Zero-distance detection holder for underwater robot
By designing the underwater robot zero-distance detection gimbal, using length expansion and angle adjustment devices, combined with support arm swing and roller steering mechanism, the adaptability problem of underwater inclined surface detection is solved, and efficient detection and monitoring effects are achieved.
Patent Information
- Application Number
- CN202422292553.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-09-20
AI Technical Summary
The prior art is difficult to effectively detect and monitor the inclined surfaces of underwater buildings, especially the inclined surface detection devices, which have poor adaptability.
An underwater robot zero-distance detection gimbal was designed, and a length telescopic device and a length adjustment device were used to change the distance and angle between the working surface of the measuring camera and the measured surface, and to achieve zero-distance shooting through the support arm swing mechanism and the roller steering mechanism to avoid pollution to the water.
It realizes efficient quality inspection and monitoring of the underwater inclined surface, ensures that the measuring camera fits with the measured surface and avoids pollution to the water.
Smart Images
Figure CN223165307U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of underwater detection devices, and particularly relates to a zero-distance detection pan-tilt for an underwater robot. Background Art
[0002] The types of underwater structures are diverse and the usage scenarios are complex. The safety of using underwater structures is the responsibility that must be borne by national administrative agencies. For example, the Ministry of Transport has included in the mandatory regulations that bridges with maintenance grades of first and second levels and having underwater foundations should conduct underwater inspections. There are numerous underwater structures, especially the reservoir dams in water conservancy, water supply pipelines, irrigation water conveyance projects, etc., as well as the reservoir dams of local government water conservancy storage. The inspection of these facilities is urgent. However, underwater buildings are usually not horizontal or vertical, and some are inclined. The detection devices of the existing technology can only monitor horizontally or vertically and cannot be well adapted to inclined surfaces. Therefore, how to achieve the detection of underwater inclined surfaces is an urgent problem to be solved. Content of the Utility Model
[0003] The purpose of the utility model is to provide a zero-distance detection pan-tilt for an underwater robot, so as to solve the technical problem that the inclined surfaces of underwater buildings cannot be subjected to quality inspection and monitoring in the above-mentioned existing technology.
[0004] The technical solution adopted by the utility model to solve its technical problems is as follows:
[0005] A zero-distance detection pan-tilt for an underwater robot includes: a robot main body, the bottom of the robot main body is supported by four frame support arms, the bottom of the frame support arms is provided with rollers, the bottom surface of the robot main body is connected with a base frame, the base frame is connected with an intermediate bracket through a length telescopic device, the other end of the intermediate bracket is connected with a pan-tilt mounting seat through a length adjustment device, a coaxial motor is arranged in the middle of the pan-tilt mounting seat, a measuring camera is installed on the coaxial motor, the length telescopic device can parallelly change the distance and / or angle between the pan-tilt mounting seat and the bottom surface of the robot main body, and the length adjustment device can change the distance and / or angle between the pan-tilt mounting seat and the bottom surface of the robot main body.
[0006] For the zero-distance detection pan-tilt of the utility model, the length telescopic device and the length adjustment device have the same structure and are both composed of upper and lower groups of telescopic mechanisms. The two groups of telescopic mechanisms of the length telescopic device extend and contract synchronously, and the two groups of telescopic mechanisms of the length adjustment device can extend and contract non-synchronously.
[0007] An underwater robot zero-distance detection pan-tilt of the present utility model, the telescopic mechanism includes two telescopic rods, the two telescopic rods are arranged in parallel, the bottoms of the two telescopic rods in the length direction are provided with telescopic water bags, the telescopic water bags are provided with water inlet pipes and water extraction pipes, the water inlet pipes and the water extraction pipes are respectively connected to a water supply pump and a water extraction pump, a contraction rope is arranged inside the telescopic rod, one end of the contraction rope is connected to the telescopic rod, and the other end of the contraction rope is connected to a rope winding motor.
[0008] An underwater robot zero-distance detection pan-tilt of the present utility model, the middle part of the length direction of the frame support arm is a hinge structure, the frame support arm forms a free end, and the free end can swing along the movement direction of the roller.
[0009] An underwater robot zero-distance detection pan-tilt of the present utility model, a support arm swing mechanism is arranged at the hinge joint of the frame support arm and the free end, and the support arm swing mechanism can make the free end swing by a certain angle.
[0010] An underwater robot zero-distance detection pan-tilt of the present utility model, a roller steering mechanism is arranged at the connection of the roller and the frame support arm, and the roller steering mechanism makes the roller swing left and right in its movement direction.
[0011] An underwater robot zero-distance detection pan-tilt of the present utility model, the power devices of the support arm swing mechanism and the roller steering mechanism are coaxial motors.
[0012] An underwater robot zero-distance detection pan-tilt of the present utility model, the planes where the telescopic water bags of the two groups of telescopic mechanisms are located are arranged in parallel.
[0013] The beneficial effects produced by the present utility model are: an underwater robot zero-distance detection pan-tilt is proposed. By setting a length telescopic device and a length adjustment device, the distance and angle between the working surface of the measurement camera and the measured surface can be changed, so that inclined plane and close-range detection can be carried out; by setting a support arm swing mechanism, the free end of the frame support arm can swing and turn outward by a certain angle, so as to change the distance between the bottom surface of the robot main body and the support surface; by setting a roller steering mechanism, the surface of the roller can always be attached to the support surface when working on an inclined plane, so as to achieve the effect of zero-distance shooting, and the telescopic mechanism is a water bag, which can use local materials and will not cause pollution to the measured water area. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The present utility model will be further described below in conjunction with the drawings and embodiments. In the drawings:
[0015] Figure 1 is a schematic diagram of the present utility model;
[0016] Figure 2Schematic diagram of the length telescoping device and length adjustment device of the present utility model;
[0017] Figure 3 Schematic diagram of the telescoping mechanism of the present utility model. Detailed implementation manners
[0018] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part rather than all of the embodiments of the present utility model. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.
[0019] As Figures 1-3 shown, an underwater robot zero-distance detection pan-tilt includes: a robot main body 700, the bottom of the robot main body 700 is supported by four frame support arms 800, the bottom of the frame support arms 800 is provided with rollers 810, the bottom surface of the robot main body 700 is connected with a base frame 100, the base frame 100 is connected with an intermediate bracket 300 through a length telescoping device 200, the other end of the intermediate bracket 300 is connected with a pan-tilt mounting base 500 through a length adjustment device 400, the middle of the pan-tilt mounting base 500 is provided with a coaxial motor 600, a measurement camera 610 is mounted on the coaxial motor 600, the length telescoping device 200 can parallelly change the distance and / or angle between the pan-tilt mounting base 500 and the bottom surface of the robot main body 700, and the length adjustment device 400 can change the distance and / or angle between the pan-tilt mounting base 500 and the bottom surface of the robot main body 700.
[0020] It should be noted that as Figure 1 shown, the robot main body 700 is supported by four frame support arms 800 and is guided and moved through the rollers 810, and the robot main body 700 is provided with a structure for maintaining underwater balance and the power for water non-movement. Since there are many types of such structures in the prior art and they are not the improvement points of this application, they will not be elaborated here. This application mainly changes the distance and angle between the measurement camera 610 and the object to be measured by setting the length telescoping device 200 and the length adjustment device 400.
[0021] As a preferred embodiment, the length-extending device 200 and the length-adjusting device 400 have the same structure, both consisting of two upper and lower telescopic mechanisms. The two telescopic mechanisms of the length-extending device 200 extend and retract synchronously, while the two telescopic mechanisms of the length-adjusting device 400 can extend and retract asynchronously. Of course, the length-extending device 200 and the length-adjusting device 400 can simultaneously adjust the length and angle.
[0022] As a preferred embodiment, the telescopic mechanism includes two telescopic rods 410, which are arranged in parallel. The two telescopic rods 410 have a telescopic water bag 440 at the bottom in the length direction. The telescopic water bag 440 has a water inlet pipe 450 and a water extraction pipe 460. The water inlet pipe 450 and the water extraction pipe 460 are respectively connected to the water supply pump and the water extraction pump. The telescopic rod 410 has a retraction rope 420, which is connected to one end of the telescopic rod 410, and the other end of the retraction rope 420 is connected to a rope-collecting motor 430.
[0023] By filling the telescopic water bag 440 with water, the volume of the telescopic water bag 440 is expanded, thereby extending its length to achieve the purpose of adjusting the distance. At the same time, the telescopic rod 410 provides rigid support, and the length can be adjusted when shortening is needed through the cooperation of the rope-retracting motor 430 and the retracting rope 420.
[0024] As a preferred embodiment, the middle portion of the frame support arm 800 in the length direction is a hinge structure, and the frame support arm 800 forms a free end 840 , and the free end 840 can swing along the movement direction of the roller 810 .
[0025] As a preferred embodiment, a support arm swing mechanism 830 is provided at the hinge between the frame support arm 800 and the free end 840 , and the support arm swing mechanism 830 can swing the free end 840 to a certain angle.
[0026] It should be noted that the structure is to enable the frame support arm 800 to swing in its direction of movement, just like the horse's legs can bend toward the head and tail, so that the horse's belly is closer to the ground, and the support points of the legs are opened in the length direction to occupy a wider area, making the body shorter, such as Figure 1 The free end 840 is shown to swing about an axis parallel to the paper.
[0027] As a preferred embodiment, a roller steering mechanism 820 is provided at the connection between the roller 810 and the frame support arm 800, and the roller steering mechanism 820 enables the roller 810 to swing left and right in its movement direction.
[0028] It should be noted that the structure is to make the active surface of the roller 810 coincide with the slope, such as the distance between the horseshoe and the horse, which is equivalent to the horseshoe being able to turn sideways, so that the body and the horseshoe form a certain angle, such asFigure 1 The rotating shaft of the roller 810 is perpendicular to the paper plane.
[0029] As a preferred embodiment, the power devices of the support arm swing mechanism 830 and the roller steering mechanism 820 are coaxial motors, and their actions are intelligently controlled by a controller, so that the distance between the measurement camera 610 and the measured surface is the closest and the lens is parallel to or in contact with the measured surface.
[0030] As a preferred embodiment, the planes where the two sets of telescopic water sacs 440 of the telescopic mechanism are located are arranged in parallel.
[0031] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0032] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, in the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.
[0033] It should be understood that for those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.
Claims
1. An underwater robot zero-distance detection pan-tilt, characterized in that Including: A robot main body (700), the bottom of the robot main body (700) is supported by four frame support arms (800), the bottom of the frame support arms (800) is provided with rollers (810), the bottom surface of the robot main body (700) is connected with a base frame (100), the base frame (100) is connected with an intermediate bracket (300) through a length telescopic device (200), the other end of the intermediate bracket (300) is connected with a pan-tilt mounting base (500) through a length adjustment device (400), the middle of the pan-tilt mounting base (500) is provided with a coaxial motor (600), a measurement camera (610) is mounted on the coaxial motor (600), the length telescopic device (200) can parallelly change the distance and / or angle between the pan-tilt mounting base (500) and the bottom surface of the robot main body (700), and the length adjustment device (400) can change the distance and / or angle between the pan-tilt mounting base (500) and the bottom surface of the robot main body (700).
2. The zero-distance detection pan-tilt for an underwater robot according to claim 1, characterized in that The length telescopic device (200) and the length adjustment device (400) have the same structure and are both composed of two sets of telescopic mechanisms. The two sets of telescopic mechanisms of the length telescopic device (200) telescopic synchronously, and the two sets of telescopic mechanisms of the length adjustment device (400) can telescopic non-synchronously.
3. The zero-distance detection pan-tilt for an underwater robot according to claim 2, characterized in that, The telescopic mechanism includes two telescopic rods (410), the two telescopic rods (410) are arranged in parallel, the bottom of the two telescopic rods (410) in the length direction is provided with a telescopic water bag (440), the telescopic water bag (440) is provided with a water inlet pipe (450) and a water extraction pipe (460), the water inlet pipe (450) and the water extraction pipe (460) are respectively connected with a water supply pump and a water extraction pump, a contraction rope (420) is arranged in the telescopic rod (410), one end of the contraction rope (420) is connected with the telescopic rod (410), and the other end of the contraction rope (420) is connected with a rope winding motor (430).
4. An underwater robot zero-distance detection pan-tilt according to claim 1, characterized in that, The middle part of the frame support arm (800) in the length direction is a hinge structure, the frame support arm (800) forms a free end (840), and the free end (840) can swing along the movement direction of the roller (810).
5. An underwater robot zero-distance detection pan-tilt according to claim 4, characterized in that, A support arm swing mechanism (830) is arranged at the hinge joint of the frame support arm (800) and the free end (840), and the support arm swing mechanism (830) can make the free end (840) swing by a certain angle.
6. The zero-distance detection pan-tilt for an underwater robot according to claim 5, wherein A roller steering mechanism (820) is arranged at the connection part of the roller (810) and the frame support arm (800), and the roller steering mechanism (820) makes the roller (810) swing left and right in its movement direction.
7. An underwater robot zero-distance detection pan-tilt according to claim 6, characterized in that, The power devices of the support arm swing mechanism (830) and the roller steering mechanism (820) are coaxial motors.
8. An underwater robot zero-distance detection pan-tilt according to claim 2, characterized in that, The planes where the telescopic water bags (440) of the two sets of telescopic mechanisms are arranged in parallel.