Multifunctional underwater robot

Abstract

The utility model discloses a multifunctional underwater robot, which relates to the technical field of underwater robots and comprises a robot body, the top of the robot body is electrically connected with a mother ship through a cable, a detector is mounted at the upper end of the robot body, a control box is arranged at the bottom of the robot body, and a groove is formed in one side, opposite to the control box, of the robot body. And a camera is mounted in the groove through a holder. By means of the pressure regulator and the high-pressure gas cylinders, a proper amount of gas can be filled into the air bag, vibration transmitted by the walking wheels and the driving box is weakened through the elasticity of the air bag, the stability of the machine body above during movement is kept, and the quality of images collected by the camera is improved; the pressure regulator continuously inflates or exhausts air into or out of the air bag, and the machine body can be driven to integrally shake up and down in cooperation with rotation of the walking wheels, so that the escape capacity of the machine body is improved, and smooth exploration is ensured.

Description

Technical Field

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

[0002] A multifunctional underwater robot is a robot that can perform various tasks underwater. It is usually composed of one or more thrusters, control systems, sensors and actuators. It can be customized and configured according to different task requirements. It can adapt to semi-autonomous or fully autonomous work in underwater environments, becoming an important tool for replacing human development of the ocean. The manufacturing technology of underwater robots is highly intensive, mainly including six major technologies: simulation, intelligent control, underwater target detection and identification, underwater positioning, communication, and energy systems. Its applications involve many fields such as marine environmental surveys, seabed geological exploration, installation and maintenance of marine structures, and scientific investigations.

[0003] During underwater robot exploration, due to the complexity of the seabed environment, when walking in unfamiliar waters and contacting the mud or gravel on the seabed, the body cannot maintain stability well due to its own structural limitations, and the camera carried shakes violently, resulting in low quality of collected images, which cannot meet the survey needs. In addition, the power and flexibility provided by the existing propulsion device are insufficient. Once stuck in mud or stuck in stones, the robot's posture cannot be adjusted in time to get out of trouble, affecting the smooth progress of the survey mission and the integrity of data collection. In view of this, the present application proposes a multifunctional underwater robot. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a multifunctional underwater robot.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multifunctional underwater robot comprises a body, the top of which is connected to a cable, the upper end of which is installed with a detector, the bottom of which is provided with a control box, the body is provided with grooves on one side of the body and the control box, and a camera is installed in the groove through a pan / tilt, two searchlights are symmetrically arranged at the bottom of the control box, and the two searchlights are located on both sides of the camera, the bottom of the control box is fixedly connected with a mounting plate through a plurality of symmetrically arranged vertical rods, a plurality of high-pressure gas tanks are arranged between the mounting plate and the control box, and the plurality of high-pressure gas tanks are interconnected through a plurality of solenoid valves, two thrusters are symmetrically installed on one side of the mounting plate, the two sides of the control box are respectively fixedly connected with frames through connecting rods, two walking devices for movement are commonly arranged at the bottom of the two frames, and a plurality of air bags are installed between the bottom of the control box and the walking devices through a connecting plate.

[0007] As a further preferred embodiment of the present technical solution, the walking device includes a drive box, a dual-axis motor is fixedly installed inside the drive box, the output shafts at both ends of the dual-axis motor are respectively connected to transmission shafts via couplings, the two transmission shafts are respectively connected to the drive box via sealed bearings, the ends of the two transmission shafts extending outside the drive box are respectively keyed to walking wheels, and the outer surfaces of the multiple walking wheels are respectively provided with anti-slip textures.

[0008] As a further preferred embodiment of the present technical solution, limiting grooves are respectively provided at the bottoms of the two frames, and the two transmission shafts are respectively arranged in the limiting grooves at corresponding positions, and the distance between the walking wheels at both ends of the transmission shaft is greater than the distance between the two frames.

[0009] As a further preferred embodiment of the present technical solution, a chamber is provided at the inner top of the driving box, and the chamber is connected to the interiors of two airbags at corresponding positions, and a delivery pipe is provided in the chamber.

[0010] As a further preferred embodiment of the present technical solution, a pressure regulator is fixedly installed on the bottom of the mounting plate, and the pressure regulator is connected to the interior of multiple high-pressure gas tanks through hoses, and one end of the delivery pipe away from the drive box is connected to the interior of the pressure regulator.

[0011] As a further preferred embodiment of the present technical solution, the bottom of the frame is commonly connected with a bottom plate, and the bottom plate is arranged between two drive boxes.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model can fill an appropriate amount of gas into the airbag through the pressure regulator and multiple high-pressure gas cylinders. The elasticity of the airbag itself can reduce the vibration transmitted by the running wheels and the drive box, maintain the stability of the upper body when moving, and improve the quality of the image collected by the camera. Furthermore, when trapped in the mud or gravel on the seabed, the pressure regulator continuously fills or extracts gas into or out of the airbag, and the rotation of the running wheels can drive the whole body to shake up and down, thereby improving the body's ability to escape from difficulties and ensuring smooth exploration.

[0014] 2. The utility model fills the airbags at different positions with an appropriate amount of gas through the pressure regulator, which can adjust the distance between the bottom plate on one side of the machine body and the drive box, flexibly adjust the center of gravity of the machine body, and keep the machine body in a stable walking posture when passing through complex, changeable and rugged road conditions, thereby improving the passability on complex roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main structure of a multifunctional underwater robot proposed by the utility model;

[0016] Figure 2 This is a rear view structural schematic diagram of a multifunctional underwater robot proposed by the utility model;

[0017] Figure 3 This is a bottom view structural diagram of a multifunctional underwater robot proposed by the utility model;

[0018] Figure 4 The utility model is a partial cross-sectional structural schematic diagram of a multifunctional underwater robot.

[0019] In the figure: 1. body; 2. cable; 3. detector; 4. control box; 5. camera; 6. searchlight; 7. high-pressure gas tank; 8. mounting plate; 9. thruster; 10. connecting rod; 11. frame; 12. limit groove; 13. airbag; 14. drive box; 15. transmission shaft; 16. running wheel; 17. pressure regulator; 18. delivery pipe; 19. bottom plate. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0021] The utility model provides a technical solution: Figure 1-4 As shown, a multifunctional underwater robot includes a body 1, a cable 2 is connected to the top of the body 1, and the cable 2 is used to provide energy for the body 1 and transmit the acquired data back. A detector 3 is installed at the upper end of the body 1, and a control box 4 is arranged at the bottom of the body 1. A groove is arranged on one side of the body 1 and the control box 4, and a camera 5 is installed in the groove through a pan-tilt head. Two searchlights 6 are symmetrically arranged at the bottom of the control box 4, and the two searchlights 6 are located on both sides of the camera 5. The searchlights 6 provide lighting for the front of the body 1, so that the camera 5 can collect images. The bottom of the control box 4 is fixedly connected with a mounting plate 8 through a plurality of symmetrically arranged vertical rods. A plurality of high-pressure gas tanks 7 are arranged between the mounting plate 8 and the control box 4. The plurality of high-pressure gas tanks 7 are interconnected through a plurality of solenoid valves. Two propellers 9 are symmetrically installed on one side of the mounting plate 8. The body 1 can move freely through the cooperation of the propellers 9 and the walking wheels 16.

[0022] The two sides of the control box 4 are fixedly connected with frames 11 through connecting rods 10, and limiting grooves 12 are respectively arranged at the bottom of the two frames 11, and two transmission shafts 15 are respectively arranged in the limiting grooves 12 at corresponding positions. The spacing between the running wheels 16 at both ends of the transmission shaft 15 is greater than the spacing between the two frames 11. Furthermore, the running wheels 16 are arranged on the outside of the frames 11 to ensure that the width of the space passed by the running wheels 16 is greater than the body 1, and cooperate with the frames 11 to protect the body 1 and avoid the body 1 from colliding with obstacles during the movement.

[0023] Two walking devices for movement are commonly provided at the bottom of the two frames 11, and the walking devices include a drive box 14, a dual-axis motor is fixedly installed inside the drive box 14, the output shafts at both ends of the dual-axis motor are respectively connected to transmission shafts 15 through couplings, and the two transmission shafts 15 are respectively connected to the drive box 14 through sealed bearings, and one end of the two transmission shafts 15 extending to the outside of the drive box 14 is respectively keyed to a walking wheel 16, and the dual-axis motor is started by the control box 4, which finally drives the walking wheel 16 to rotate, and the outer surfaces of the plurality of walking wheels 16 are respectively provided with anti-slip patterns, which can improve the friction of the outer surfaces of the walking wheels 16.

[0024] A plurality of air bags 13 are installed between the bottom of the control box 4 and the traveling device via a connecting plate, a chamber is opened at the inner top of the driving box 14, and the chamber is connected to the interior of the two air bags 13 at the corresponding positions, a delivery pipe 18 is connected in the chamber, a pressure regulator 17 is fixedly installed at the bottom of the mounting plate 8, the pressure regulator 17 is connected to the interior of a plurality of high-pressure gas tanks 7 through a hose, and the delivery pipe 18 is connected to the interior of the pressure regulator 17 at one end away from the driving box 14. Furthermore, in conjunction with the pressure change in the internal chamber of the driving box 14, the damping between the air bag 13 and the driving box 14 can be adjusted, so that the pressure regulator 17 can adjust the gas pressure inside the air bag 13 so as to better absorb the vibration transmitted by the traveling wheel 16.

[0025] The bottom of the frame 11 is commonly connected with a bottom plate 19, and the bottom plate 19 is arranged between the two drive boxes 14. It should be noted that during the movement of the body 1, the side walls of the drive box 14 are abutted against the bottom plate 19 at the corresponding position, so that the drive box 14 pushes the frame 11 to move synchronously, which can play a certain limiting role on the airbag 13, avoiding the tilting of the airbag 13 due to the large power output of the walking wheel 16 under the action of inertia, thereby ensuring the smooth movement of the body 1.

[0026] The utility model provides a multifunctional underwater robot, and the specific working principle is as follows: the cable 2 at the top of the body 1 is connected to the mother ship accompanying the survey, the mother ship provides energy to the body 1 through the cable 2, and obtains the returned data through the cable 2, the control box 4 starts the propeller 9 at the rear and the double-axis motor in the bottom drive box 14 to run, the output shaft of the double-axis motor drives the walking wheel 16 to rotate through the transmission shaft 15 at both ends, so that the body 1 moves freely, cooperates with the detector 3 and the camera 5 above to explore the underwater environment, and uses the pressure regulator 1 7 transports part of the gas in the high-pressure gas tank 7 to the airbag 13. Under the elastic effect of the airbag 13 itself, the vibration transmitted from the drive box 14 to the mounting plate 8 can be reduced, the stability of the upper body 1 can be maintained, and the quality of image acquisition can be improved. When the running wheels 16 at the bottom are trapped in the underwater mud or gravel, the control box 4 starts the pressure regulator 17 to continuously fill and extract gas from the airbag 13, thereby driving the device as a whole to shake up and down, adjusting the friction between the running wheels 16 and the contact ground, so that the body 1 can be freed and the smooth progress of the exploration can be ensured.

[0027] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multifunctional underwater robot, comprising a body (1), characterized in that: The top of the machine body (1) is connected to a cable (2), the upper end of the machine body (1) is installed with a detector (3), the bottom of the machine body (1) is provided with a control box (4), the machine body (1) and one side of the control box (4) are provided with grooves, and a camera (5) is installed in the groove through a pan-tilt head, the bottom of the control box (4) is symmetrically provided with two searchlights (6), and the two searchlights (6) are located on both sides of the camera (5), and the bottom of the control box (4) is fixedly connected to a mounting plate ( 8), a plurality of high-pressure gas tanks (7) are arranged between the mounting plate (8) and the control box (4), the plurality of high-pressure gas tanks (7) are interconnected via a plurality of solenoid valves, two thrusters (9) are symmetrically mounted on one side of the mounting plate (8), the two sides of the control box (4) are respectively fixedly connected to frames (11) via connecting rods (10), the bottoms of the two frames (11) are jointly provided with two walking devices for movement, and a plurality of air bags (13) are mounted between the bottom of the control box (4) and the walking device via a connecting plate.

2. A multifunctional underwater robot according to claim 1, characterized in that: The walking device comprises a driving box (14), a dual-axis motor is fixedly installed inside the driving box (14), output shafts at both ends of the dual-axis motor are respectively connected to transmission shafts (15) through couplings, the two transmission shafts (15) are respectively connected to the driving box (14) through sealed bearings, one end of the two transmission shafts (15) extending outside the driving box (14) is respectively key-connected to walking wheels (16), and the outer surfaces of the plurality of walking wheels (16) are respectively provided with anti-slip patterns.

3. A multifunctional underwater robot according to claim 2, characterized in that: Limiting grooves (12) are respectively arranged at the bottom of the two frames (11), and the two transmission shafts (15) are respectively arranged in the limiting grooves (12) at corresponding positions, and the spacing between the running wheels (16) at both ends of the transmission shaft (15) is greater than the spacing between the two frames (11).

4. A multifunctional underwater robot according to claim 2, characterized in that: The inner top of the driving box (14) is provided with a chamber, and the chamber is communicated with the interiors of two air bags (13) at corresponding positions, and a delivery pipe (18) is provided in the chamber.

5. A multifunctional underwater robot according to claim 4, characterized in that: A pressure regulator (17) is fixedly mounted on the bottom of the mounting plate (8), and the pressure regulator (17) is connected to the interior of a plurality of high-pressure gas tanks (7) through hoses. An end of the delivery pipe (18) away from the drive box (14) is connected to the interior of the pressure regulator (17).

6. A multifunctional underwater robot according to claim 2, characterized in that: The bottom of the frame (11) is commonly connected to a bottom plate (19), and the bottom plate (19) is arranged between two drive boxes (14).

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