of the base plate 5 are connected with plug-in sockets 6.

[0033] Please see Figure 4 A drive shaft 7 is inserted in the middle of the base plate 5. The top end of the drive shaft 7 is coaxially connected to the bottom end of the rotor of the motor 4. A drive frame 8 is sleeved on the outside of the drive shaft 7. Telescopic rods 9 are inserted inside the plug-in seat 6. The outer end of each telescopic rod 9 is connected to a counterweight seat 91.

[0034] Please see Figure 5 Assembly pins 10 are connected to the outer ends of the telescopic rod 9 and the transmission frame 8, respectively. The assembly pins 10 penetrate the interior of the transmission frame 8. Please refer to [link / reference]. Figure 6 A connecting bracket 13 is installed at the bottom of the robot host 1.

[0035] Please see Figure 7 The connecting frame 13 is connected to the inner and outer sides of the swing arm 14, and the swing arm 14 is equipped with a second gear 17. The outer end of the swing arm 14 is connected to a protective cover plate 15. The lower side of the connecting frame 13 is connected to a first gear 16, and the top of the corresponding side counterweight 91 is connected to a rack 92 that meshes with the first gear 16.

[0036] The rotation of the transmission frame 8 driven by the motor 4 enables the telescopic rod 9 to expand synchronously through the assembly pin 10, which in turn enables the counterweight 91 to expand synchronously. This raises the bottom center of gravity of the robot host 1, improves the stability during search and rescue imaging, and enhances the robot's resistance to disturbances in complex water flow environments. It also avoids problems such as blurred imaging and target loss caused by body shaking, and reduces the probability of missed detections and misjudgments.

[0037] Simultaneously, when the counterweight 91 is deployed, the first gear 16 is rotated via the rack 92, which in turn drives the swing arm 14 and the protective shield 15 to open via the second gear 17. This allows the counterweight 91 to deploy and stabilize the robot host 1 when it needs to perform fixed-point imaging for search and rescue, while simultaneously opening the protective shield 15. When the robot host 1 moves quickly to change points, the counterweight 91 retracts and simultaneously closes the protective shield 15, blocking the camera 11. This not only effectively reduces water resistance during rapid robot movement, improving maneuverability and endurance, but also comprehensively protects the camera 11 from scratches and impacts from underwater mud, sand, and debris, preventing search and rescue interruptions due to equipment damage, extending the equipment's service life, and ensuring the continuous operation of rescue missions.

[0038] The motor 4 is equipped with a waterproof cover. A waterproof gasket is snapped into the connection between the rotor of the motor 4 and the base plate 5. The outer part of the transmission shaft 7 is connected to the lower surface of the base plate 5 by a ball bearing. The transmission frame 8 has a cross-shaped structure. Each of the four corners of the transmission frame 8 has a through groove 81. The mounting pins 10 pass through the corresponding through grooves 81. The height of the mounting pins 10 is greater than the thickness of the transmission frame 8. The bottom end of each mounting pin 10 is coaxially connected to a limiting piece 101. The diameter of the limiting piece 101 is greater than the width of the through groove 81. The length of the through groove 81 is at least four times the diameter of the mounting pin 10.

[0039] The counterweight 91 has an L-shaped cross-section. The upper part of the counterweight 91 is vertically arranged, and the lower part of the counterweight 91 is inclined. The connecting frame 13 is connected to the bottom of the robot host 1 by bolts. The first gear 16 and the second gear 17 mesh with each other. The exterior of the first gear 16 and the second gear 17 are coated with a waterproof coating. The connection between the first gear 16 and the second gear 17 and the connecting frame 13 is secured with a sealing gasket. The area of ​​the protective cover 15 is larger than the area of ​​the camera 11.

[0040] A flexible cleaning cloth is laid on the side of the protective cover 15 facing the camera. The area of ​​the flexible cleaning cloth is equal to that of the protective cover 15. The surface of the flexible cleaning cloth is in contact with the surface of the camera 11. A torsion spring is fitted at the hinge of the swing arm 14 and the connecting frame 13. The direction of the torsion spring's elastic force is opposite to the opening direction of the protective cover 15. One end of the torsion spring is connected to the connecting frame 13, and the other end of the torsion spring is connected to the swing arm 14. Sealing gaskets are installed at the positions where the opening of the plug-in 6 and the telescopic rod 9 pass through. The length of the telescopic rod 9 is at least four times the length of the plug-in 6.

[0041] This solution uses motor 4 to drive the rotation of transmission frame 8, which allows the telescopic rod 9 to expand synchronously via assembly pin 10, thereby enabling the counterweight seat 91 to expand synchronously. This raises the bottom center of gravity of the robot host 1, improving stability during search and rescue imaging. It also enhances the robot's resistance to disturbances in complex water flow environments, avoiding problems such as blurred imaging and target loss caused by body shaking, and reducing the probability of missed detections and misjudgments.

[0042] Simultaneously, when the counterweight 91 is deployed, the first gear 16 is rotated via the rack 92, which in turn drives the swing arm 14 and the protective shield 15 to open via the second gear 17. This allows the counterweight 91 to deploy and stabilize the robot host 1 when it needs to perform fixed-point imaging for search and rescue, while simultaneously opening the protective shield 15. When the robot host 1 moves quickly to change points, the counterweight 91 retracts and simultaneously closes the protective shield 15, blocking the camera 11. This not only effectively reduces water resistance during rapid robot movement, improving maneuverability and endurance, but also comprehensively protects the camera 11 from scratches and impacts from underwater mud, sand, and debris, preventing search and rescue interruptions due to equipment damage, extending the equipment's service life, and ensuring the continuous operation of rescue missions.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An underwater emergency rescue underwater search and rescue robot, comprising a robot host (1), wherein mounting brackets (2) are connected to both external sides of the robot host (1), a camera (11) is mounted on the detection surface of the robot host (1), and lighting components (12) are mounted on both sides of the camera (11), characterized in that: The top of the robot host (1) is equipped with a sonar mechanism (3), the inside of the mounting frame (2) is equipped with a motor (4), the bottom of the mounting frame (2) is covered with a base plate (5), and the four corners of the lower surface of the base plate (5) are connected with plug-in sockets (6). A drive shaft (7) is inserted in the middle of the base plate (5). The top of the drive shaft (7) is coaxially connected to the bottom of the rotor of the motor (4). A drive frame (8) is sleeved on the outside of the drive shaft (7). Telescopic rods (9) are inserted inside the plug-in seat (6). The outer end of the telescopic rods (9) is connected to a counterweight seat (91). Assembly pins (10) are connected to the outer side of the telescopic rod (9) and the corresponding position of the outer end of the transmission frame (8). The assembly pins (10) penetrate the interior of the transmission frame (8). A connecting frame (13) is installed at the bottom of the robot host (1). The connecting frame (13) is connected to a swing arm (14) on its inner and outer sides, and a second gear (17) is inserted inside the swing arm (14). A protective cover (15) is connected to the outer end of the swing arm (14). A first gear (16) is connected to the lower side of the connecting frame (13), and a rack (92) that meshes with the first gear (16) is connected to the top of the counterweight seat (91) on the corresponding side.

2. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: The motor (4) is equipped with a waterproof cover. A waterproof gasket is snapped into the through-hole between the rotor of the motor (4) and the base plate (5). The outside of the transmission shaft (7) is connected to the lower surface of the base plate (5) by a ball bearing.

3. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: The transmission frame (8) is cross-shaped, and through slots (81) are provided at the four corners of the transmission frame (8). The assembly pins (10) all penetrate the corresponding through slots (81). The height of the assembly pins (10) is greater than the thickness of the transmission frame (8).

4. The underwater emergency rescue and underwater search and rescue robot according to claim 3, characterized in that: The bottom end of each assembly pin (10) is coaxially connected to a limiting piece (101). The diameter of the limiting piece (101) is greater than the width of the through groove (81), and the length of the through groove (81) is at least four times the diameter of the assembly pin (10).

5. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: The counterweight seat (91) has an L-shaped cross-section, with the upper part of the counterweight seat (91) being vertically arranged and the lower part of the counterweight seat (91) being inclined.

6. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: The connecting frame (13) is connected to the bottom of the robot host (1) by bolts. The first gear (16) meshes with the second gear (17). The exterior of the first gear (16) and the second gear (17) are coated with a waterproof coating.

7. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: The first gear (16) and the second gear (17) are connected to the connecting frame (13) with sealing gaskets, and the area of ​​the protective shield (15) is larger than the area of ​​the camera (11).

8. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: A flexible cleaning cloth is laid on the side of the protective shield (15) facing the camera (11). The area of ​​the flexible cleaning cloth is equal to the area of ​​the protective shield (15), and the surface of the flexible cleaning cloth is in contact with the surface of the camera.

9. The underwater emergency rescue and underwater search and rescue robot according to claim 1, characterized in that: A torsion spring is fitted at the hinge of the swing arm (14) and the connecting frame (13). The spring force direction of the torsion spring is opposite to the opening direction of the protective cover (15). One end of the torsion spring is connected to the connecting frame (13), and the other end of the torsion spring is connected to the swing arm (14).

10. An underwater emergency rescue and search and rescue robot according to claim 1, characterized in that: Sealing gaskets are installed at the positions where the opening of the plug-in (6) and the telescopic rod (9) pass through each other, and the length of the telescopic rod (9) is at least four times the length of the plug-in (6).

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