Small underwater clamping robot easy to manufacture and made of environment-friendly materials

Abstract

The utility model relates to the technical field of underwater robots, in particular to a small underwater clamping robot which is easy to manufacture and made of environment-friendly materials. The device comprises a controller and a robot which are connected through a connecting line, the robot comprises a main frame body, a plurality of drainage holes are formed in the main frame body, a plurality of floating bags are arranged on the main frame body, horizontal propellers are arranged on the two sides of the main frame body respectively, vertical propellers are arranged at the front end and the rear end in the main frame body respectively, and a clamp assembly is arranged at the bottom of the front end of the main frame body; the underwater robot is provided with the inclined horizontal propeller, so that the robot can be stabilized automatically; according to the underwater robot, the flexible clamping jaw is designed, and the clamping force on an object can be guaranteed when the object is clamped; the underwater robot is simple in structure, the used materials are common materials which are easy to obtain, and installation is easy and convenient; the main body structure of the underwater robot is made of PVC and 3D printed natural resin materials, no environmental pollution is generated, and the current environmental protection trend is met.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a small underwater clamping robot with simple production and environmental protection materials. Background Technique

[0002] With the progress of technology, the application of robot technology in the education field is becoming more and more extensive. Through the teaching of underwater robots, students can learn knowledge in many aspects such as mechanical design, programming, and control systems. At the same time, they can also intuitively observe how the robot moves and performs tasks in water. This hands-on teaching method has greatly improved students' learning interest and practical ability.

[0003] However, most of the existing underwater robots have complex structures and high integration levels, while the operation degrees of freedom of the structures are low and the expandability is poor. It is difficult for young students to understand the principles of each part, and naturally it is also difficult to perform corresponding expansion operations and developmental learning. At the same time, most of the existing underwater robots are products that need to be customized in batches. Inevitably, certain pollution will be caused to the environment during production and manufacturing, and the service life of many plastic products is relatively low. They are prone to aging after being used for a period of time and need to be replaced regularly, which requires a certain amount of resources and does not conform to the current environmental protection concept. Content of the Utility Model

[0004] The purpose of the utility model is to provide a small underwater clamping robot with simple production and environmental protection materials and reasonable design in view of the defects and deficiencies of the prior art, which can solve the above-mentioned defects.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions: It includes a controller and a robot connected by a connecting wire. The robot includes a main frame body. A number of drainage holes are opened on the main frame body. A number of floating bags are arranged on the main frame body. Horizontal thrusters are respectively arranged on both sides of the main frame body. Vertical thrusters are respectively arranged at the front and rear ends inside the main frame body. The internal structures of the horizontal thrusters and the vertical thrusters are the same. A clamping component is arranged at the bottom position of the front end of the main frame body. A number of lighting lamps are arranged on the main frame body facing forward. A camera is arranged at the top of the front end of the main frame body.

[0006] Preferably, the clamping component includes a driving seat installed on the main frame body. A protective shell is installed above the driving seat. A clamping motor is installed inside the protective shell. A gear one and a gear two that mesh with each other are rotatably installed in the middle of the front end of the driving seat. The rotating shaft of the clamping motor is connected to the gear one. A flexible clamping jaw one is connected to the front side of the gear one. A flexible clamping jaw two is connected to the front side of the gear two. The flexible clamping jaw one and the flexible clamping jaw two are arranged oppositely, and the inner sides of the flexible clamping jaw one and the flexible clamping jaw two are both arc-shaped.

[0007] Preferably, the horizontal thruster includes a streamlined housing. An electric propulsion motor is provided inside the rear end of the housing. A propeller is connected to the rotating rod of the electric propulsion motor. A fairing is provided at the rear side of the housing. The fairing is a conical cylinder structure and is arranged outside the propeller. An annular front protective net is provided between the front end of the fairing and the housing. A rear protective net is provided inside the tail of the fairing.

[0008] Preferably, an ultrasonic rangefinder is provided at the bottom of the main frame body, and the ultrasonic rangefinder is arranged facing directly downward.

[0009] Preferably, the horizontal thruster is arranged facing backward and obliquely outward, and the vertical thruster is arranged facing directly downward.

[0010] Preferably, anti-slip grooves are formed on both the flexible jaw one and the flexible jaw two.

[0011] Preferably, the camera is detachably installed.

[0012] Preferably, a protective plug is provided at the connection between the connecting wire and the main frame body.

[0013] Preferably, both the propulsion motor and the clamping motor are waterproof bidirectional motors.

[0014] After adopting the above structure, the beneficial effects of the utility model are as follows:

[0015] 1. The underwater robot is provided with an obliquely arranged horizontal thruster. When propelling, the thrust is obliquely backward, which can automatically stabilize the robot and reduce the influence of water flow impact on the traveling direction of the robot.

[0016] 2. The underwater robot uses independent drives in the horizontal and vertical directions, with a high degree of freedom in the movement direction and strong attitude controllability.

[0017] 3. The underwater robot is designed with flexible jaws, which can ensure the clamping force on the object when clamping the object, and prevent the object from falling off due to water flow impact during the traveling process.

[0018] 4. The structure of the underwater robot is simple, and the materials used are all common materials that are easy to obtain. The installation is simple and convenient, and each component can be independently installed, with a high degree of freedom.

[0019] 5. The main structure of the underwater robot uses PVC and 3D-printed natural resin materials, and during the production and use processes, no environmental pollution will be generated, which conforms to the current environmental protection trend.

[0020] 6. The power supply and control of the underwater robot are both carried out on the water. Through wire connection, the connection stability is good, and even if the wire is damaged, the power supply will not be damaged. When necessary, the robot can be pulled back through the connecting wire. Description of the Drawings

[0021] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0022] Figure 2 is a bottom view of the robot in the present utility model;

[0023] Figure 3 is a sectional view of the horizontal thruster in the present utility model;

[0024] Figure 4 is a schematic diagram of the internal structure of the clamp assembly in the present utility model;

[0025] Figure 5 is a top view of the clamp assembly in the present utility model;

[0026] Figure 6 is a schematic diagram of the top view installation method of the horizontal thruster and the vertical thruster on the main frame body in the present utility model;

[0027] Figure 7 is a schematic connection diagram of the present utility model.

[0028] Explanation of reference numerals:

[0029] 1, main frame body; 2, floating bladder; 3, horizontal thruster; 301, housing; 302, propulsion motor; 303, paddle; 304, front protective net; 305, fairing; 306, rear protective net; 4, vertical thruster; 5, lighting lamp; 6, camera; 7, drive seat; 8, protective shell; 9, clamp motor; 10, gear one; 11, gear two; 12, flexible gripper one; 13, flexible gripper two; 14, anti-slip groove; 15, ultrasonic rangefinder; 16, controller; 17, direction handle; 18, display screen; 19, control button; 20, connecting wire; 21, protective plug. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0031] Refer to Figure 1 - Figure 2As shown in the figure, it includes a controller 16 and a robot connected by a connecting line 20. The robot includes a main frame 1, which is composed of PVC pipes and connectors. There are several drainage holes on the main frame 1. There are several floating bags 2 on the main frame 1. Horizontal thrusters 3 are respectively arranged on both sides of the main frame 1. Vertical thrusters 4 are respectively arranged at the front and rear ends inside the main frame 1. The internal structures of the horizontal thruster 3 and the vertical thruster 4 are the same. A clamp assembly is arranged at the bottom position of the front end of the main frame 1. Several lighting lamps 5 are arranged on the main frame 1 facing forward. A camera 6 is arranged at the top of the front end of the main frame 1. A controlled-end core for driving the lighting lamps 5, the camera 6, the ultrasonic rangefinder 15, the horizontal thruster 3 and the vertical thruster 4 to work is installed inside the main frame 1. A control-end core and a connected display screen 18 are arranged on the controller 16. The controlled-end core is connected to the control-end core. A direction handle 17 and control buttons 19 for controlling the attitude of the robot are arranged on the controller 16.

[0032] See Figure 1 - Figure 5 As shown in the figure, the clamp assembly includes a driving seat 7 installed on the main frame 1. A protective shell 8 is installed above the driving seat 7. A clamp motor 9 is installed inside the protective shell 8. A gear one 10 and a gear two 11 that mesh with each other are rotatably installed in the front end of the driving seat 7. The rotating shaft of the clamp motor 9 is connected to the gear one 10. A flexible jaw one 12 is connected to the front side of the gear one 10. A flexible jaw two 13 is connected to the front side of the gear two 11. The flexible jaw one 12 and the flexible jaw two 13 are arranged oppositely, and the inner sides of the flexible jaw one 12 and the flexible jaw two 13 are both arc-shaped. Anti-slip grooves 14 are opened on both the flexible jaw one 12 and the flexible jaw two 13.

[0033] As an optimized solution of the present utility model, the clamp motor 9 drives the gear one 10 to rotate, and then drives the flexible jaw one 12 to rotate. The gear one 10 drives the gear two 11 to rotate in the opposite direction, so that the flexible jaw two 13 and the flexible jaw one 12 move relatively or towards each other at the same time, so as to grab or release an object. Since the jaws are flexible jaws, they can generate a certain deformation when clamping an object, so as to reduce the damage to the surface of the object. When there is vibration, the jaws can absorb the vibration and keep in contact with the surface of the object, and the object will not slip. At the same time, the anti-slip grooves 14 further enhance the friction when grabbing an object. On the other hand, the jaws are both arc-shaped structures, which can ensure the maximum contact area with the object when grabbing an object and ensure the stability of grabbing.

[0034] See Figure 1 - Figure 3As shown in the figure, the horizontal thruster 3 includes a streamlined housing 301. Inside the rear end of the housing 301, there is a propulsion motor 302. A propeller 303 is connected to the rotating rod of the propulsion motor 302. A fairing 305 is provided at the rear side of the housing 301. The fairing 305 is a conical cylinder structure and is arranged outside the propeller 303. There is an annular front protective net 304 between the front end of the fairing 305 and the housing 301, and a rear protective net 306 is provided at the tail of the fairing 305.

[0035] As an optimized solution of the present utility model, the streamlined housing 301 is provided to reduce resistance. The propeller 303 is driven by the propulsion motor 302 to generate thrust. The fairing 305 can direct the water flow and reduce the generation of turbulence. The front protective net 304 and the rear protective net 306 can protect the propeller 303 and prevent large particle impurities in the water from entering, thereby protecting the propeller 303.

[0036] See Figure 1 - Figure 2 As shown in the figure, an ultrasonic rangefinder 15 is provided at the bottom of the main frame 1, and the ultrasonic rangefinder 15 is arranged facing directly downward.

[0037] As an optimized solution of the present utility model, the ultrasonic rangefinder 15 is provided to detect the distance between the robot and the bottom of the water in real time, thereby ensuring the safe use of the robot.

[0038] See Figure 1 - Figure 6 As shown in the figure, the horizontal thruster 3 is arranged facing backward and obliquely outward, and the vertical thruster 4 is arranged facing directly downward.

[0039] As an optimized solution of the present utility model, the two obliquely arranged horizontal thrusters 3 can push the robot towards the center during propulsion, thereby ensuring the stable forward attitude of the robot and reducing the influence of the lateral water flow impact on the direction of the robot. The vertical thruster 4 ensures that the robot can quickly dive and float.

[0040] See Figure 1 As shown in the figure, the camera 6 is detachably installed; a protective plug 21 is provided at the connection between the connecting wire 20 and the main frame 1. The propulsion motor 302 and the clamp motor 9 are both waterproof bidirectional motors.

[0041] As an optimized solution of the present utility model, the detachable camera 6 is provided. After installation, it can observe, control and record the underwater situation in real time. When direct observation is possible, the camera 6 can be removed to reduce the resistance of the robot in the water; the waterproof motor can ensure the safety of driving on the basis of sealing.

[0042] The usage process of the present utility model:

[0043] First, prepare the required PVC pipes and connectors according to the design, and drill a certain number of drainage holes. The housing 301 and the fairing 305 can be manufactured by 3D printing. Then, install the clamp assembly, the horizontal thruster 3, the vertical thruster 4, the lighting lamp 5, the floating bladder 2, the sealed controlled-end core, and the drive modules corresponding to multiple motors on the corresponding pipe bodies. Install the camera 6 as needed, and seal the connection points of the circuits on each component. Then, connect multiple pipes according to the design, install the ultrasonic rangefinder 15, and at the same time, organize the circuits of multiple components and connect the circuits according to the Figure 7 connection method shown. Fix the connecting wire 20 with the protective plug 21, and then block the exposed pipe orifices to prevent water flow from directly entering through the pipe orifices during the operation of the robot and generating turbulence.

[0044] Then, the user can put the robot into the water. When not in operation, the robot can float on the water surface under the action of the floating bladder 2. Then, the user starts the vertical thruster 4 through the controller 16 to drive the robot to dive, and adjusts the attitude and moving angle of the robot by controlling the opening and closing of the horizontal thruster 3, the rotation direction and speed of the propulsion motor 302. When necessary, the lighting lamp 5 can be turned on to ensure good visibility, and underwater observation can be carried out by means of the camera 6 or direct observation. The ultrasonic rangefinder 15 sends back the distance between the robot and the bottom of the water in real time, and the user can use it as a reference to judge the position of the robot. After reaching the position where work is required, control the clamp assembly of the robot to open, move to the object to be clamped, stop after decelerating and clamp the object, and then the user can control the robot to float up, thus bringing back the underwater object.

[0045] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundary of the appended claims, or equivalent forms of such scope and boundary.

Claims

1. A small underwater gripping robot that is simple to manufacture and made of environmentally friendly materials, characterized by: The robot comprises a controller (16) and a robot connected by a connecting line (20). The robot comprises a main frame (1). The main frame (1) is provided with a plurality of drainage holes. The main frame (1) is provided with a plurality of floating bags (2). Horizontal thrusters (3) are respectively provided on both sides of the main frame (1). Vertical thrusters (4) are respectively provided at the front and rear ends of the main frame (1). The horizontal thrusters (3) and the vertical thrusters (4) have the same internal structure. A clamp assembly is provided at the bottom of the front end of the main frame (1). A plurality of lighting lamps (5) are provided on the main frame (1) facing forward. A camera (6) is provided at the top of the front end of the main frame (1).

2. According to claim 1, a small underwater gripping robot with simple manufacturing and environmentally friendly materials is characterized by: The clamp assembly comprises a driving seat (7) mounted on a main frame (1), a protective shell (8) mounted above the driving seat (7), a clamp motor (9) mounted in the protective shell (8), a gear 1 (10) and a gear 2 (11) meshing with each other rotatably mounted in the front end of the driving seat (7), a rotating shaft of the clamp motor (9) is connected to the gear 1 (10), a flexible clamping claw 1 (12) is connected to the front side of the gear 1 (10), a flexible clamping claw 2 (13) is connected to the front side of the gear 2 (11), the flexible clamping claw 1 (12) and the flexible clamping claw 2 (13) are arranged opposite to each other, and the inner sides of the flexible clamping claw 1 (12) and the flexible clamping claw 2 (13) are both arc-shaped.

3. According to claim 2, a small underwater gripping robot with simple manufacturing and environmentally friendly materials is characterized by: The horizontal propeller (3) comprises a streamlined shell (301), a propulsion motor (302) is arranged in the rear end of the shell (301), a propulsion motor (302) is connected to a rotating rod of the propulsion motor (302) and a blade (303) is connected to the rear side of the shell (301), a fairing (305) is arranged in the rear side of the shell (301), the fairing (305) is a conical cylinder structure, and the fairing (305) is arranged outside the blade (303), an annular front protective net (304) is arranged between the front end of the fairing (305) and the shell (301), and a rear protective net (306) is arranged in the tail of the fairing (305).

4. According to claim 3, a small underwater gripping robot with simple manufacturing and environmentally friendly materials is characterized by: An ultrasonic rangefinder (15) is provided at the bottom of the main frame (1), and the ultrasonic rangefinder (15) is arranged facing directly downward.

5. According to claim 4, a small underwater gripping robot with simple manufacturing and environmentally friendly materials is characterized by: The horizontal thruster (3) is arranged toward the rear and obliquely outward, and the vertical thruster (4) is arranged toward directly downward.

6. A small underwater gripping robot with simple manufacturing and environmentally friendly materials according to claim 5, characterized in that: The flexible clamping jaw 1 (12) and the flexible clamping jaw 2 (13) are both provided with anti-slip grooves (14).

7. A small underwater gripping robot with simple manufacturing and environmentally friendly materials according to claim 6, characterized in that: The camera (6) is detachably mounted.

8. The small underwater gripping robot with simple manufacturing and environmentally friendly materials according to claim 7 is characterized by: A protective plug (21) is provided at the connection between the connecting wire (20) and the main frame (1).

9. A small underwater gripping robot with simple manufacturing and environmentally friendly materials according to claim 8, characterized in that: The propulsion motor (302) and the clamp motor (9) are both waterproof bidirectional motors.

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