Underwater robot attitude detection sensor in deep sea space

Abstract

The utility model discloses an underwater robot attitude detection sensor in a deep sea space, which comprises a sensor main body, a protective shell positioned below the sensor main body and a sensor positioned in the protective shell, a plurality of semi-closed detection shells are arranged in the protective shell in a penetrating and extending manner, and pressure sensors are arranged in the detection shells. A spring is arranged below the pressure sensor, a receiver is arranged below the sensor, a plurality of connecting rods are movably connected to the receiver, the ends of the connecting rods are located in the detection shell and connected with the bottom of the spring, a sealing plate is movably connected to an opening in the bottom of the detection shell, and the size of the sealing plate is matched with the size of the opening in the bottom of the detection shell. The robot posture detection device can effectively solve the problem that an existing robot posture detection sensor cannot cope with the complex underwater environment, and consequently the sensor is prone to damage, and therefore the detection effect of the device is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a sensor for detecting the posture of an underwater robot in a deep sea space. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and human diving depth is limited, so underwater robots have become an important tool for developing the ocean. With the continuous improvement of their working range and operating requirements, higher requirements are also placed on their operating performance. The movement changes of the robot during the operation often change the position of the center of gravity and the center of buoyancy of the underwater robot, causing the underwater robot to be unable to maintain a stable posture in the water. Therefore, it is usually necessary to set sensors to timely feedback the posture of the underwater robot. However, if the sensor is directly set on the outside of the robot, due to the complex underwater environment in deep sea water, it is extremely easy to cause damage to the detector. If the sensor is set inside the robot, the detection is not timely and accurate, which seriously affects the posture detection effect of the underwater robot.

[0003] Existing underwater robot posture detection sensors often have a simple structure, and generally a protective tube is set to protect the sensor. For example, the announcement number is CN215448004U, entitled "A New Intelligent Underwater Robot Detection Sensor". By setting the sensor in a protective tube and a filter, some gravel can be prevented from hitting the sensor during movement, thereby protecting the sensor to a certain extent. However, this type of sensor directly exposed to the outside will still be damaged in the deep sea due to the high-pressure environment of the deep sea or directly hitting the seabed, causing the sensor to fail to detect normally.

[0004] This case was created to solve the above problems. Utility Model Content

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the utility model provides a posture detection sensor for an underwater robot in a deep-sea space, which solves the problems raised in the above-mentioned background technology.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the utility model is implemented through the following technical solutions: a sensor for detecting the posture of an underwater robot in a deep-sea space, comprising a protective shell located below the robot and a sensor located inside the protective shell, a plurality of semi-enclosed detection shells extending through the protective shell, a pressure sensor being arranged inside the detection shell, a spring being arranged below the pressure sensor, a receiver being arranged below the sensor, a plurality of connecting rods being movably connected to the receiver, the ends of the connecting rods being located inside the detection shell and connected to the bottom of the spring, a sealing plate being movably connected to the bottom opening of the detection shell, and the size of the sealing plate being adapted to the size of the bottom opening of the detection shell, for cooperating with the pressure sensor, the receiver and the sensor to detect the posture of the robot.

[0009] Preferably, the protective shell is cross-shaped, there are two connecting rods pivotally connected to the receiver, and there are four detection shells.

[0010] Preferably, a cushion block is connected to the top of the spring, and the cushion block is located in the detection housing, a connecting column is connected above the sealing plate, and the other end of the connecting column is connected to a connecting rod for pushing the connecting rod to move up and down.

[0011] Preferably, the sealing plate is slidably connected to the inside of the detection housing, a limit block is provided in the detection housing, and the limit block is located on the displacement path of the sealing plate.

[0012] Preferably, a protection assembly is provided in the protection shell, and the protection assembly includes a counterweight block and a cylinder located on the connecting rod. The counterweight block is provided with a push plate, and the output end of the cylinder is located on the push plate, which is used to drive the counterweight block to slide left and right on the connecting rod.

[0013] (III) Beneficial effects

[0014] After adopting the above technical scheme, the utility model has the following advantages compared with the prior art: the utility model is a deep-sea space underwater robot posture detection sensor, a plurality of semi-enclosed detection shells extend through a protective shell, and a sealing plate is movably connected to the bottom opening of the detection shell, and a pressure sensor and a spring are arranged in the detection shell to transmit the underwater water pressure to the pressure detector, thereby detecting the external water pressure state when the sensor is built-in, and transmitting the pressure difference of each pressure sensor to the sensor through a connecting rod, thereby detecting the posture of the underwater robot in real time while protecting the safety of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the utility model;

[0016] Figure 2 This is a bottom view of the interior of the utility model;

[0017] Figure 3 It is the internal schematic diagram of the utility model;

[0018] Figure 4 This is a schematic diagram of the interior of the posture sensor assembly of the utility model;

[0019] Figure 5 It is a schematic diagram of the cleaning component of the utility model.

[0020] In the figure: 1. Robot; 2. Protective shell; 3. Posture sensor assembly; 31. Detection shell; 32. Limit block; 33. Connecting column; 34. Spring; 35. Pad; 36. Pressure sensor; 4. Sealing plate; 5. Connecting rod; 6. Counterweight; 61. Push plate; 7. Cylinder; 8. Receiver; 9. Sensor. DETAILED DESCRIPTION

[0021] The utility model is further described in detail below through the drawings and embodiments.

[0022] like Figure 1-5 As shown: a sensor for detecting the posture of an underwater robot in a deep-sea space, comprising a protective shell 2 located below the robot 1 and a sensor 9 located in the protective shell 2, a plurality of semi-enclosed detection shells 31 extending through the protective shell 2, a pressure sensor 36 being arranged in the detection shell 31, a spring 34 being arranged below the pressure sensor 36, a receiver 8 being arranged below the sensor 9, a plurality of connecting rods 5 being movably connected to the receiver 8, the ends of the connecting rods 5 being located in the detection shell 31 and being connected to the bottom of the spring 34, a sealing plate 4 being movably connected to the bottom opening of the detection shell 31 (to prevent the entry of seawater, the movably connected part of the sealing plate is waterproofed, and a sealing ring may be added), and the size of the sealing plate 4 is adapted to the size of the bottom opening of the detection shell 31, and is used to cooperate with the pressure sensor 36, the receiver 8 (based on inertial navigation, using equipment such as accelerometers and gyroscopes to detect speed and angle changes) and the sensor 9 to detect the posture of the robot.

[0023] The protective housing 2 is cross-shaped, has two connecting rods 5 pivotally connected to the receiver 8 , and has four detection housings 31 .

[0024] A cushion block 35 is connected to the top of the spring 34 and is located in the detection housing 31 . A connecting column 33 is connected above the sealing plate 4 and the other end of the connecting column 33 is connected to the connecting rod 5 for pushing the connecting rod 5 to move up and down.

[0025] The sealing plate 4 is slidably connected to the inside of the detection housing 31 . A limit block 32 is provided in the detection housing 31 , and the limit block 32 is located on the displacement path of the sealing plate 4 .

[0026] A protection assembly is provided in the protection shell 2, and the protection assembly includes a counterweight block 6 and a cylinder 7 located on the connecting rod 5. The counterweight block 6 is provided with a push plate 61. The output end of the cylinder 7 is located at the push plate 61, which is used to drive the counterweight block 6 to slide left and right on the connecting rod 5.

[0027] When the underwater posture of the underwater robot changes, the cross-shaped protective shell 2 is no longer horizontal and deflects, causing the detection shells 31 located at both ends of the same connecting rod 5 to be not at the same depth, thereby changing the pressure they are subjected to. The detection shell 31 at a deeper depth is subjected to a greater water pressure. At this time, the sealing plate 4 is forced to move upward, thereby driving the connecting column 33 to move upward, and pushing the connecting rod 5 to squeeze the spring 34 upward, thereby transmitting the water pressure to the pressure sensor 36, and receiving the change of the connecting rod 5 according to the receiver 8, thereby detecting the robot's posture change in real time through the sensor 9 (the deflection of the protective shell 2 can be reflected according to the pressure difference at both ends of the connecting rod 5, and then the posture change of the underwater robot can be reflected).

[0028] When the pressure difference at both ends is too large, the existence of the limit block 32 can prevent the sealing plate 4 from moving upward beyond the limit, thereby causing the problem of seawater entering. At the same time, the counterweight block 6 is pushed by the cylinder 7 (in the initial state, the positions of the counterweight block 6 at both ends of the connecting rod 5 are the same distance from the center, and to a certain extent, the sealing plate 4 is given resistance to push the connecting rod 5 upward, thereby offsetting part of the water pressure and preventing the sealing plate 4 from moving too much or the pressure sensor from being damaged due to excessive water pressure), thereby changing the center of gravity of the underwater robot and helping the underwater robot to adjust its posture to a certain extent.

[0029] The above-mentioned embodiments are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the scope of the invention. The technical scope of this new type of use is not limited to the content in the specification, and its protection scope must be determined according to the scope of the claims.

Claims

1. A deep-sea underwater robot posture detection sensor, comprising a protective shell located below the robot and a sensor located in the protective shell, characterized in that: A plurality of semi-enclosed detection shells extend through the protective shell, a pressure sensor is provided in the detection shell, a spring is provided below the pressure sensor, a receiver is provided below the sensor, a plurality of connecting rods are movably connected to the receiver, the ends of the connecting rods are located in the detection shell and connected to the bottom of the spring, a sealing plate is movably connected to the bottom opening of the detection shell, and the size of the sealing plate is adapted to the size of the bottom opening of the detection shell, so as to cooperate with the pressure sensor, the receiver and the sensor to detect the posture of the robot.

2. The deep-sea underwater robot posture detection sensor according to claim 1, characterized in that: The protective shell is cross-shaped, the connecting rods are two and pivotally connected to the receiver, and the detection shells are four.

3. The deep-sea underwater robot posture detection sensor according to claim 1, characterized in that: A cushion block is connected to the top of the spring, and the cushion block is located in the detection housing. A connecting column is connected above the sealing plate, and the other end of the connecting column is connected to a connecting rod for pushing the connecting rod to move up and down.

4. The deep-sea underwater robot posture detection sensor according to claim 3, characterized in that: The sealing plate is slidably connected to the inside of the detection shell. A limit block is arranged in the detection shell, and the limit block is located on the displacement path of the sealing plate.

5. The deep-sea underwater robot posture detection sensor according to claim 1, characterized in that: A protection assembly is provided in the protection shell, and the protection assembly includes a counterweight block and a cylinder located on the connecting rod. The counterweight block is provided with a push plate, and the output end of the cylinder is located on the push plate, which is used to drive the counterweight block to slide left and right on the connecting rod.

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