Emergency floating device for underwater robot

Abstract

The utility model discloses an emergency floating device for an underwater robot, which relates to the technical field of underwater robots and comprises two cabins, the bottoms of the two cabins are jointly provided with a support, the side walls of the two cabins are oppositely provided with connecting seats, the two connecting seats are respectively embedded with a rotating seat, and the rotating seats are provided with rotating shafts. And a top plate is connected between the two rotating seats. By means of the air inlet pipe, the pneumatic motor and the air outlet pipe, in the process of inflating the air bag, under the action of buoyancy, the connecting base and the rotating base enable the top plate and the air bag to turn over integrally, meanwhile, the output shaft of the pneumatic motor drives the propeller below to rotate, and under the counter-acting force of water, the escape capacity of the robot is improved; and finally, one side of the robot is lifted upwards, the underwater robot is kept vertically upward in the floating process, the air bag arranged on the upper portion can prevent the robot body from colliding with an obstacle, and the moving stability and safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to an emergency floating device for underwater robots. Background Art

[0002] An underwater robot is an intelligent device that can perform specific tasks in an underwater environment. As the main tool for humans to explore the marine environment and develop marine resources, it has extremely high scientific and technological content and value. It has many advantages, such as being able to replace humans in entering dangerous or hard-to-reach underwater areas, reducing the risk of casualties; it can work underwater for a long time without being subject to human physiological limitations; it can obtain more accurate and comprehensive underwater data, etc. In practical applications, it can be used for underwater detection, underwater operations, underwater scientific research, etc.

[0003] Due to the complexity and unknown nature of the detection environment, underwater robots may malfunction due to various emergencies when operating in this environment. Therefore, emergency buoyancy measures are needed to avoid causing more serious losses. When using existing emergency buoyancy devices, they are limited by the internal volume of the underwater robot and usually use airbags outside the cabin to drive the robot to float.

[0004] Reference Publication (Announcement) No.: CN111252223A discloses an emergency floating device for an underwater robot. When a malfunction occurs in the underwater robot, the device is quickly activated to achieve emergency floating. The entire device has a simple structure and is stable and reliable. However, in actual use, the airbag is installed only by the connection of the airbag joint, which is prone to loosening or detachment. During the floating process, the center of gravity of the robot cannot be kept stable, and it is difficult to control its floating posture. It is prone to rolling or collision, which reduces the safety and reliability of the floating process. In view of this, the present application proposes an emergency floating device for an underwater robot. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes an emergency floating device for an underwater robot.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] An emergency buoyancy device for an underwater robot comprises two cabins, a bracket being commonly installed at the bottom of the two cabins, connecting seats being arranged on the side walls of the two cabins in a corresponding manner, rotating seats being respectively embedded in the two connecting seats, a top plate being commonly connected between the two rotating seats, an air bag being installed at the inner top of the top plate, an air motor being arranged inside one of the cabins, an air outlet pipe and an air inlet pipe being connected to the air motor, two guard plates being penetrated at the bottom of the cabin, a mounting frame being commonly connected at the top of the two guard plates, and the mounting frame being sleeved on the air motor, an output shaft of the air motor being penetrated and connected to the bottom side wall of the cabin through a sealed bearing, and one end of the output shaft of the air motor extending outside the cabin is connected to a propeller.

[0008] As a further preferred embodiment of the present technical solution, the side walls at both ends of the top plate are respectively fixedly connected to the corresponding rotating seats, and reinforcing rods are respectively provided on both sides of the top of the top plate, and the tops of the two reinforcing rods are respectively fixedly connected to the corresponding side walls of the rotating seat.

[0009] As a further preferred embodiment of the present technical solution, a plurality of through holes are formed on both sides of the top plate, and a diameter R1 of the through holes formed on the outer surface of the top plate is larger than a diameter R2 formed on the inner surface of the top plate, that is, R1>R2.

[0010] As a further preferred embodiment of the present technical solution, the airbag is arranged between the two cabins, and the width of the airbag is equal to the length of the top plate.

[0011] As a further preferred embodiment of the present technical solution, one end of the air outlet pipe away from the pneumatic motor is connected to the interior of the airbag, a partition is fixedly connected to the interior of the cabin, and the air inlet pipe is connected through the partition.

[0012] As a further preferred embodiment of the present technical solution, the two guard plates are symmetrically arranged on both sides of the propeller, and the two guard plates are both corrugated plates.

[0013] The utility model has the following beneficial effects:

[0014] 1. The utility model provides an air inlet pipe, an air motor and an air outlet pipe. During the process of inflating the airbag, under the action of buoyancy, the connecting seat and the rotating seat will cause the top plate and the airbag to flip as a whole. At the same time, the output shaft of the air motor drives the propeller below to rotate. Under the reaction force of the water body, the robot's ability to escape from trouble is improved, and finally one side of the robot is lifted upward. During the floating process, the underwater robot remains vertically upward, and the airbag arranged on the top can prevent the body from colliding with obstacles, thereby improving the stability and safety of movement.

[0015] 2. The utility model symmetrically arranges two guard plates on both sides of the propeller. When the output shaft of the pneumatic motor drives the propeller to rotate, the water flow driven by the propeller can be gathered downward, thereby increasing the thrust formed at the bottom of the cabin and allowing one side of the body to float quickly. At the same time, it can play a certain protective role, avoiding damage caused by collision between the airbag and the propeller due to the impact of the water flow, and reducing the entanglement of underwater seaweed and other debris with the propeller, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the main structure of an emergency floating device for an underwater robot proposed in the utility model;

[0017] Figure 2 This is a rear structural schematic diagram of an emergency floating device for an underwater robot proposed in the utility model;

[0018] Figure 3 This is a partial cross-sectional structural schematic diagram of an underwater robot emergency floating device proposed by the utility model;

[0019] Figure 4 This is a schematic diagram of the airbag structure of an emergency floating device for an underwater robot proposed in the utility model;

[0020] Figure 5 The utility model is a schematic diagram of the side sectional structure of an emergency floating device for an underwater robot.

[0021] In the figure: 1. cabin; 2. bracket; 3. connecting seat; 4. rotating seat; 5. reinforcing rod; 6. top plate; 7. through hole; 8. air bag; 9. pneumatic motor; 10. exhaust pipe; 11. intake pipe; 12. partition; 13. mounting frame; 14. guard plate; 15. propeller. DETAILED DESCRIPTION

[0022] 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.

[0023] The utility model provides a technical solution: Figure 1-5As shown, an emergency buoyancy device for an underwater robot comprises two cabins 1, a bracket 2 is commonly installed at the bottom of the two cabins 1, a plurality of reinforcing ribs are arranged between the brackets 2 to maintain the stability of the cabins 1, connecting seats 3 are arranged on the side walls of the two cabins 1, rotating seats 4 are respectively embedded on the two connecting seats 3, a top plate 6 is commonly connected between the two rotating seats 4, the side walls at both ends of the top plate 6 are respectively fixedly connected to the corresponding rotating seats 4, reinforcing rods 5 are respectively arranged on both sides of the top of the top plate 6, the tops of the two reinforcing rods 5 are respectively fixedly connected to the corresponding side walls of the rotating seat 4, further, under the common connection of the reinforcing rods 5, the side walls of the top plate 6 and the rotating seat 4 are kept rotating synchronously, and when the airbag 8 is inflated, it will flip with the connecting seat 3 as the axis.

[0024] A plurality of through holes 7 are provided on both sides of the top plate 6, and a diameter R1 of the through hole 7 provided on the outer surface of the top plate 6 is larger than a diameter R2 provided on the inner surface of the top plate 6, that is, R1>R2. It should be noted that, through the plurality of through holes 7, water flows toward the inner top of the top plate 6, which can organize the stored airbags 8 so that the airbags 8 follow the direction of the water flow, thereby facilitating the expansion and deployment of the airbags 8. Furthermore, during the inflation of the airbags 8, the water between the upper end of the airbags 8 and the top plate 6 is discharged through the through holes 7, so that under different pressure conditions, the airbags 8 are ensured to be in full contact with the inner top of the top plate 6, thereby improving the stability of the connection of the airbags 8.

[0025] An airbag 8 is installed on the inner top of the top plate 6. The airbag 8 is arranged between the two cabins 1, and the width of the airbag 8 is equal to the length of the top plate 6. During the inflation of the airbag 8, it is ensured that the airbag 8 and the top plate 6 keep rotating synchronously.

[0026] A pneumatic motor 9 is provided inside one of the cabins 1, and an air outlet pipe 10 and an air inlet pipe 11 are connected to the pneumatic motor 9. The end of the air outlet pipe 10 away from the pneumatic motor 9 is connected to the interior of the airbag 8. A partition 12 is fixedly connected to the interior of the cabin 1, and the air inlet pipe 11 is connected with the partition 12 through it. Furthermore, the air inlet pipe 11 extends to one end on the other side of the partition 12 and is connected to a high-pressure gas tank inside the cabin 1. When gas is delivered to the air inlet pipe 11 through the control component, it is finally delivered to the airbag 8 via the pneumatic motor 9 and the air outlet pipe 10.

[0027] Two guard plates 14 are provided through the bottom of the cabin 1, and the tops of the two guard plates 14 are connected with a mounting frame 13, and the mounting frame 13 is sleeved on the pneumatic motor 9 to fix the pneumatic motor 9. The output shaft of the pneumatic motor 9 is connected with the bottom side wall of the cabin 1 through a sealed bearing to prevent water from seeping into the cabin 1, and the end of the pneumatic motor 9 output shaft extending to the outside of the cabin 1 is connected with a propeller 15. The two guard plates 14 are symmetrically arranged on both sides of the propeller 15, and both guard plates 14 are wavy plates. It should be noted that under the action of the guard plates 14 on both sides, the water flow driven by the rotation of the propeller 15 can be concentrated, the thrust provided by the propeller 15 can be increased, and the escape ability of the body is improved. Furthermore, after the airbag 8 is inflated, the pneumatic motor 9 stops running. During the floating process, the wavy guard plate 14 can play a certain guiding role in the water flow, reduce the resistance during movement, and at the same time reduce the contact and entanglement between the propeller 15 and the floating water plants.

[0028] The utility model provides an emergency buoyancy device for an underwater robot, and the specific working principle is as follows: in the initial state, the airbag 8 is stored in the top plate 6, and the upper end of the airbag 8 is sealed and connected to the inner top of the top plate 6. With the movement of the cabins 1 on both sides, the top plate 6 is connected with the rotating seat 4 and is pushed by the water flow to swing freely. At this time, part of the water flow flows through the through hole 7. Affected by the aperture, the water flow accelerates to rush towards the airbag 8 and blows the airbag 8 to move, so that the position of the airbag 8 can be adjusted to avoid being unable to fully expand due to space limitations during the inflation process.

[0029] When emergency buoyancy is required, the air inlet pipe 11 is connected to the high-pressure gas tank inside the cabin 1. Under the transmission of the external compression device, the gas flows from the air inlet pipe 11 through the pneumatic motor 9 and enters the airbag 8 through the air outlet pipe 10, causing the airbag 8 to expand and change the buoyancy of the underwater robot as a whole. At this time, the airbag 8 will drive the top plate 6 to flip around the rotating seat 4 as the axis to adapt to the buoyancy change. While the airbag 8 is inflated, the output shaft of the pneumatic motor 9 will drive the propeller 15 below to rotate, accelerating the bracket 2 at the bottom of one side of the cabin 1 to break away from the ground in the working area, avoiding the adsorption of seabed silt or other obstacles to the cabin 1, making it easier for one side of the body to lift up and adjust its posture, and cooperate with the guidance of the airbag 8 to keep the body vertically upward during the buoyancy process, thereby improving the stability and reliability of the buoyancy.

[0030] 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. An emergency buoyancy device for an underwater robot, comprising two cabins (1), characterized in that: The bottom of the two cabins (1) are commonly installed with a bracket (2), the side walls of the two cabins (1) are aligned with each other with a connecting seat (3), the two connecting seats (3) are respectively embedded with a rotating seat (4), a top plate (6) is commonly connected between the two rotating seats (4), an air bag (8) is installed on the inner top of the top plate (6), an air motor (9) is arranged inside one of the cabins (1), an air outlet pipe (10) and an air inlet pipe (11) are connected on the air motor (9), two guard plates (14) are penetrated through the bottom of the cabin (1), the tops of the two guard plates (14) are commonly connected with a mounting frame (13), and the mounting frame (13) is sleeved on the air motor (9), the output shaft of the air motor (9) is connected to the bottom side wall of the cabin (1) through a sealed bearing, and the end of the output shaft of the air motor (9) extending outside the cabin (1) is connected with a propeller (15).

2. The underwater robot emergency buoyancy device according to claim 1, characterized in that: The side walls at both ends of the top plate (6) are respectively fixedly connected to the corresponding rotating seats (4), and reinforcing rods (5) are respectively provided on both sides of the top of the top plate (6), and the tops of the two reinforcing rods (5) are respectively fixedly connected to the corresponding side walls of the rotating seats (4).

3. The underwater robot emergency buoyancy device according to claim 1, characterized in that: A plurality of through holes (7) are arranged on opposite sides of the top plate (6), and a diameter R1 of the through hole (7) on the outer surface of the top plate (6) is greater than a diameter R2 on the inner surface of the top plate (6), that is, R1>R2.

4. The underwater robot emergency buoyancy device according to claim 1, characterized in that: The airbag (8) is arranged between the two cabins (1), and the width of the airbag (8) is equal to the length of the top plate (6).

5. The underwater robot emergency buoyancy device according to claim 1, characterized in that: One end of the air outlet pipe (10) away from the pneumatic motor (9) is connected to the interior of the air bag (8); a partition (12) is fixedly connected to the interior of the cabin (1); and the air inlet pipe (11) is connected to the partition (12) through a through hole.

6. The underwater robot emergency buoyancy device according to claim 1, characterized in that: The two guard plates (14) are symmetrically arranged on both sides of the propeller (15), and the two guard plates (14) are both corrugated plates.

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