Underwater robot loaded with 360-degree scanning sonar

Abstract

The utility model relates to the technical field of underwater robots, in particular to an underwater robot loaded with a 360-degree scanning sonar, which comprises a frame body, a driving machine is fixedly connected to one side of the top end of the frame body, a first gear is rotatably connected to the bottom end of the driving machine, a first clamping rod is fixedly connected to one side of the outer surface of the first gear, and a second clamping rod is fixedly connected to the other side of the outer surface of the first gear. The outer surface of the first gear is engaged with a second gear, and one side of the outer surface of the second gear is fixedly connected with a second clamping rod. According to the underwater robot loaded with the 360-degree scanning sonar, through the arrangement of the fixing plate, the fixing base, the connecting rod, the sonar body, the first motor and the second motor, when the underwater robot is used, the fixing base is fixed through the fixing plate, the fixing base is used for limiting the connecting rod, the sonar body is fixed through the connecting rod, and the first motor can drive the connecting rod to horizontally and transversely rotate; the scanning direction of the sonar is adjusted, then the sonar body is driven by the second motor to vertically rotate, and the scanning angle is adjusted, so that the 360-degree scanning detection effect is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to an underwater robot equipped with a 360-degree scanning sonar. 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 the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. Unmanned remote-controlled submersibles mainly include cabled remote-controlled submersibles and cable-free remote-controlled submersibles. Among them, cabled remote-controlled submersibles are divided into three types: self-propelled submersibles, towed submersibles, and submersibles that can crawl on seabed structures. Underwater robots in the existing technology usually perform sampling work underwater.

[0003] However, existing underwater robots equipped with 360-degree scanning sonar have the following disadvantages:

[0004] (1) The existing underwater robot equipped with 360-degree scanning sonar has a weak function of collecting objects. When in use, the underwater robot of the prior art cannot hold the collected objects well, which easily causes unstable gripping of the objects.

[0005] (2) The existing underwater robot equipped with 360-degree scanning sonar has a weak function of adjusting the sonar collection range. When in use, the sonar of the prior art needs to adjust the angle to work, and the whole device needs to be rotated, which causes inconvenience in work. Utility Model Content

[0006] The purpose of the utility model is to provide an underwater robot equipped with a 360-degree scanning sonar to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an underwater robot equipped with a 360-degree scanning sonar, comprising a frame, a driving machine is fixedly connected to one side of the top of the frame, a first gear is rotatably connected to the bottom end of the driving machine, a first clamping rod is fixedly connected to one side of the outer surface of the first gear, a second gear is meshed on the outer surface of the first gear, a second clamping rod is fixedly connected to one side of the outer surface of the second gear, an anti-slip pad is fixedly connected to the inner walls of the first clamping rod and the second clamping rod, a fixing plate is fixedly connected to one side of the inner wall of the frame, a fixing seat is fixedly connected to the middle part of the top of the fixing plate, a connecting rod is rotatably connected to the inner wall of the fixing seat, a sonar body is rotatably connected to the inner wall of the connecting rod, a first motor is fixedly connected to the bottom end of the fixing seat, the top of the first motor is rotatably connected to the bottom end of the connecting rod, a second motor is fixedly connected to one side of the connecting rod, and one side of the second motor is rotatably connected to one side of the sonar body.

[0008] Optionally, a connecting plate is fixedly connected to the middle of the bottom wall of the frame, and a camera is fixedly connected to the top of the connecting plate. Through the installation of the camera, the camera can be connected to an external power supply to perform underwater shooting operations.

[0009] Optionally, both sides of the inner wall of the frame are provided with card slots, and the inner walls of the card slots are fixedly connected with lifting mechanisms, and the lifting and steering functions can be achieved by adjusting the different lifting mechanisms on both sides.

[0010] Optionally, a connection groove is provided on one side of the inner wall of the frame close to the lifting mechanism, and a reserve power supply is fixedly connected to the inner wall of the connection groove. Through the installation of the reserve power supply, the reserve power supply provides power for the device.

[0011] Optionally, a fixing groove is provided on the outer surface of the frame, a bolt is threadedly connected to the inner wall of the fixing groove, a fixing ring is threadedly connected to the outer surface of the bolt, a searchlight is clamped on the inner wall of the fixing ring, and the fixing ring can be fixed to the surface of the device by rotating the bolt, and the fixing ring can limit the searchlight.

[0012] Optionally, a connecting wire is fixedly connected to one side of the searchlight, and one side of the connecting wire is fixedly connected to one side of a reserve power supply. The connecting wire fixed to the searchlight is connected to the reserve power supply, which can be used for lighting during underwater operations and provide light source for camera shooting.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The underwater robot equipped with a 360-degree scanning sonar is provided with a driving machine, a first gear, a first clamping rod, a second gear, a second clamping rod and an anti-skid pad. When in use, the power supply is connected through a motor, the motor drives the first gear to rotate, the first gear drives the first clamping rod on the surface to expand outward, the first gear rotates and drives the second gear on one side to rotate in the opposite direction, the second gear drives the second clamping rod on the surface to expand outward and align with the object to be clamped, the motor drives the first gear to rotate in the reverse direction, the first clamping rod and the second clamping rod can be moved to the opposite side and the object can be clamped, the anti-skid pad can increase the friction between the object and the first gear, so as to achieve a stable clamping effect.

[0015] 2. The underwater robot equipped with a 360-degree scanning sonar is provided with a fixing plate, a fixing seat, a connecting rod, a sonar body, a first motor and a second motor. When in use, the fixing seat is fixed by the fixing plate, the fixing seat is used to limit the connecting rod, the connecting rod fixes the sonar body, the first motor can drive the connecting rod to rotate horizontally to adjust the direction of sonar scanning, and then the second motor can drive the sonar body to rotate vertically to adjust the scanning angle, thereby achieving a 360-degree scanning detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic diagram of the overall appearance of the utility model;

[0017] Figure 2 This is a schematic diagram of the disassembly of the sonar body of the utility model;

[0018] Figure 3 This is a schematic diagram of the disassembly of the first clamping rod of the utility model;

[0019] Figure 4 It is a schematic diagram of a camera of the present utility model.

[0020] In the figure: 1. frame; 2. driving machine; 3. first gear; 4. first clamping rod; 5. second gear; 6. second clamping rod; 7. anti-slip pad; 8. fixing plate; 9. fixing seat; 10. connecting rod; 11. sonar body; 12. first motor; 13. second motor; 14. connecting plate; 15. camera; 16. lifting mechanism; 17. reserve power supply; 18. bolt; 19. fixing ring; 20. searchlight; 21. connecting wire. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-Figure 4As shown, the utility model provides a technical solution: an underwater robot equipped with a 360-degree scanning sonar, comprising a frame 1, a driving machine 2 is fixedly connected to one side of the top of the frame 1, a first gear 3 is rotatably connected to the bottom end of the driving machine 2, a first clamping rod 4 is fixedly connected to one side of the outer surface of the first gear 3, a second gear 5 is meshed on the outer surface of the first gear 3, a second clamping rod 6 is fixedly connected to one side of the outer surface of the second gear 5, an anti-slip pad 7 is fixedly connected to the inner wall of the first clamping rod 4 and the second clamping rod 6, a fixing plate 8 is fixedly connected to one side of the inner wall of the frame 1, a fixing seat 9 is fixedly connected to the middle part of the top of the fixing plate 8, a connecting rod 10 is rotatably connected to the inner wall of the fixing seat 9, a sonar body 11 is rotatably connected to the inner wall of the connecting rod 10, a first motor 12 is fixedly connected to the bottom end of the fixing seat 9, the top of the first motor 12 is rotatably connected to the bottom end of the connecting rod 10, one side of the connecting rod 10 is fixedly connected to a second motor 13, and one side of the second motor 13 is rotatably connected On one side of the sonar body 11, a power source is connected through a motor, the motor drives the first gear 3 to rotate, the first gear 3 drives the first clamping rod 4 on the surface to expand outward, and when the first gear 3 rotates, it drives the second gear 5 on one side to rotate in the opposite direction, and the second gear 5 drives the second clamping rod 6 on the surface to expand outward and align with the object to be clamped. The motor drives the first gear 3 to rotate in the reverse direction, and the first clamping rod 4 and the second clamping rod 6 can be moved to the opposite side and clamp the object. The anti-slip pad 7 can increase the friction between the object and the object, so as to achieve the effect of stable clamping. The fixing seat 9 is fixed by the fixing plate 8, and the fixing seat 9 is used to limit the connecting rod 10. The connecting rod 10 fixes the sonar body 11. The first motor 12 can drive the connecting rod 10 to rotate horizontally to adjust the direction of the sonar scanning, and then the sonar body 11 can be driven by the second motor 13 to rotate vertically to adjust the scanning angle, so as to achieve the effect of 360-degree scanning and detection;

[0023] A connecting plate 14 is fixedly connected to the middle of the inner bottom wall of the frame 1, and a camera 15 is fixedly connected to the top of the connecting plate 14. Through the installation of the camera 15, the camera 15 can be connected to an external power supply to perform underwater photography operations;

[0024] The inner wall of the frame 1 is provided with a card slot on both sides, and the inner wall of the card slot is fixedly connected with a lifting mechanism 16, and the lifting and steering functions can be achieved by adjusting the different lifting mechanisms 16 on both sides;

[0025] A connection groove is provided on one side of the inner wall of the frame 1 close to the lifting mechanism 16, and a reserve power supply 17 is fixedly connected to the inner wall of the connection groove. Through the installation of the reserve power supply 17, the reserve power supply 17 provides power for the device;

[0026] The outer surface of the frame 1 is provided with a fixing groove, the inner wall of the fixing groove is threadedly connected with a bolt 18, the outer surface of the bolt 18 is threadedly connected with a fixing ring 19, the inner wall of the fixing ring 19 is clamped with a searchlight 20, and the fixing ring 19 can be fixed to the surface of the device by rotating the bolt 18, and the fixing ring 19 can limit the searchlight 20;

[0027] One side of the searchlight 20 is fixedly connected to a connecting wire 21, and one side of the connecting wire 21 is fixedly connected to one side of the reserve power supply 17. The connecting wire 21 fixed by the searchlight 20 is connected to the reserve power supply 17, which can be used for lighting during underwater operations and provide light source for the camera 15 to shoot.

[0028] In the utility model, the working steps of the device are as follows:

[0029] The first step: connect the power supply through the motor, the motor drives the first gear 3 to rotate, the first gear 3 drives the first clamping rod 4 on the surface to expand outward, and when the first gear 3 rotates, it drives the second gear 5 on one side to rotate in the opposite direction, and the second gear 5 drives the second clamping rod 6 on the surface to expand outward and align with the object to be clamped. The motor drives the first gear 3 to rotate in the reverse direction, and the first clamping rod 4 and the second clamping rod 6 can be moved to the opposite side to clamp the object. The anti-slip pad 7 can increase the friction between the object and the first gear 3, so as to achieve the effect of stable clamping.

[0030] The second step: fix the fixing seat 9 through the fixing plate 8, the fixing seat 9 is used to limit the connecting rod 10, the connecting rod 10 fixes the sonar body 11, the first motor 12 can drive the connecting rod 10 to rotate horizontally to adjust the direction of the sonar scanning, and then drive the sonar body 11 to rotate vertically through the second motor 13 to adjust the scanning angle, so as to achieve a 360-degree scanning detection effect;

[0031] The third step: through the installation of the camera 15, the external power supply of the camera 15 can be used for underwater shooting operations. Through the lifting mechanism 16, it is connected to the reserve power supply 17. By adjusting the different lifting mechanisms 16 on both sides, the lifting and steering functions can be realized. Through the installation of the reserve power supply 17, the reserve power supply 17 provides power for the device. By rotating the bolt 18, the fixing ring 19 can be fixed to the surface of the device. The fixing ring 19 can limit the searchlight 20. The connecting line 21 fixed to the searchlight 20 is connected to the reserve power supply 17, which can be used for lighting during underwater operations and provide light source for the camera 15 to shoot.

[0032] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An underwater robot equipped with a 360-degree scanning sonar, comprising a frame (1), characterized in that: The top side of the frame (1) is fixedly connected to a driving machine (2), the bottom end of the driving machine (2) is rotatably connected to a first gear (3), one side of the outer surface of the first gear (3) is fixedly connected to a first clamping rod (4), the outer surface of the first gear (3) is meshed with a second gear (5), one side of the outer surface of the second gear (5) is fixedly connected to a second clamping rod (6), the inner walls of the first clamping rod (4) and the second clamping rod (6) are fixedly connected to anti-slip pads (7), and one side of the inner wall of the frame (1) is fixedly connected to a fixing plate ( 8), a fixing seat (9) is fixedly connected to the middle of the top of the fixing plate (8), a connecting rod (10) is rotatably connected to the inner wall of the fixing seat (9), a sonar body (11) is rotatably connected to the inner wall of the connecting rod (10), a first motor (12) is fixedly connected to the bottom end of the fixing seat (9), the top end of the first motor (12) is rotatably connected to the bottom end of the connecting rod (10), a second motor (13) is fixedly connected to one side of the connecting rod (10), and one side of the second motor (13) is rotatably connected to one side of the sonar body (11).

2. The underwater robot equipped with a 360-degree scanning sonar according to claim 1, characterized in that: A connecting plate (14) is fixedly connected to the middle of the inner bottom wall of the frame (1), and a camera (15) is fixedly connected to the top of the connecting plate (14).

3. The underwater robot equipped with a 360-degree scanning sonar according to claim 1, characterized in that: The frame (1) has slots on both sides of its inner wall, and the inner walls of the slots are fixedly connected to a lifting mechanism (16).

4. The underwater robot equipped with a 360-degree scanning sonar according to claim 1, characterized in that: A connection groove is provided on one side of the inner wall of the frame body (1) close to the lifting mechanism (16), and a reserve power source (17) is fixedly connected to the inner wall of the connection groove.

5. The underwater robot equipped with a 360-degree scanning sonar according to claim 1, characterized in that: The outer surface of the frame (1) is provided with a fixing groove, the inner wall of the fixing groove is threadedly connected with a bolt (18), the outer surface of the bolt (18) is threadedly connected with a fixing ring (19), and the inner wall of the fixing ring (19) is clamped with a searchlight (20).

6. The underwater robot equipped with a 360-degree scanning sonar according to claim 5, characterized in that: One side of the searchlight (20) is fixedly connected to a connecting wire (21), and one side of the connecting wire (21) is fixedly connected to one side of a reserve power source (17).

Images