Anchoring device of underwater robot

Abstract

The utility model discloses an anchoring device of an underwater robot, which comprises the following components: a housing part which comprises an upper housing, a lower housing which is arranged at the bottom of the upper housing, a connecting housing which is arranged at the bottom of the lower housing, a connecting rod which is arranged at the bottom of the connecting housing, and a driving assembly which is arranged at the inner side of the connecting rod; the anchor rod component comprises an anchor head assembly, the anchor head assembly is installed on the inner wall of the driving assembly, a hollow lead screw is installed at the top of the anchor head assembly, and an anchor fluke pull rod is installed on the inner side of the hollow lead screw; and the fixing assembly comprises a spring rod, limiters are installed on the two sides of the inner wall of the spring rod, a middle-layer rotating shaft is installed in the center of the connecting rod, and a limiting clamping rod is installed at the top of the connecting rod. The anchor fluke pull rod is driven by the motor to be inserted into the river bottom, so that the device can be effectively fixed, rapid retraction can be achieved by reversing the motor, and the device is simpler than a traditional mode.

Description

Technical Field

[0001] The utility model relates to the field of anchoring devices, in particular to an anchoring device for an underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remotely operated vehicles (ROVs), are robots designed for extreme underwater operations. Due to the harsh and dangerous underwater environment and the limited depth of human diving, underwater robots have become a crucial tool for developing waters. During their operations, underwater robots sometimes require anchoring underwater to stabilize the equipment and allow for subsequent operations.

[0003] Existing technical solutions mostly use a ballasted load-shedding method, where counterweights are pre-installed at the bottom of the equipment to make the equipment's gravity greater than its buoyancy, causing it to sink to the bottom. After the operation is completed, the connection with the counterweight is disconnected, the robot equipment floats up, and the counterweight is lifted up by other equipment. The cost of repeated operations is high, and multiple bottoming operations are not only inefficient, but also when the load-shedding fails, the robot may not be able to detach and float up in time. For this reason, an anchoring device for an underwater robot is proposed. Utility Model Content

[0004] In view of the above problems existing in the prior art, the present utility model is proposed.

[0005] Therefore, the utility model aims to solve the technical problem that the conventional ballasting and dumping method repeatedly touches the bottom and the robot cannot get off and float in time when a fault occurs.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an anchoring device for an underwater robot, comprising:

[0007] The housing component includes an upper housing, a lower housing located at the bottom of the upper housing, a connecting shell located at the bottom of the lower housing, a connecting rod located at the bottom of the connecting shell, and a driving assembly located inside the connecting rod;

[0008] The anchor rod component includes an anchor head assembly, the anchor head assembly is mounted on the inner wall of the driving assembly, a hollow screw rod is mounted on the top of the anchor head assembly, and an anchor claw pull rod is mounted on the inner side of the hollow screw rod;

[0009] The fixing assembly includes a spring rod, limiters are installed on both sides of the inner wall of the spring rod, a connecting rod is installed on the top of the limiter, a middle-layer rotating shaft is installed on the central part of the connecting rod, a limit clamping rod is installed on the top of the connecting rod, a limit seat is sleeved on the outer side of the limit clamping rod, the bottom of the limit clamping rod is clamped with a limit block, the bottom of the limit block is installed with a limit sliding rod, and the limit sliding rod is installed between the hollow screw rod and the anchor claw pull rod.

[0010] As a preferred solution of the anchoring device of the underwater robot described in the utility model, the driving assembly further includes a driving gear, a brush is installed at the bottom of the driving gear, and a driving nut is installed at the top of the driving gear.

[0011] As a preferred solution of the anchoring device of the underwater robot described in the utility model, wherein: the driving nut rotates following the driving gear, and the driving nut is engaged with the hollow screw rod.

[0012] As a preferred solution of the anchoring device of the underwater robot described in the utility model, the anchor head assembly also includes a conical head, the top of the conical head is equipped with an anchor claw seat, the bottom of the anchor claw seat is equipped with a connecting seat, and the outer side of the connecting seat is equipped with a movable rod.

[0013] As a preferred solution of the anchoring device of the underwater robot described in the present invention, wherein: an anchor claw piece is movably installed on the outer side of the anchor claw seat, and the anchor claw piece is movably connected to the movable rod.

[0014] As a preferred solution of the anchoring device of the underwater robot described in the utility model, wherein: the connecting seat is connected to the fluke pull rod, and the connecting seat can slide on the fluke seat.

[0015] As a preferred solution of the anchoring device of the underwater robot described in the utility model, a fixing seat is installed on the outer side of the middle rotating shaft, and the fixing seat is fixedly connected to the lower shell and the upper shell.

[0016] As a preferred solution of the anchoring device of the underwater robot described in the utility model, the material of the conical head is alloy, and the shape of the conical head is cone.

[0017] As a preferred solution of the anchoring device of the underwater robot described in the utility model, a spring is provided inside the spring rod, and one end of the spring is connected to the limiter through a connecting rod.

[0018] As a preferred solution of the anchoring device of the underwater robot described in the utility model, a roller is provided on the limiter.

[0019] The beneficial effects of the present invention are as follows: the anchor claw pull rod is driven by a motor to be inserted into the river bottom, thereby effectively fixing the device, and rapid retraction can be achieved by reversing the motor, which is simpler than the traditional method. At the same time, the electric method has higher retraction efficiency, and a limit clamping rod is provided, so that the anchor claw pull rod and other components can be discarded at the appropriate time, avoiding the problem that the equipment robot is fixed on the river bottom and cannot float up, causing the robot to be damaged due to excessive underwater working time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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 those skilled in the art, other drawings can be obtained based on these drawings without any creative effort. Among them:

[0021] Figure 1 A schematic diagram of the overall structure of an anchoring device for an underwater robot according to an embodiment of the present invention;

[0022] Figure 2 A schematic cross-sectional view of an anchoring device for an underwater robot according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the overall structure of a water collection manhole cover mechanism according to an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the structure of a fixing assembly according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the internal structure of an anchoring device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0029] Furthermore, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0030] Example 1

[0031] Reference Figure 1 , this embodiment provides an anchoring device for an underwater robot, comprising,

[0032] The housing component 100 includes an upper housing 101, which protects the outside of the device to prevent debris from entering the device, a lower housing 102 located at the bottom of the upper housing 101, a connecting shell 103 located at the bottom of the lower housing 102, and a connecting rod 104 located at the bottom of the connecting shell 103. The connecting rod 104 is used to install a driving assembly 105 at the bottom. The driving assembly 105 is located inside the connecting rod 104. The driving assembly 105 can be driven by a motor and other components. The driving assembly 105 also includes a driving assembly 105. Gear 105a, the driving gear 105a can drive the driving nut 105c on the top. A brush 105b is installed at the bottom of the driving gear 105a. The brush 105b rotates with the driving gear 105a to brush the inner wall. A driving nut 105c is installed on the top of the driving gear 105a. The driving nut 105c rotates with the driving gear 105a. The driving nut 105c is engaged with the hollow screw rod 202, and the hollow screw rod 202 is driven up and down by the driving nut 105c.

[0033] Example 2

[0034] Reference Figure 2-3, which is the second embodiment of the present utility model, is based on the previous embodiment, and is different from the previous embodiment in that this embodiment provides an anchor rod component 200, including an anchor head assembly 201, and the anchor head assembly 201 also includes a conical head 201a for breaking the bottom sand. The material of the conical head 201a is an alloy, and the alloy increases the overall strength of the device. The shape of the conical head 201a is a cone, and the cone increases the downward pressure of the device. The top of the conical head 201a is installed with an anchor claw seat 201b, and the anchor claw seat 201b is installed with other components. The bottom of the anchor claw seat 201b is installed with a connecting seat 201c, which is connected A movable rod 201d is installed on the outside of the seat 201c, and the movable rod 201d can move with the fluke piece 201e. The fluke piece 201e is movably installed on the outside of the fluke seat 201b, and the fluke piece 201e is movably connected to the movable rod 201d. The connecting seat 201c is connected to the fluke pull rod 203, and the connecting seat 201c can slide on the fluke seat 201b. The anchor head assembly 201 is installed on the inner wall of the driving assembly 105. A hollow screw rod 202 is installed on the top of the anchor head assembly 201, and the hollow screw rod 202 is engaged with the driving nut 105c. The fluke pull rod 203 is installed on the inner side of the hollow screw rod 202.

[0035] This embodiment has the following working process: when the fluke rod 203 and the hollow screw rod 202 descend to the bottom, the fluke rod 203 will be limited by the limiting slide bar 309. At this time, the hollow screw rod 202 continues to move downward, and the fluke rod 203 will pull the connecting seat 201c upward. Through the upward movement of the connecting seat 201c, the fluke piece 201e is opened.

[0036] Example 3

[0037] Reference Figure 4-5 , which is the third embodiment of the present utility model, is based on the previous embodiment, and is different from the previous embodiment in that: this embodiment provides an anchoring device and a water collection manhole cover mechanism for an underwater robot, combining embodiment one and embodiment two.

[0038] Specifically: the fixing assembly 300 includes a spring rod 301, which is used to provide pressure to the limiter 302, so that the limiter 302 has a certain potential energy. The limiters 302 are installed on both sides of the inner wall of the spring rod 301. The limiters 302 are provided with rollers. The rollers increase the smoothness of the device and avoid scratching the hollow screw rod 202. A connecting rod 303 is installed on the top of the limiter 302. A middle-level rotating shaft 304 is installed in the central part of the connecting rod 303. The middle-level rotating shaft 304 is installed with the connecting rod 303. When the bottom of the connecting rod 303 moves inward, the top of the connecting rod 303 moves outward. A fixing seat 305 is installed on the outer side of the middle-level rotating shaft 304. The fixing seat 305 is used to install and connect the entire device. The fixing seat 305 is fixedly connected to the lower shell 102 and the upper shell 101. A limit card rod 306 is installed on the top of the connecting rod 303. The limit card rod 306 is used in conjunction with the limit block 308. The outer side of the limit card rod 306 is covered with a limit seat 307. The bottom of the limit card rod 306 is clamped with the limit block 308. The limit block 308 can be used to fix the limit slide 309 at the bottom. The limit slide 309 is installed at the bottom of the limit block 308. The limit slide 309 is installed between the hollow screw rod 202 and the anchor claw pull rod 203, and the bottom of the limit slide 309 is provided with a mounting block used in conjunction with the anchor claw pull rod 203.

[0039] This embodiment has the following working process: when the anchor claw pull rod 203 and the hollow screw rod 202 continue to descend driven by the driving assembly 105, when the limiter 302 moves inward driven by the spring rod 301 so that it directly contacts the limiting slide 309, it will drive the connecting rod 303 to move inward. When the bottom connecting rod 303 moves inward, the top connecting rod 303 will drive the limiting clamping rod 306 to move outward, thereby disengaging its limiting clamping rod 306 from the limiting block 308. At this time, the limiting block 308, the limiting slide 309, the hollow screw rod 202 and other components can be thrown away, thereby realizing the rapid floating of the underwater robot.

[0040] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0041] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0042] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. An anchoring device for an underwater robot, characterized in that: include, The housing component (100) comprises an upper housing (101), a lower housing (102) located at the bottom of the upper housing (101), a connecting housing (103) located at the bottom of the lower housing (102), a connecting rod (104) located at the bottom of the connecting housing (103), and a driving assembly (105) located inside the connecting rod (104); The anchor rod component (200) comprises an anchor head assembly (201), wherein the anchor head assembly (201) is mounted on the inner wall of the driving assembly (105), a hollow screw rod (202) is mounted on the top of the anchor head assembly (201), and an anchor claw pull rod (203) is mounted on the inner side of the hollow screw rod (202); The fixing assembly (300) comprises a spring rod (301), limiters (302) are installed on both sides of the inner wall of the spring rod (301), a connecting rod (303) is installed on the top of the limiter (302), a middle-layer rotating shaft (304) is installed at the central part of the connecting rod (303), a limiting clamping rod (306) is installed on the top of the connecting rod (303), a limiting seat (307) is sleeved on the outer side of the limiting clamping rod (306), a limiting block (308) is clamped at the bottom of the limiting clamping rod (306), a limiting slide rod (309) is installed at the bottom of the limiting block (308), and the limiting slide rod (309) is installed between the hollow screw rod (202) and the anchor claw pull rod (203).

2. The anchoring device of the underwater robot according to claim 1, characterized in that: The driving assembly (105) further comprises a driving gear (105a), a brush (105b) is mounted on the bottom of the driving gear (105a), and a driving nut (105c) is mounted on the top of the driving gear (105a).

3. The anchoring device of the underwater robot according to claim 2, characterized in that: The driving nut (105c) rotates following the driving gear (105a), and the driving nut (105c) is engaged with the hollow screw rod (202).

4. The anchoring device of the underwater robot according to claim 3, characterized in that: The anchor head assembly (201) further comprises a conical head (201a), a fluke seat (201b) being mounted on the top of the conical head (201a), a connecting seat (201c) being mounted on the bottom of the fluke seat (201b), and a movable rod (201d) being mounted on the outer side of the connecting seat (201c).

5. The anchoring device of the underwater robot according to claim 4, characterized in that: A fluke piece (201e) is movably mounted on the outer side of the fluke seat (201b), and the fluke piece (201e) is movably connected to the movable rod (201d).

6. The anchoring device of the underwater robot according to claim 5, characterized in that: The connecting seat (201c) is connected to the fluke pull rod (203), and the connecting seat (201c) can slide on the fluke seat (201b).

7. The anchoring device of the underwater robot according to claim 6, characterized in that: A fixing seat (305) is installed on the outer side of the middle rotating shaft (304), and the fixing seat (305) is fixedly connected to the lower shell (102) and the upper shell (101).

8. The anchoring device of the underwater robot according to claim 7, characterized in that: The material of the conical head (201a) is alloy, and the shape of the conical head (201a) is a cone.

9. The anchoring device of the underwater robot according to claim 8, characterized in that: A spring is provided inside the spring rod (301), and one end of the spring is connected to the limiter (302) via a connecting rod.

10. The anchoring device of the underwater robot according to claim 9, characterized in that: The stopper (302) is provided with a roller.

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