A motion control structure for underwater robots

Abstract

The utility model relates to an underwater robot motion control structure, belonging to the technical field of underwater robots, including a machine base, a mounting seat, a driving motor 1, a driving motor 2, a propeller propeller and a cabin; the driving motor 1 is fixedly installed inside the machine base, the output shaft of the driving motor 1 is fixedly installed with a mounting seat, the right side of the mounting seat is fixedly installed with a driving motor 2, and the output shaft of the driving motor 2 is fixedly installed with a propeller propeller located in the mounting seat. The underwater robot motion control structure, through the electric push rod, ensures that after use, the electric push rod is started to drive the entire motion control structure to move and be stored in the cabin for storage, and the hatch is blocked by starting the switch structure, and the ventilation and heating mechanism and the exhaust control structure are coordinated to achieve drying and exhaust of the stored motion control structure and sealed storage after exhaust, thereby improving the service life of the overall control structure.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a motion control structure of an underwater robot. Background Art

[0002] Underwater robots are robots that can perform various tasks underwater. They are often used in fields such as marine scientific research, seabed exploration, underwater repair and rescue, etc. Underwater robots can carry various sensors and equipment, such as cameras, sonars, robotic arms, etc., in order to perform different tasks. They can work in deep-sea environments and help humans explore and understand the ocean world.

[0003] The motion control structure of an underwater robot usually includes a propulsion system, i.e. a thruster, which is used to propel the robot forward, backward, up and down, etc. in the water. The propulsion system can be different types of thrusters such as propellers, water jets or turbines.

[0004] It can be seen from the existing structure of the propeller for the motion control of the underwater robot that the propeller does not have a structure for retracting, protecting and drying after use, which leads to the phenomenon of rusted parts and circuit corrosion damage. Therefore, the utility model designs an underwater robot motion control structure with a retracting, protecting and drying structure to solve this existing technical defect. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides an underwater robot motion control structure having the advantages of a foldable protective drying structure and the like.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an underwater robot motion control structure, including a machine base, a mounting base, a first drive motor, a second drive motor, a propeller thruster and a cabin;

[0007] A driving motor 1 is fixedly mounted inside the machine base, a mounting seat is fixedly mounted at the output shaft of the driving motor 1, a driving motor 2 is fixedly mounted on the right side of the mounting seat, and a propeller propeller located in the mounting seat is fixedly mounted at the output shaft of the driving motor 2;

[0008] A hatch is provided at the bottom of the cabin, an electric push rod is fixedly mounted on the top wall of the cabin, and the push rod of the electric push rod is fixedly mounted on the base;

[0009] The electric push rod drives the machine base and the mounting base to move as a whole and be stored in the cabin;

[0010] The cabin body is provided with a switch structure for driving the hatch to be blocked;

[0011] The cabin is provided with a ventilation and heating mechanism for drying the structure inside the cabin;

[0012] The cabin body is also provided with an exhaust control structure for switching exhaust.

[0013] As a preferred technical solution of the utility model, the switch structure includes an electric guide rail installed and fixed on the left and right sides of the rear side wall of the inner cavity of the cabin, a loading plate is installed and fixed on the guide rail slide seat of the electric guide rail, an opening is provided at the bottom of the loading plate, and an elastic telescopic rod located in the opening is installed and fixed on the left and right sides of the loading plate base, and a sealing rubber block that fits tightly with the loading plate and the bottom wall of the cabin is installed and fixed between the bottom of the elastic telescopic rod.

[0014] As a preferred technical solution of the utility model, when the electric guide rail drives the loading plate to move to the innermost side, the two sealing rubber blocks fit together and seal the hatch.

[0015] As a preferred technical solution of the utility model, the ventilation and heating mechanism includes a heating seat installed and fixed on the left and right side walls of the inner cavity of the cabin and a micro blower connected and fixed on the left side of the cabin.

[0016] As a preferred technical solution of the utility model, the exhaust control structure includes an exhaust hole opened on the top of the cabin body, and an elastic telescopic rod 2 is fixedly installed in the exhaust hole, and a sealing block for sealing the exhaust hole is fixedly installed on the top of the elastic telescopic rod 2.

[0017] As a preferred technical solution of the utility model, when the second elastic telescopic rod is in an extended state, the sealing block is separated from the exhaust hole.

[0018] As a preferred technical solution of the utility model, mounting frames are fixedly installed on both the left and right sides of the cabin top, and the mounting frames are provided with a plurality of mounting holes for mounting and fixing by screws.

[0019] Compared with the prior art, the technical solution of the utility model has the following beneficial effects:

[0020] The underwater robot motion control structure, through the electric push rod, ensures that after use, the electric push rod is started to drive the entire motion control structure to move and be stored in the cabin for storage. At the same time, the hatch is blocked by starting the switch structure, and the ventilation and heating mechanism and the exhaust control structure are cooperated to achieve drying and exhaust of the stored motion control structure and sealed storage after exhaust, thereby improving the service life of the overall control structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the utility model;

[0022] Figure 2This is a cross-sectional view of the utility model;

[0023] Figure 3 It is a side perspective view of the utility model;

[0024] Figure 4 This is an enlarged view of point A of the utility model;

[0025] Figure 5 It is a partial stereogram of the utility model;

[0026] Figure 6 It is a bottom-up stereogram of the present invention.

[0027] In the figure: 1. base; 2. driving motor 1; 3. mounting base; 4. driving motor 2; 5. propeller thruster; 6. cabin; 7. electric push rod; 8. hatch; 9. micro blower; 10. heating base; 11. exhaust hole; 12. elastic telescopic rod 2; 13. sealing block; 14. electric guide rail; 15. loading plate; 16. elastic telescopic rod 1; 17. sealing rubber block. DETAILED DESCRIPTION

[0028] 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.

[0029] See also Figures 1 to 6 In this embodiment, an underwater robot motion control structure includes a base 1, a mounting base 3, a drive motor 1 2, a drive motor 2 4, a propeller thruster 5 and a cabin 6.

[0030] A driving motor 2 is fixedly installed inside the base 1, a mounting seat 3 is fixedly installed at the output shaft of the driving motor 2, a driving motor 2 4 is fixedly installed on the right side of the mounting seat 3, and a propeller thruster 5 located in the mounting seat 3 is fixedly installed at the output shaft of the driving motor 2 4.

[0031] The propeller thruster 5 is one of the commonly used propulsion systems of underwater robots, and its structure usually includes the following parts:

[0032] Propeller: A propeller is a spiral propeller that generates propulsion by rotating to push the underwater robot forward or backward. A propeller usually consists of blades and a shaft. The design and layout of the blades will affect the propulsion efficiency and performance.

[0033] Motor: The propeller propeller 5 is usually driven by an electric motor, which transmits power to the propeller through a shaft, causing it to rotate and generate propulsion. The power and performance of the motor will affect the propulsion efficiency and speed of the propeller.

[0034] Control system: The control system is used to control the operation of the motor. The control system usually includes a controller, sensors and control algorithms.

[0035] The driving motor 1 2 drives the mounting seat 3 to rotate, and cooperates with the driving motor 2 4 to drive the propeller propeller 5 to rotate, so that the propeller propeller 5 can be adjusted and propulsed at multiple angles to achieve the function of motion control direction.

[0036] A hatch 8 is provided at the bottom of the cabin body 6 , and an electric push rod 7 is fixedly mounted on the top wall of the cabin body 6 , and a push rod portion of the electric push rod 7 is fixedly mounted on the base 1 .

[0037] The electric push rod 7 drives the base 1 and the mounting base 3 to move and be stored in the cabin 6 as a whole.

[0038] Mounting frames are installed and fixed on both sides of the top of the cabin 6. The mounting frames are provided with a plurality of mounting holes for mounting and fixing by screws, so that the whole device can be installed and fixed on the underwater robot by passing the screws through the mounting holes.

[0039] In this embodiment, a switch structure for driving the hatch 8 to be blocked is provided in the cabin body 6 .

[0040] It should be noted that the switch structure includes an electric guide rail 14 installed and fixed on the left and right sides of the rear side wall of the inner cavity of the cabin body 6, a loading plate 15 is installed and fixed on the guide rail slide seat of the electric guide rail 14, an opening is provided at the bottom of the loading plate 15, and elastic telescopic rods 16 located in the opening are installed and fixed on the left and right sides of the base of the loading plate 15, and a sealing rubber block 17 that fits tightly with the loading plate 15 and the bottom wall of the cabin body 6 is installed and fixed between the bottoms of the elastic telescopic rods 16.

[0041] When the electric guide rail 14 drives the loading plate 15 to move to the innermost side, the two sealing rubber blocks 17 fit together and seal the hatch 8 .

[0042] In this embodiment, a ventilation and heating mechanism is provided in the cabin 6 for drying the structure inside the cabin 6 .

[0043] It should be noted that the ventilation and heating mechanism includes a heating seat 10 installed and fixed on the left and right side walls of the inner cavity of the cabin body 6 and a micro blower 9 connected and fixed on the left side of the cabin body 6.

[0044] The heating seat 10 includes a mounting base and a heating element. The heating element is a heating tube mounted on the mounting base and generates heat by passing current.

[0045] The exhaust port of the micro blower 9 is connected to the cabin 6. The micro blower 9 belongs to the prior art equipment and is a mechanical device for generating airflow or air pressure.

[0046] The cabin body 6 in this embodiment is also provided with an exhaust control structure for switching exhaust.

[0047] It should be noted that the exhaust control structure includes an exhaust hole 11 opened on the top of the cabin 6, an elastic telescopic rod 12 is fixedly installed in the exhaust hole 11, and a sealing block 13 for sealing the exhaust hole 11 is fixedly installed on the top of the elastic telescopic rod 12.

[0048] When the elastic telescopic rod 12 is in the extended state, the sealing block 13 is separated from the exhaust hole 11 .

[0049] The elastic telescopic rod 16 and the elastic telescopic rod 2 12 are both composed of a telescopic rod and a telescopic spring with both ends fixedly mounted on each other. The telescopic effect of the telescopic rod cooperates with the elastic telescopic effect of the telescopic spring to achieve the contraction and elastic extension of the elastic telescopic rod 16 and the elastic telescopic rod 2 12.

[0050] A controller for controlling the working power supply and system control of the electric push rod 7 and the driving motor 2 is provided in the machine base, a controller for controlling the working power supply and system control of the driving motor 2 4 is provided on the mounting base, and a controller for controlling the working power supply and system control of the micro blower 9, the heating base 10 and the electric push rod 7 is provided on the cabin 6.

[0051] The working principle of the above embodiment is:

[0052] By setting the electric push rod 7, it is ensured that after the use of the overall motion control structure is completed, the electric push rod 7 is started to drive the overall structure on the base 1 and the mounting base 3 to move into the cabin 6 for storage;

[0053] By starting the electric guide rail 14 to work synchronously, the two loading plates 15 are driven to move inwards synchronously and close, so that the sealing rubber block 17 moves synchronously and closes, and the elastic expansion and contraction of the elastic expansion and contraction rod 16 makes the sealing rubber block 17 closely fit the bottom wall of the cabin body 6 to seal the hatch 8;

[0054] Thus, after the sealing is completed, the micro-blower 9 and the heating seat 10 are started synchronously, so that the micro-blower 9 works to blow air into the cabin 6, while the heating seat 10 heats the airflow, so that the hot airflow dries the overall structure collected in the base 1 and the mounting seat 3. At the same time, as the internal air pressure increases, the sealing block 13 is pushed to move and separate from the exhaust hole 11 under the action of the air pressure, and the elastic telescopic rod 12 is stretched synchronously, so that the hot and humid airflow is discharged from the exhaust hole 11. After the drying is completed, as the internal and external air pressures stabilize, the elastic telescopic rod 12 elastically contracts and resets to drive the sealing block 13 to seal the exhaust hole 11, so that the overall structure on the base 1 and the mounting seat 3 can be dried and stored in a dry environment, thereby improving the service life.

[0055] The electrical components appearing in the article are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device for control such as a computer, and the existing public power connection technology is not described in detail in the article.

Claims

1. A motion control structure of an underwater robot, comprising a base (1), a mounting base (3), a first drive motor (2), a second drive motor (4), a propeller thruster (5) and a cabin (6); A driving motor 1 (2) is fixedly mounted inside the machine base (1); a mounting seat (3) is fixedly mounted at the output shaft of the driving motor 1 (2); a driving motor 2 (4) is fixedly mounted on the right side of the mounting seat (3); a propeller propeller (5) located inside the mounting seat (3) is fixedly mounted at the output shaft of the driving motor 2 (4); Features: The bottom of the cabin (6) is provided with a hatch (8), the top wall of the cabin (6) is fixedly mounted with an electric push rod (7), and the push rod of the electric push rod (7) is fixedly mounted on the base (1); The electric push rod (7) drives the machine base (1) and the mounting base (3) to move as a whole and be stored in the cabin (6); The cabin body (6) is provided with a switch structure for driving the hatch (8) to be blocked; The cabin (6) is provided with a ventilation and heating mechanism for drying the structure inside the cabin (6); The cabin (6) is also provided with an exhaust control structure for switching exhaust.

2. The underwater robot motion control structure according to claim 1, characterized in that: The switch structure comprises an electric guide rail (14) fixedly mounted on the left and right sides of the rear side wall of the inner cavity of the cabin body (6); a loading plate (15) is fixedly mounted on the guide rail slide seat of the electric guide rail (14); an opening is provided at the bottom of the loading plate (15); elastic telescopic rods (16) located in the opening are fixedly mounted on the left and right sides of the base of the loading plate (15); and a sealing rubber block (17) tightly fitted with the loading plate (15) and the bottom wall of the cabin body (6) is fixedly mounted between the bottoms of the elastic telescopic rods (16).

3. The underwater robot motion control structure according to claim 2, characterized in that: When the electric guide rail (14) drives the loading plate (15) to move to the innermost side, the two sealing rubber blocks (17) fit together to seal the hatch (8).

4. The underwater robot motion control structure according to claim 1, characterized in that: The ventilation and heating mechanism comprises a heating seat (10) mounted and fixed on the left and right side walls of the inner cavity of the cabin (6) and a micro blower (9) connected and fixed on the left side of the cabin (6).

5. The underwater robot motion control structure according to claim 1, characterized in that: The exhaust control structure comprises an exhaust hole (11) opened at the top of the cabin (6), a second elastic telescopic rod (12) is fixedly installed in the exhaust hole (11), and a sealing block (13) for sealing the exhaust hole (11) is fixedly installed on the top of the second elastic telescopic rod (12).

6. The underwater robot motion control structure according to claim 5, characterized in that: When the second elastic telescopic rod (12) is in an extended state, the sealing block (13) is separated from the exhaust hole (11).

7. The underwater robot motion control structure according to claim 1, characterized in that: The left and right sides of the top of the cabin body (6) are both fixedly mounted with mounting frames, and the mounting frames are provided with a plurality of mounting holes for mounting and fixing by screws.

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