Underwater vision inspection robot convenient for removing obstacles

Abstract

The utility model discloses an underwater vision inspection robot convenient to clear obstacles, and relates to the technical field of underwater vision inspection robots, the underwater vision inspection robot comprises an underwater robot main body and obstacle removing assemblies, the front section of the underwater robot main body is provided with a vision inspection assembly, and the obstacle removing assemblies are annularly arrayed around the vision inspection assembly. According to the underwater vision inspection robot convenient for removing obstacles, four groups of obstacle removing assemblies are annularly arrayed around the vision inspection assembly, effective structural protection can be provided around the vision inspection assembly by utilizing the telescopic and swing adjustment of the obstacle removing assemblies and the structure, and meanwhile, the obstacles in front are removed; in addition, the barrier removing cover is made of a transparent composite material, structural interference can not be caused while the visual inspection assembly is protected, and the maneuverability of all-attitude moving operation can be provided for the whole underwater robot body through the eight sets of propelling units in vector layout, so that the operation requirements of different underwater environments are met.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater visual inspection robots, in particular to an underwater visual inspection robot which is convenient for clearing obstacles. Background Art

[0002] Underwater visual inspection robots can be used in aquaculture monitoring, underwater photography, reservoir dam inspection, scientific research, island tourism and other fields to replace humans in performing various monitoring, exploration, and other different tasks in harsh environments or waters that humans cannot enter.

[0003] Conventional underwater robots are limited by their simplified structure, which makes them easily affected if they encounter obstacles during underwater operations. At the same time, the structure of their thrusters is relatively fixed, which makes their flexibility in underwater operations relatively limited.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and an underwater visual inspection robot that is convenient for clearing obstacles is proposed. Utility Model Content

[0005] The utility model aims to provide an underwater visual inspection robot which is convenient for clearing obstacles, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an underwater visual inspection robot that is convenient for clearing obstacles, comprising an underwater robot body and an obstacle removal component, the front section of the underwater robot body is equipped with a visual inspection component, the obstacle removal component is arranged in a circular array around the visual inspection component, the front and rear ends of the underwater robot body are equipped with propulsion units, and an electric-controlled rotating frame is connected between the propulsion unit and the underwater robot body, and a balance frame is installed on the left and right sides of the underwater robot body, the obstacle removal component comprises a telescopic mechanical arm, a first electric-controlled rotating shaft, a second electric-controlled rotating shaft, a push rod and an obstacle removal cover, one end of the telescopic mechanical arm is equipped with the first electric-controlled rotating shaft, and the end of the telescopic mechanical arm away from the first electric-controlled rotating shaft is equipped with the second electric-controlled rotating shaft, and the side of the second electric-controlled rotating shaft away from the telescopic mechanical arm is connected to the push rod, and the end of the push rod away from the second electric-controlled rotating shaft is equipped with an obstacle removal cover.

[0007] Furthermore, the visual inspection component includes a protective cover, a high-definition underwater camera and a fill light. The high-definition underwater camera is installed in the center of the protective cover, and fill lights are provided on both sides of the high-definition underwater camera.

[0008] Furthermore, the high-definition underwater camera adopts a camera device with an EIS anti-shake function, and the fill light is made of a high-lumen LED light group with adjustable color temperature.

[0009] Furthermore, the obstacle removal cover is made of a transparent composite material, and the obstacle removal cover utilizes the rotation of the second electrically-controlled rotating shaft to cover and protect the visual inspection component.

[0010] Furthermore, the propulsion units are symmetrically installed on the left and right sides of the underwater robot body, and there are eight propulsion units arranged in a vector layout and have a structure setting that operates independently from each other.

[0011] Furthermore, the propulsion unit includes a turbine propeller, a protective cover and a fairing. The turbine propeller is provided with a protective cover around its exterior, and a fairing is provided on one side of the protective cover.

[0012] Furthermore, the propulsion unit also includes a rotating shaft and a connecting shaft. The rotating shaft is horizontally installed between the deflector and the turbine propeller, and one side of the rotating shaft is connected to the connecting shaft.

[0013] Furthermore, one end of the connecting shaft away from the rotating shaft is connected to the power output end of the electronically controlled rotating frame, and the electronically controlled rotating frame has the same layout structure as the propulsion unit.

[0014] The utility model provides an underwater visual inspection robot that is convenient for clearing obstacles and has the following beneficial effects:

[0015] 1. The utility model has four groups of obstacle removal components in a circular array around the visual inspection component, wherein the first electrically-controlled rotating shaft is used to structurally connect the entire obstacle removal component to the underwater robot body. Under the rotation of the first electrically-controlled rotating shaft and the second electrically-controlled rotating shaft, the entire obstacle removal component has a double-stage swinging joint structure. At the same time, with the structural elasticity of the telescopic mechanical arm, the front-end obstacle removal cover can be driven to adjust the activities in a larger range. Moreover, under the joint cooperation of the four groups of obstacle removal components, obstacles encountered in the travel path of the underwater robot body can be removed as much as possible. In addition, the four groups of obstacle removal covers made of transparent composite materials can be closed to each other under the multi-structural activities of the entire obstacle removal component, which can provide effective structural protection for the visual inspection component and avoid structural interference in the operation of the visual inspection component caused by structural protection.

[0016] 2. The utility model installs eight sets of electric-controlled rotating frames and propulsion units at the front and rear ends of the underwater robot body in a vector distribution. The operation of the electric-controlled rotating frame can drive the entire propulsion unit to rotate axially with its power output end as a circle, and the turbine propeller and the fairing can use the structural rotation of the rotating shaft to perform further axial rotation to achieve adjustment control in different directions. At the same time, since the eight sets of propulsion units and the electric-controlled rotating frames are all arranged in an independent structure, the combined use of the above structures can provide 360-degree all-round multi-posture movement and operation for the entire underwater robot body, thereby meeting the requirements of different underwater environments for the movement posture of the underwater robot body and different directions. In addition, the high-definition underwater camera adopts a camera device with EIS anti-shake function, and the fill light is made of a high-lumen color temperature adjustable LED light group, so that when working underwater in low light, the high-definition underwater camera can still capture underwater details as clearly and stably as possible to facilitate real-time observation by operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the side view structure of a support body of an underwater visual inspection robot that is convenient for clearing obstacles according to the utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of an obstacle removal component of an underwater visual inspection robot that is convenient for removing obstacles according to the utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of an obstacle removal component of an underwater visual inspection robot that is convenient for removing obstacles according to the utility model;

[0020] Figure 4 The utility model is a schematic diagram of the three-dimensional structure of a propulsion unit of an underwater visual inspection robot which is convenient for clearing obstacles.

[0021] In the figure: 1. Underwater robot body; 2. Visual inspection component; 201. Protective cover; 202. High-definition underwater camera; 203. Fill light; 3. Obstacle removal component; 301. Telescopic robotic arm; 302. First electrically controlled rotating shaft; 303. Second electrically controlled rotating shaft; 304. Push rod; 305. Obstacle removal cover; 4. Propulsion unit; 401. Turbine propeller; 402. Protective cover; 403. Fairing cover; 404. Rotating shaft; 405. Connecting shaft; 5. Electrically controlled rotating frame; 6. Balancing frame. DETAILED DESCRIPTION

[0022] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] like Figures 1 to 4 As shown, an underwater visual inspection robot that is convenient for clearing obstacles includes an underwater robot body 1 and an obstacle removal component 3. The front section of the underwater robot body 1 is equipped with a visual inspection component 2, and the obstacle removal component 3 is arranged in a circular array around the visual inspection component 2. Propulsion units 4 are installed at both the front and rear ends of the underwater robot body 1, and an electric-controlled rotating frame 5 is connected between the propulsion unit 4 and the underwater robot body 1, and a balance frame 6 is installed on the left and right sides of the underwater robot body 1. The obstacle removal component 3 includes a telescopic mechanical arm 301, a first electric-controlled rotating shaft 302, a second electric-controlled rotating shaft 303, a push rod 304 and an obstacle removal cover 305. The first electric-controlled rotating shaft 302 is installed at one end of the telescopic mechanical arm 301, and the second electric-controlled rotating shaft 303 is installed at the end of the telescopic mechanical arm 301 away from the first electric-controlled rotating shaft 302, and the second electric-controlled rotating shaft 303 is away from the telescopic A push rod 304 is connected to one side of the robotic arm 301, and an obstacle removal cover 305 is installed at one end of the push rod 304 away from the second electrically-controlled rotating shaft 303. The obstacle removal cover 305 is made of a transparent composite material, and the obstacle removal cover 305 utilizes the rotation of the second electrically-controlled rotating shaft 303 to cover and protect the visual inspection component 2. The first electrically-controlled rotating shaft 302 is used to structurally connect the entire obstacle removal component 3 to the underwater robot body 1. Under the rotation of the first electrically-controlled rotating shaft 302 and the second electrically-controlled rotating shaft 303, the entire obstacle removal component 3 has a double-stage swinging joint structure. At the same time, with the structural elasticity of the telescopic robotic arm 301, the obstacle removal cover 305 at the front end can be driven to perform a larger range of activity adjustment. Under the joint cooperation of the four groups of obstacle removal components 3, obstacles encountered in the travel path of the underwater robot body 1 can be eliminated as much as possible.

[0024] like Figures 1 to 4As shown, the visual inspection component 2 includes a protective cover 201, a high-definition underwater camera 202 and a fill light 203. The high-definition underwater camera 202 is installed in the center of the protective cover 201, and the fill lights 203 are arranged on the left and right sides of the high-definition underwater camera 202. The high-definition underwater camera 202 adopts a camera device with an EIS anti-shake function, and the fill light 203 is made of a high-lumen color temperature adjustable LED light group. The propulsion unit 4 is symmetrically installed on the left and right sides of the underwater robot body 1, and the propulsion unit 4 is provided with eight groups and is vector-layouted and has a structure setting that operates independently from each other. The propulsion unit 4 includes a turbine propeller 401, a protective cover 402 and a guide cover 403. The protective cover 402 is arranged around the outside of the turbine propeller 401, and the guide cover 403 is arranged on one side of the protective cover 402. 3, the propulsion unit 4 also includes a rotating shaft 404 and a connecting shaft 405. The rotating shaft 404 is horizontally installed between the fairing 403 and the turbine propeller 401, and the connecting shaft 405 is connected to one side of the rotating shaft 404. The end of the connecting shaft 405 away from the rotating shaft 404 is connected to the power output end of the electric control rotating frame 5, and the layout structure of the electric control rotating frame 5 and the propulsion unit 4 is the same. Eight sets of electric control rotating frames 5 and the propulsion unit 4 are installed in a vector distribution at the front and rear ends of the underwater robot body 1. Under the operation of the electric control rotating frame 5, the entire propulsion unit 4 can be driven to rotate axially with its power output end as a circle, and the turbine propeller 401 and the fairing 403 can use the structural rotation of the rotating shaft 404 to perform further axial rotation, so as to achieve adjustment control in different directions.

[0025] In summary, if Figures 1 to 4 As shown, the underwater visual inspection robot that is convenient for clearing obstacles, when in use, first when the entire device enters underwater, the visual inspection component 2 at the front end of the underwater robot body 1 and the propulsion unit 4 of the surrounding vector layout will start to operate synchronously, according to the needs of the travel direction, the propulsion unit 4 connected to its power output end through the connecting shaft 405 is driven by the drive of the electric control rotating frame 5 to drive the axial rotation, and at the same time, the turbine propeller 401 inside the protective cover 402 will start to operate at high speed. Due to the high-speed rotation of the turbine propeller 401, the water flow is driven to form thrust, driving the entire underwater robot body 1 to move forward. In this process, according to the needs of the travel direction, in addition to the rotation adjustment of the electric control rotating frame 5, the rotating shaft 404 will also drive the turbine propeller 401 and the fairing 403 to perform fine adjustments at a certain angle. Under the mutual cooperation of the eight propulsion units 4 and the electric control rotating frame 5, it can effectively ensure that the entire underwater robot body 1 can operate flexibly underwater;

[0026] As the underwater robot body 1 moves, the high-definition underwater camera 202 inside the protective cover 201 will take real-time photos and records of the underwater environment according to different underwater environments. At the same time, the fill lights 203 on both sides will provide good lighting effects to ensure the clarity of the captured images and the effectiveness of the content. The balance frames 6 on the left and right sides of the underwater robot body 1 can assist the operation of the propulsion unit 4 and provide good balance for the underwater robot body 1.

[0027] When encountering obstacles during the travel, under the drive of the first electrically-controlled rotating shaft 302 and the second electrically-controlled rotating shaft 303, and under the structural extension and retraction of the telescopic mechanical arm 301, the obstacle removal cover 305 connected thereto through the push rod 304 is driven to perform appropriate structural swing adjustment. With the mutual cooperation of the four groups of obstacle removal components 3, the obstacles encountered can be clamped or pushed as much as possible, thereby playing a role in obstacle removal. The structural closure of the four groups of obstacle removal components 3 can also prevent damage to the underwater robot body 1 and the visual inspection component 2 due to obstacles in front during the travel process.

[0028] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An underwater visual inspection robot for removing obstacles, comprising an underwater robot body (1) and an obstacle removal component (3), characterized in that: The front section of the underwater robot body (1) is equipped with a visual inspection component (2), the obstacle removal component (3) is arranged in a circular array around the visual inspection component (2), the front and rear ends of the underwater robot body (1) are equipped with a propulsion unit (4), and an electric control rotating frame (5) is connected between the propulsion unit (4) and the underwater robot body (1), and a balance frame (6) is installed on the left and right sides of the underwater robot body (1), and the obstacle removal component (3) includes a telescopic mechanical arm (301), a first electric control rotating shaft (302) and a plurality of electric control rotating frames (5). , a second electrically-controlled rotating shaft (303), a push rod (304) and a barrier cover (305), wherein one end of the telescopic mechanical arm (301) is installed with the first electrically-controlled rotating shaft (302), and the second electrically-controlled rotating shaft (303) is installed at one end of the telescopic mechanical arm (301) away from the first electrically-controlled rotating shaft (302), and the push rod (304) is connected to a side of the second electrically-controlled rotating shaft (303) away from the telescopic mechanical arm (301), and the barrier cover (305) is installed at one end of the push rod (304) away from the second electrically-controlled rotating shaft (303).

2. The underwater visual inspection robot for facilitating obstacle removal according to claim 1, characterized in that: The visual inspection component (2) comprises a protective cover (201), a high-definition underwater camera (202) and a fill light (203); the high-definition underwater camera (202) is installed in the center of the protective cover (201), and the fill lights (203) are arranged on both left and right sides of the high-definition underwater camera (202).

3. The underwater visual inspection robot for removing obstacles according to claim 2, characterized in that: The high-definition underwater camera (202) is a camera device with an EIS anti-shake function, and the fill light (203) is made of a high-lumen color temperature adjustable LED light group.

4. The underwater visual inspection robot for facilitating obstacle removal according to claim 1, characterized in that: The obstacle removal cover (305) is made of a transparent composite material, and the obstacle removal cover (305) utilizes the rotation of the second electrically controlled rotating shaft (303) to cover and protect the visual inspection component (2).

5. The underwater visual inspection robot for facilitating obstacle removal according to claim 1, characterized in that: The propulsion units (4) are symmetrically installed on the left and right sides of the underwater robot body (1), and the propulsion units (4) are arranged in eight groups in a vector layout and have a structure that operates independently from each other.

6. The underwater visual inspection robot for facilitating obstacle removal according to claim 1, characterized in that: The propulsion unit (4) comprises a turbine propeller (401), a protective cover (402) and a fairing (403); the protective cover (402) is arranged around the outside of the turbine propeller (401), and the fairing (403) is arranged on one side of the protective cover (402).

7. The underwater visual inspection robot for facilitating obstacle removal according to claim 6, characterized in that: The propulsion unit (4) further comprises a rotating shaft (404) and a connecting shaft (405); the rotating shaft (404) is horizontally installed between the deflector (403) and the turbine propeller (401), and one side of the rotating shaft (404) is connected to the connecting shaft (405).

8. The underwater visual inspection robot for facilitating obstacle removal according to claim 7, characterized in that: One end of the connecting shaft (405) away from the rotating shaft (404) is connected to the power output end of the electrically controlled rotating frame (5), and the electrically controlled rotating frame (5) has the same layout structure as the propulsion unit (4).

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