Underwater rescue salvage robot

Abstract

The utility model discloses an underwater rescue salvage robot, and relates to the technical field of robots. A telescopic rod is further installed on the machine body, a mechanical claw is fixedly installed at the telescopic tail end of the other side of the telescopic rod, an assembling assembly is installed on the outer wall of the machine body and comprises a clamping plate connected to the outer wall of the machine body in a clamped mode, a side plate is welded to the outer wall of the middle of the clamping plate, and a pushing assembly is installed on the side plate. The propelling assembly comprises a stepping motor mounted on the outer wall of the side plate, a mounting plate is further mounted at the shaft end of the stepping motor, and a driving part is arranged on the mounting plate. Through the cooperation of the telescopic rod and the mechanical claw, a salvaged object can be grabbed and then released in the machine body, the salvaged object stored in the machine body is shielded through a rubber plate to be prevented from falling off, and the propelling assembly is convenient to install through the assembling assembly capable of being rapidly disassembled and assembled; the propelling assembly can prevent sundries and aquatic plants in a water body environment from affecting normal work of the driving part.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to an underwater rescue and salvage robot. Background Art

[0002] One of the most important tasks in underwater rescue activities is salvage. Because underwater manual operations are difficult, robots are usually needed. Underwater robots can not only dive underwater for a long time, but also shoot and transmit underwater images through cameras, and retrieve the target objects through mechanical claws or recovery boxes to achieve the salvage effect.

[0003] A Chinese patent application (or patent) with announcement number CN218751317U discloses a dual-mode underwater salvage robot, including a mounting frame and an underwater cabin, wherein the underwater cabin is installed in the middle of the mounting frame, a horizontal thruster is installed on the top of the underwater cabin, and a sinking and floating thruster is installed on the bottom of the underwater cabin. A camera and a sensor are installed in the front waterproof cover of the underwater cabin, and a robotic arm is installed on the mounting frame at the lower side of the underwater cabin. The interior of the underwater cabin includes an information processing system and a control system. The utility model collects underwater environmental information, the robot's motion posture, and internal state information through the information processing system, and the control system drives and controls each module, performs danger warnings and signal transmission; by setting up a robotic arm, the robotic claw grabs the object and fixes the object at the same time, and then pulls the object away from the bottom of the water by means of a buoy.

[0004] The aforementioned dual-mode underwater salvage robot is equipped with a horizontal propeller and a sinking propeller. The horizontal propeller is used to propel the robot horizontally, while the sinking propeller is used to propel the robot vertically. However, the underwater environment is complex and often contains underwater vegetation such as algae. Operations in such an environment can easily cause algae and other vegetation to be sucked into the propeller, causing blockage. Furthermore, the robot is equipped with a mechanical claw for salvaging and gripping objects. When salvaging objects, the claw opens and grips the object, then floats it up to the surface to achieve the salvage effect. However, this salvage operation method can only retrieve one object at a time and cannot retrieve multiple underwater objects simultaneously. To address this issue, we provide an underwater rescue and salvage robot to solve the aforementioned problems. Utility Model Content

[0005] The purpose of the present utility model is to provide an underwater rescue and salvage robot, which can release the salvaged object in the body after grasping it by utilizing the cooperation of a telescopic rod and a mechanical claw, and shield the salvaged object stored in the body by a rubber plate to prevent it from falling. The installation of the propulsion component is facilitated by utilizing an assembly component that can be quickly disassembled and assembled. The use of the propulsion component can prevent debris and aquatic plants in the water environment from affecting the normal operation of the driving part, thereby solving the problems of the above-mentioned dual-mode underwater salvage robot.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The utility model is an underwater rescue and salvage robot, comprising a body, a head mounted at the head position of the body, and a tail mounted at the tail position of the body; a rubber plate is bonded to the inner wall of the tail, and a camera is embedded on the outer wall of the tail; a telescopic rod is further mounted on the body, and a mechanical claw is fixedly mounted on the telescopic end of the other side of the telescopic rod; an assembly component is mounted on the outer wall of the body, the assembly component comprises a splint clamped on the outer wall of the body, and the two splints are locked and connected by studs and screw sleeves; a side plate is welded to the middle outer wall of the splint, and a propulsion component is mounted on the side plate; the propulsion component comprises a stepper motor mounted on the outer wall of the side plate, and a mounting plate is further mounted on the shaft end of the stepper motor; a driving member is provided on the mounting plate, and the driving member comprises a double-headed motor embedded in the mounting plate, a paddle is mounted on the motor shaft of the double-headed motor, and a protective cover is further provided on the outer side of the paddle, a blade is further provided on the outer wall of the protective cover, and the blade is synchronously rotated and connected with the motor shaft of the double-headed motor through a connecting shaft.

[0008] The utility model is further configured such that a storage cavity is provided inside the body, and the opening end of the storage cavity is provided in the tail of the machine, a water leakage plate is embedded on the bottom side wall of the storage cavity, and there are two water leakage plates in total, and the two water leakage plates are symmetrically arranged on both sides about the center of the body.

[0009] The utility model is further configured such that a plurality of rubber plates are provided, and gaps are provided between the rubber plates. The plurality of rubber plates are bonded to the inner wall of the tail of the machine in a circular array structure, and the telescopic rod and the mechanical claw are provided inside the storage cavity, and the tail of the telescopic rod is fixedly connected to the inner wall of the storage cavity.

[0010] The present invention is further configured such that the clamping plates in the assembly component are arranged in a semicircular ring structure, and the two clamping plates in the assembly component are arranged opposite to each other, and the studs are inserted through the axial ends of the clamping plates.

[0011] The utility model is further configured such that a mounting seat is fixedly mounted on the outer wall of the end of the side plate, and the side plate is connected to the stepper motor through the mounting seat, a connecting sleeve is mounted on the shaft end of the stepper motor, and the stepper motor is connected to the mounting plate through the connecting sleeve.

[0012] The utility model is further configured such that a mounting groove is provided in the mounting plate, and the mounting plate is connected to the double-headed motor via the mounting groove, and the motor shaft of the double-headed motor is connected to the connecting shaft via a coupling.

[0013] The utility model is further configured such that a through hole is opened in the side wall of the protective cover, and the internal chamber of the protective cover is connected with the external environment of the protective cover through the through hole, and a gap is set between the bottom side wall of the blade and the outer wall of the protective cover.

[0014] The utility model has the following beneficial effects:

[0015] The utility model is provided with a body, a tail and a mechanical claw. The interior of the body is hollow, and the tail is a circular ring structure. A plurality of rubber plates arranged in a ring are bonded to the inner wall of the tail. The tail end of the body is shielded by the rubber plates, and the tail end of the mechanical claw is fixedly installed with a telescopic rod. The mechanical claw is fixedly installed in the storage cavity of the body through the telescopic rod. When in use, it can be pushed out of the storage cavity by the telescopic rod, and retracted into the storage cavity again after grabbing the salvaged object, and the salvaged object is released in the storage cavity, so that the salvaged object can be placed in the storage cavity for temporary storage. Moreover, because of the rubber plate on the tail, it can block the salvaged object from escaping. At the same time, the rubber plate can bend outward or inward after being pressured by the mechanical claw and the telescopic rod, thereby not affecting the movement of the mechanical claw and the telescopic rod.

[0016] The utility model provides an assembly component and a propulsion component. The propulsion component and the assembly component are equidistantly arranged at the head, middle and tail positions of the machine body. The assembly component is used to install the propulsion component on the machine body, and the effect of quick assembly is achieved through the splints and studs. The propulsion component can adjust the angle of the driving part through the stepping motor, thereby achieving the effect of adjusting the propulsion direction, floating and sinking. The outer sides of the double-headed motor and the paddles in the driving part are also covered with a protective cover, which protects the paddles and does not affect the suction and discharge of water flow. At the same time, a blade leaf is also provided on the top of the protective cover, which is synchronously connected to the motor shaft end of the double-headed motor through a connecting shaft, thereby achieving the crushing of the water plants outside the protective cover to avoid affecting the work of the paddles and the double-headed motor.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the structure of an underwater rescue and salvage robot Figure 1 .

[0020] Figure 2 A schematic diagram of the structure of an underwater rescue and salvage robot Figure 2 .

[0021] Figure 3 A schematic diagram of the structure of an underwater rescue and salvage robot Figure 3 .

[0022] Figure 4 This is a structural disassembly diagram of the assembly components and propulsion components.

[0023] Figure 5 This is a structural disassembly diagram of the propulsion component.

[0024] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0025] 1-body, 101-storage cavity, 102-leakage plate, 2-head, 3-tail, 301-rubber plate, 302-camera, 4-mechanical claw, 401-telescopic rod, 5-assembly component, 501-plywood, 502-stud, 503-screw, 504-side plate, 6-propulsion assembly, 601-stepping motor, 601a-mounting seat, 601b-connecting sleeve, 602-driving part, 602a-double-headed motor, 602b-propeller, 602c-protective cover, 602d-blade, 602e-connecting shaft, 603-mounting plate, 603a-mounting slot. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] Example 1, please refer to Figure 1-3The utility model is an underwater rescue and salvage robot, comprising a body 1 and a mechanical claw 4. The storage cavity 101 in the body 1 can be used to store objects picked up by the mechanical claw 4, and the rubber plate 301 can be used to block the picked up objects to prevent them from falling.

[0028] Specifically, a head 2 is provided at the head of the body 1, a tail 3 is provided at the tail of the body 1, a storage cavity 101 is further provided inside the body 1, and the open end of the storage cavity 101 is provided on the tail 3, a rubber plate 301 is bonded to the inner wall of the open end of the tail 3, and a camera 302 is embedded in the upper outer wall of the tail 3, and a leaking plate 102 is also embedded in the bottom side wall of the storage cavity 101.

[0029] Furthermore, a telescopic rod 401 is fixedly installed on the inner wall of the storage chamber 101, and a mechanical claw 4 is fixedly installed on the telescopic end of the telescopic rod 401, while the minimum compression length of the telescopic rod 401 is less than the length of the storage chamber 101, and the maximum extension length of the telescopic rod 401 is greater than the length of the storage chamber 101.

[0030] The operation process of this embodiment is as follows: when in use, the underwater environment can be photographed through the camera 302. When salvaging an object, the mechanical claw 4 is pushed out of the storage cavity through the telescopic rod 401. At this time, due to the pushing force of the telescopic rod 401, the mechanical claw 4 exerts a certain pressure on the rubber plate 301, and this pressure causes the rubber plate 301 to bend outward. When the mechanical claw 4 is aligned with the object, it grasps it. After the grasping is successful, the telescopic rod 401 retracts, that is, it pulls the mechanical claw 4 and the object grasped by it back into the storage cavity 101 for storage.

[0031] Example 2, please refer to Figure 4-5 On the basis of Example 1, an assembly component 5 and a propulsion component 6 are also provided. The propulsion component 6 can be fixed to the body 1 by utilizing the cooperation of the splint 501 and the stud 502. The propulsion direction can be adjusted by utilizing the stepper motor 601. The aquatic plants around the propulsion component 6 can be crushed by utilizing the blade 602d.

[0032] Specifically, the assembly component 5 includes a splint 501 clamped on the outer wall of the body 1, with studs 502 inserted into the two axial ends of the splint 501, and the outer end of the stud 502 is also threadedly connected with a screw sleeve 503, and a side plate 504 is welded on the middle outer wall of the splint 501, and the end of the side plate 504 is connected to the driving member 602 through a stepper motor 601.

[0033] Furthermore, a mounting seat 601a is fixedly installed on the side wall next to the end of the side panel 504, and the side panel 504 is connected to the stepper motor 601 through the mounting seat 601a, and the shaft end of the stepper motor 601 is connected to the mounting plate 603 through the connecting sleeve 601b. A mounting groove 603a for installing the double-headed motor 602a is opened in the middle of the mounting plate 603, and a paddle 602b is installed on the motor shaft of the double-headed motor 602a, and a protective cover 602c is provided on the outer side of the paddle 602b, and a blade leaf 602d is provided on the outer side of the top of the protective cover 602c, and a connecting shaft 602e is provided in the blade leaf 602d, and the connecting shaft 602e passes through the protective cover 602c and is synchronously rotated and connected to the end of the motor shaft of the double-headed motor 602a.

[0034] The operating process of this embodiment is: when in use, when performing the floating operation, the stepper motor 601 works, and it drives the driving member 602 on the shaft end to rotate upward. When it rotates to the vertical direction, the driving member 602 works, that is, it pushes the body to float up, and when it rotates to the inclined upward direction, it floats up obliquely, otherwise it sinks. When the driving member 602 is in a horizontal state, it is a propulsion operation. When the driving member 602 works, the double-headed motor 602a drives the paddle 602b and the blade 602d to rotate at the same time, wherein the paddle 602d is used to inhale and push water flow to provide power support for the movement of the body 1, and the blade 602d rotates on the outside of the protective cover 602c to crush the aquatic plants around the protective cover 602c.

[0035] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0036] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An underwater rescue and salvage robot, comprising a body (1), a head (2) mounted at the head of the body (1), and a tail (3) mounted at the tail of the body (1); characterized in that: A rubber plate (301) is bonded to the inner wall of the tail (3), and a camera (302) is embedded on the outer wall of the tail (3). A telescopic rod (401) is also installed on the body (1), and a mechanical claw (4) is fixedly installed on the telescopic end of the other side of the telescopic rod (401). An assembly component (5) is installed on the outer wall of the body (1). The assembly component (5) includes a clamping plate (501) clamped on the outer wall of the body (1), and the two clamping plates (501) are locked and connected by a stud (502) and a screw sleeve (503). A side plate (504) is welded to the outer wall of the middle part of the clamping plate (501), and a propulsion component (6) is installed on the side plate (504). The propulsion component ( 6) comprising a stepper motor (601) mounted on the outer wall of the side plate (504), and a mounting plate (603) is further mounted on the shaft end of the stepper motor (601), a driving member (602) is provided on the mounting plate (603), and the driving member (602) comprises a double-headed motor (602a) embedded in the mounting plate (603), a paddle (602b) is mounted on the motor shaft of the double-headed motor (602a), and a protective cover (602c) is further provided on the outer side of the paddle (602b), a blade (602d) is further provided on the outer wall of the protective cover (602c), and the blade (602d) is synchronously rotatably connected to the motor shaft of the double-headed motor (602a) via a connecting shaft (602e).

2. The underwater rescue and salvage robot according to claim 1, characterized in that: A storage cavity (101) is provided inside the machine body (1), and an open end of the storage cavity (101) is provided in the machine tail (3). A water leakage plate (102) is embedded on the bottom side wall of the storage cavity (101), and two water leakage plates (102) are provided. The two water leakage plates (102) are symmetrically arranged on both sides of the center of the machine body (1).

3. The underwater rescue and salvage robot according to claim 2, characterized in that: A plurality of rubber plates (301) are provided, and gaps are provided between the rubber plates (301). The plurality of rubber plates (301) are bonded to the inner wall of the tail (3) in a ring array structure. The telescopic rod (401) and the mechanical claw (4) are provided inside the storage cavity (101), and the tail of the telescopic rod (401) is fixedly connected to the inner wall of the storage cavity (101).

4. The underwater rescue and salvage robot according to claim 1, characterized in that: The clamping plates (501) in the assembly component (5) are arranged in a semicircular ring structure, and the two clamping plates (501) in the assembly component (5) are arranged relative to each other, and the studs (502) are inserted into the axial ends of the clamping plates (501).

5. The underwater rescue and salvage robot according to claim 1, characterized in that: A mounting seat (601a) is fixedly mounted on the outer wall of the end of the side plate (504), and the side plate (504) is connected to the stepper motor (601) via the mounting seat (601a). A connecting sleeve (601b) is mounted on the shaft end of the stepper motor (601), and the stepper motor (601) is connected to the mounting plate (603) via the connecting sleeve (601b).

6. The underwater rescue and salvage robot according to claim 5, characterized in that: A mounting slot (603a) is provided in the mounting plate (603), and the mounting plate (603) is connected to the double-headed motor (602a) via the mounting slot (603a), and the motor shaft of the double-headed motor (602a) is connected to the connecting shaft (602e) via a coupling.

7. The underwater rescue and salvage robot according to claim 1, characterized in that: A through hole is provided in the side wall of the protective cover (602c), and the internal chamber of the protective cover (602c) is connected to the external environment of the protective cover (602c) through the through hole. A gap is provided between the bottom side wall of the blade leaf (602d) and the outer wall of the protective cover (602c).

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