Underwater inspection robot

Abstract

The utility model discloses an underwater inspection robot which comprises a cylindrical diving chamber, two first hoops arranged at an interval and a second hoop arranged between the two first hoops are arranged on the cylindrical diving chamber; the top of any first hoop is provided with a horizontal carrying table extending out of the cylindrical diving chamber, and the horizontal carrying table is provided with a vertical power turbine propeller; the second hoop is provided with two horizontal extension piles with opposite extension directions, the horizontal extension piles are provided with horizontal power turbine propellers, one end of the cylindrical diving chamber is provided with a spherical transparent cover body, and an inspection camera mechanism is arranged in the cylindrical diving chamber. According to the utility model, the attitude can be flexibly adjusted, and the propelling speed requirement can be met, so that the underwater inspection operation is flexible and efficient. The assembling structure is ingenious and simple, and assembling, forming, disassembling, maintaining and repairing are easy to achieve. The self-pivoting shaft swing control of the camera shooting part can be realized, the attitude adjustment requirement on the cylindrical diving chamber body is reduced, and the inspection operation is more efficient and energy-saving.

Description

Technical Field

[0001] The utility model relates to an underwater inspection robot, belonging to the technical field of intelligent inspection equipment. 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 in water, towed, and able to crawl on seabed structures.

[0003] Whether it is a cabled or cable-free submersible, it has a sealed and closed submersible body, which achieves underwater navigation by carrying various power systems installed on the submersible body.

[0004] At present, the power system of underwater inspection robots generally adopts propulsion or turbopropellers. The propulsion type is rear-jet power, and its own lifting and lowering is controlled by the buoyancy of the diving body entering and exiting the water. The advantage is that the underwater speed is fast, but the disadvantage is that the flexibility is poor. Turbopropellers can achieve flexible operation underwater.

[0005] Referring to the utility model patent with authorization announcement number CN220067981U, it discloses an underwater robot, which has four power wings surrounding the diving body, each of which has a horizontal power turbopropeller and a vertical power turbopropeller, which can achieve relatively fast lifting and rotation operations. However, it has the following problems: high power wing cost, insufficient linear propulsion speed, and large water resistance interference between the horizontal power turbopropeller and the vertical power turbopropeller when driven at the same time, which affects the navigation trajectory. Utility Model Content

[0006] The purpose of the utility model is to solve the deficiencies of the above-mentioned prior art, and to propose an underwater inspection robot in view of the problems of high cost, insufficient linear propulsion speed and mutual interference of traditional multi-turbopropeller power wings.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] An underwater inspection robot comprises a cylindrical diving chamber, wherein the cylindrical diving chamber is provided with two first clamps arranged at intervals and a second clamp arranged between the two first clamps;

[0009] A horizontal platform extending from the cylindrical diving chamber is provided on the top of any of the first clamps, and a vertical power turbine propeller is provided on the horizontal platform;

[0010] The second clamp is provided with two horizontal extension piles extending in opposite directions, and the horizontal extension piles are provided with horizontal power turbine propellers, and the power direction of the horizontal power turbine propellers is parallel to the axial direction of the cylindrical submersible chamber;

[0011] A spherical transparent cover is arranged at one end of the cylindrical diving chamber, and a patrol camera mechanism matching the position of the spherical transparent cover is arranged in the cylindrical diving chamber.

[0012] Preferably, the first clamp comprises two detachably spliced ​​first clamp half rings, a splicing end is provided between the two first clamp half rings, and two parallel connecting plates are provided at the bottom of the horizontal carrier, the two connecting plates are respectively arranged on both sides of the splicing end, and the splicing end and the two connecting plates are locked together by a locking bolt.

[0013] Preferably, the vertical power turbopropeller is provided with a matching pile for detachably matching with the horizontal platform.

[0014] Preferably, the second clamp comprises two detachably connected second clamp half rings, and the horizontally extending pile is provided on any of the second clamp half rings.

[0015] Preferably, the cylindrical diving chamber comprises a first closed end and a second closed end arranged at intervals, and a tubular outer peripheral wall arranged between the first closed end and the second closed end;

[0016] A connecting carrier plate and a plurality of connecting ribs evenly distributed in the circumferential direction are provided between the first closed end and the second closed end;

[0017] The spherical transparent cover is arranged on the first closed end.

[0018] Preferably, a sealing plate body is provided on the second sealing end, and a plurality of cable openings for connecting external cables are provided on the sealing plate body.

[0019] Preferably, a carrier plate for carrying the inspection camera mechanism is provided on the first closed end.

[0020] Preferably, the inspection camera mechanism includes a pivot carrier with pivot displacement, a camera unit arranged on the pivot carrier, and a driving source for driving the pivot carrier to pivotally displace

[0021] The beneficial effects of the utility model are mainly reflected in:

[0022] 1. It has more flexible posture adjustment and can also meet the propulsion speed requirements, making underwater inspection operations more flexible and efficient.

[0023] 2. The assembly structure is ingenious and simple, easy to assemble, disassemble, maintain and repair.

[0024] 3. It can realize the self-pivot swing control of the camera unit, reducing the need for posture adjustment of the cylindrical diving chamber body, and making inspection operations more efficient and energy-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 It is a structural schematic diagram of the underwater inspection robot of the utility model.

[0027] Figure 2 This is a schematic structural diagram of the underwater inspection robot from another perspective.

[0028] Figure 3 The utility model is a schematic diagram of the cylindrical diving cabin structure of the underwater inspection robot. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of 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.

[0030] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the relevant utility model are shown in the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0031] The utility model provides an underwater inspection robot, such as Figures 1 to 3 As shown, it includes a cylindrical diving chamber 10, on which are provided two first clamps 1 arranged at intervals, and a second clamp 2 arranged between the two first clamps 1; a horizontal carrier 3 extending from the cylindrical diving chamber is provided on the top of any first clamp 1, and a vertical power turbine propeller 4 is provided on the horizontal carrier; the second clamp 2 is provided with two horizontal extension piles 5 with opposite extension directions, and a horizontal power turbine propeller 6 is provided on the horizontal extension piles, and the power direction of the horizontal power turbine propeller is parallel to the axial direction of the cylindrical diving chamber; the power direction of the vertical power turbine propeller 4 is perpendicular to the axial direction of the cylindrical diving chamber.

[0032] A spherical transparent cover 7 is provided at one end of the cylindrical diving chamber 10, and a patrol camera mechanism 8 matching the position of the spherical transparent cover is provided inside the cylindrical diving chamber.

[0033] Specific implementation process and principle description:

[0034] The first clamp 1 can realize the mounting of the horizontal platform 3 extending out of the cylindrical submersible chamber, and the vertical power turbine propeller 4 on the horizontal platform can generate control for the spiral lifting, and the water flow in the spiral lifting will not be blocked by the cylindrical submersible chamber.

[0035] The second clamp 2 enables the horizontal power turbopropeller 6 to provide a better linear thrust and also enables the adjustment of the rotational displacement during single operation.

[0036] This enables the cylindrical submersible chamber to meet linear speed requirements while improving the flexibility of lifting and rotating, making inspection operations reliable, flexible and efficient.

[0037] The inspection camera mechanism 8 thereon can easily realize underwater image acquisition and meet the inspection video and photography requirements.

[0038] In a specific embodiment, the first clamp 1 includes two detachably spliced ​​first clamp half rings 11, a splicing end 12 is provided between the two first clamp half rings, and two parallel connecting plates 30 are provided at the bottom of the horizontal carrier 3. The two connecting plates are respectively arranged on both sides of the splicing end, and the splicing end and the two connecting plates are locked together by a locking bolt.

[0039] In this way, the requirements for the splicing and matching of the first clamp 1 and the integrated mounting of the connecting plate 30 are met.

[0040] In a specific embodiment, a coupling pile 40 for detachably coupling with a horizontal platform is provided on the vertical power turbopropeller.

[0041] The design of the coupling pile 40 makes it easy to assemble the vertical power turbine propeller and the horizontal platform, and it is also easy to disassemble, maintain, repair and replace when a failure occurs.

[0042] In a specific embodiment, the second clamp 2 includes two detachably connected second clamp half rings 21, and any second clamp half ring is provided with a horizontally extending pile.

[0043] The horizontally extending piles make it easy to mount the horizontal power turbine propeller 6 , while the second clamp half ring 21 facilitates the matching and assembly.

[0044] In a specific embodiment, the cylindrical diving chamber 10 includes a first closed end 101 and a second closed end 102 that are spaced apart from each other, and a tubular outer peripheral wall 103 that is disposed between the first closed end and the second closed end.

[0045] A connecting carrier plate 104 and a plurality of connecting ribs 105 evenly distributed in the circumferential direction are provided between the first closed end and the second closed end; a spherical transparent cover body is provided on the first closed end.

[0046] In this way, the strength of the skeleton structure of the cylindrical diving chamber 10 is met, the structure is reliable and stable, and the connecting carrier 104 is easy to carry internal circuit boards, power supplies, and components.

[0047] In a specific embodiment, a sealing plate body 9 is disposed on the second sealing end 102 , and a plurality of cable openings 90 for connecting external cables are disposed on the sealing plate body 9 .

[0048] The sealing plate body 9 is generally used for cable matching to achieve cable connection. Of course, when used for cable-free operation, it can be an integrally sealed sealing plate body 9.

[0049] In a specific embodiment, a carrier plate 100 for carrying the inspection camera mechanism is disposed on the first closed end 101. The inspection camera mechanism 8 includes a pivot support 81 with pivot displacement, a camera unit 82 disposed on the pivot support, and a driving source for driving the pivot support to pivotally displace.

[0050] The drawings omit the illustration and marking of the driving source. Specifically, the underwater inspection robot acquires images through the inspection camera mechanism 8. During the inspection and alignment, the image acquisition angle is required to be high. The traditional image acquisition angle is fixed, and the submersible needs to adjust its posture to adjust the alignment. In this case, the camera part 82 is designed with a pivot displacement adjustment, which can adjust its own angle, reducing the difficulty of adjusting the posture of the underwater inspection robot and the energy loss of adjustment, so that the inspection is more efficient and energy-saving.

[0051] From the above description, it can be found that the underwater inspection robot of the utility model has a relatively flexible posture adjustment and can also meet the propulsion speed requirements, making the underwater inspection operation more flexible and efficient. The assembly structure is ingenious and concise, and it is easy to realize assembly and disassembly maintenance and repair. It can realize the self-pivot swing control of the camera part, reducing the posture adjustment requirements of the cylindrical diving cabin body, and the inspection operation is more efficient and energy-saving.

[0052] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0053] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An underwater inspection robot, comprising a cylindrical diving chamber, characterized in that: The cylindrical diving chamber is provided with two first clamps arranged at intervals, and a second clamp arranged between the two first clamps; A horizontal platform extending from the cylindrical diving chamber is provided on the top of any of the first clamps, and a vertical power turbine propeller is provided on the horizontal platform; The second clamp is provided with two horizontal extension piles extending in opposite directions, and the horizontal extension piles are provided with horizontal power turbine propellers, and the power direction of the horizontal power turbine propellers is parallel to the axial direction of the cylindrical submersible chamber; A spherical transparent cover is arranged at one end of the cylindrical diving chamber, and a patrol camera mechanism matching the position of the spherical transparent cover is arranged in the cylindrical diving chamber.

2. The underwater inspection robot according to claim 1, characterized in that: The first clamp comprises two detachably spliced ​​first clamp half rings, a splicing end is provided between the two first clamp half rings, two parallel connecting plates are provided at the bottom of the horizontal carrier, the two connecting plates are respectively provided on both sides of the splicing end, and the splicing end is fixedly secured to the two connecting plates by a locking bolt.

3. The underwater inspection robot according to claim 2, characterized in that: The vertical power turbopropeller is provided with a matching pile for detachably matching with the horizontal platform.

4. The underwater inspection robot according to claim 1, characterized in that: The second clamp comprises two detachably connected second clamp half rings, and any of the second clamp half rings is provided with the horizontally extending pile.

5. The underwater inspection robot according to any one of claims 1 to 4, characterized in that: The cylindrical diving chamber comprises a first closed end and a second closed end which are arranged at intervals, and a tubular outer peripheral wall arranged between the first closed end and the second closed end; A connecting carrier plate and a plurality of connecting ribs evenly distributed in the circumferential direction are provided between the first closed end and the second closed end; The spherical transparent cover is arranged on the first closed end.

6. The underwater inspection robot according to claim 5, characterized in that: A sealing plate body is disposed on the second closed end, and a plurality of cable openings for connecting external cables are disposed on the sealing plate body.

7. The underwater inspection robot according to claim 5, characterized in that: The first closed end is provided with a carrier plate for carrying the inspection camera mechanism.

8. The underwater inspection robot according to claim 7, characterized in that: The inspection camera mechanism includes a pivot carrier with pivot displacement, a camera unit arranged on the pivot carrier, and a driving source for driving the pivot carrier to pivotally displace.

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