Underwater robot multi-angle information acquisition device for diversion tunnel

Abstract

The utility model discloses an underwater robot multi-angle information acquisition device for a diversion tunnel, which relates to the technical field of underwater robots, and comprises a front-end rotating holder, a transmission device and a rear-end holder, a driving device is arranged in the rear-end holder, the rear-end holder is in transmission connection with the front-end rotating holder through the transmission device, and the rear-end rotating holder is connected with the front-end rotating holder through the transmission device. The front-end rotating holder is driven to rotate; the front-end rotating platform is provided with information acquisition equipment, and the information acquisition equipment performs multi-angle information acquisition along with the rotation of the front-end rotating holder; the front-end rotating holder, the transmission device and the rear-end holder are installed at the front position, the middle position and the rear position of the underwater robot in a scattered mode, the layout form of rear-end driving, middle transmission and front-end rotating is integrally formed, the occupied size is small, the overall structure of the robot is compact, and the underwater robot is suitable for underwater operation environments such as diversion tunnels with limited space.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a multi-angle information acquisition device of an underwater robot used in a water diversion tunnel. Background Art

[0002] Continuous advancements in underwater robotics have enabled their widespread application in a variety of fields, including maritime rescue, oil extraction, seafloor exploration, aquaculture, underwater ship repair, and recreational diving. These applications are mostly located in open waters, and underwater robots equipped with cameras, sonar, searchlights, and other equipment can perform information collection and detection tasks in such open areas.

[0003] When underwater robots are used in diversion tunnels, the robot's movement is restricted due to the unidirectional flow of water, large diameter, and high water pressure within the tunnel. This reduces the robot's range of motion and detection, making comprehensive tunnel inspection difficult. Existing multi-angle photography or information collection devices are often located at the front end of the robot, such as the underwater robot photography and collection mechanism disclosed in patent CN220315272U. This mechanism occupies a large volume during use and is not compact, increasing the risk of damage from impacts. It also makes it difficult to effectively operate in confined underwater environments like diversion tunnels. Utility Model Content

[0004] In response to the above-mentioned deficiencies in the existing technology, the present invention provides a multi-angle information acquisition device for an underwater robot used in a water diversion tunnel, which can achieve a larger detection range and at the same time has a smaller operating volume, and can better complete the tunnel detection task.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multi-angle information collection device for an underwater robot used in a water diversion tunnel comprises a front-end rotating platform, a transmission device, and a rear-end platform. The rear-end platform is provided with a driving device which is connected to the front-end rotating platform via the transmission device and drives the front-end rotating platform to rotate.

[0007] An information collection device is installed on the front rotating platform, and the information collection device collects multi-angle information as the front rotating pan-tilt head rotates.

[0008] Furthermore, the transmission device includes a synchronous belt, a first synchronous pulley and a second synchronous pulley, the first synchronous pulley is connected to the driving device, and the second synchronous pulley is connected to the front-end rotating platform.

[0009] Furthermore, the driving device adopts an electric motor, which is coaxially connected to the first synchronous pulley through an input shaft and drives the second synchronous pulley to rotate through a synchronous belt.

[0010] Furthermore, the rear end pan-tilt platform is fixed at the rear end of the robot and is a rectangular box structure, and the driving device is arranged inside the rear end pan-tilt platform.

[0011] Furthermore, an output shaft is provided on one side of the second synchronous pulley, the output shaft is fixedly connected to the second synchronous pulley, and the front-end rotating platform is fixedly connected to the output shaft.

[0012] Furthermore, bracket supports are respectively provided at both ends of the output shaft and are used to connect to the robot frame.

[0013] Furthermore, the output shaft is rotatably connected to the bracket via a bearing.

[0014] Furthermore, the information collection device includes a camera, a searchlight and a sonar, which can realize the collection and detection of various underwater information.

[0015] Furthermore, the sonar is arranged on the top of the front-end rotating platform; the lower part of the front-end rotating platform is a cavity, and the camera and searchlight are arranged in the cavity.

[0016] Furthermore, a camera bracket is provided in the cavity at the lower part of the front rotating platform. The camera bracket is W-shaped, and the camera and the searchlight are embedded in the bracket recess in parallel to ensure that the camera and the searchlight are installed stably.

[0017] By adopting the above technical solution, the beneficial effects of the utility model are as follows:

[0018] 1. The utility model is used to be installed on the top of an underwater robot. The front rotating pan-tilt platform, transmission device and rear pan-tilt platform are separately installed at the front, middle and rear positions of the underwater robot, forming an overall layout of rear-end drive, middle transmission and front-end rotation. Compared with the method of arranging the entire device at the front end of the robot, the utility model occupies a small volume, making the overall structure of the robot compact, and suitable for underwater operation environments with limited space such as water diversion tunnels; at the same time, it reduces the risk of damage to the device due to collision, and improves the safety of underwater robot operation.

[0019] 2. The utility model sets the camera, searchlight and sonar on the front rotating platform, and the front rotating platform drives the output shaft through the transmission device to achieve multi-angle rotation, which improves the efficiency and accuracy of information collection and ensures the comprehensiveness and reliability of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

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

[0022] Figure 2 This is the installation diagram of the utility model Figure 1 ;

[0023] Figure 3 This is the installation diagram of the utility model Figure 2 ;

[0024] Figure 4 It is a schematic diagram of the partial structure of the front-end rotating platform in this utility model.

[0025] In the figure: 1. Front-end rotating platform; 2. Transmission device; 3. Rear-end platform;

[0026] 101, second bracket; 102, output shaft; 103, camera bracket; 104, searchlight; 105, camera; 106, sonar; 107, third bracket; 108, fixed shaft;

[0027] 201, first synchronous pulley; 202, synchronous belt; 203, second synchronous pulley;

[0028] 301. Stepper motor; 302. Motor bracket; 303. Input shaft; 304. First bracket. DETAILED DESCRIPTION

[0029] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0030] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] Example 1

[0032] In a typical embodiment of the present application, a multi-angle information acquisition device for an underwater robot used in a water diversion tunnel is provided, which is installed on the top of the underwater robot, such as Figure 1-3As shown, a multi-angle information collection device for an underwater robot used in a water diversion tunnel includes a front-end rotating pan-tilt platform 1, a transmission device 2 and a rear-end pan-tilt platform 3. A driving device is provided in the rear-end pan-tilt platform, which is connected to the front-end rotating pan-tilt platform through the transmission device and drives the front-end rotating pan-tilt platform to rotate; an information collection device is installed on the front-end rotating platform, and the information collection device collects multi-angle information as the front-end rotating pan-tilt platform rotates.

[0033] The rear platform 3 is used to be installed at the rear end of the robot and is a rectangular box structure. The driving device is set inside the rear platform and usually adopts a driving motor. Figure 1 As shown, the rear end platform 3 is a rectangular box with a sealing function, and various sensors and drive motors can be placed inside.

[0034] In this embodiment, the driving device adopts a stepper motor 301, which can provide precise angle control, so that the information acquisition equipment can be adjusted to the optimal angle as needed to adapt to different detection requirements. The stepper motor 301 is connected to the motor bracket 392 and installed inside the rear end pan / tilt. The motor shaft is connected to one end of the input shaft 303 through a coupling, and the input shaft is coaxially connected to the first synchronous pulley 201 to transmit power to the synchronous belt. The end of the input shaft 303 away from the motor is inserted into the first bearing and connected to the first bracket 304, which is used to be installed on the robot frame. The motor can drive the input shaft to rotate to complete the drive.

[0035] Transmission device 2 consists of a first synchronous pulley 201, a second synchronous pulley 203, and a synchronous belt 202. The first synchronous pulley is connected to the drive unit, while the second synchronous pulley is connected to the front-end pan / tilt head. The first synchronous pulley 201 is the driving pulley, mounted on the input shaft 303 and connected to the stepper motor; the second synchronous pulley 203 is the driven pulley, mounted on the output shaft 102.

[0036] In order to realize the rotation of the front-end rotating platform, the front-end rotating platform 1 is fixedly connected to the output shaft 102. The two ends of the output shaft 102 are respectively supported and fixed by the second bracket 101 and the third bracket 107. At the same time, the second bracket and the third bracket are used to be installed on the robot frame, so that the overall structure of the underwater detection robot is compact. The output shaft 102 is coaxially connected to the second synchronous pulley 203. The driving device drives the front-end rotating platform to rotate around the output shaft through the first synchronous pulley, the synchronous belt and the second synchronous pulley. Figure 1 、 4 As shown, the front-end rotating platform 1 is designed as a rectangular parallelepiped. The output shaft is bolted to one end of the front-end rotating platform. The output shaft is inserted into a bearing and connected to the second bracket 101, which serves as a fixed support. The other end of the front-end rotating platform is bolted to the fixed shaft 108, which is inserted into a bearing and mounted on the third bracket 107.

[0037] The second synchronous pulley is connected to the output shaft, driving the output shaft to rotate, and the front-end rotating pan-tilt platform also rotates accordingly, thereby adjusting the information collection device on the front-end rotating pan-tilt platform to perform multi-angle collection.

[0038] The information collection equipment includes a camera 105, a searchlight 104, and a sonar 106, which are used to collect various types of information. The sonar 106 is mounted on the upper portion of the front-end rotating platform, which has a cavity defined below it. A W-shaped camera bracket 103 is located within the cavity. The camera 105 and searchlight 104 are nestled parallel to each other in two recesses within the bracket, ensuring stable installation. Therefore, when the drive unit rotates the front-end rotating platform via a synchronous belt structure, the sonar and camera also rotate accordingly, collecting information from different angles to complete the inspection of the large-diameter diversion tunnel.

[0039] like Figure 2-3 As shown, the front-end rotating pan-tilt head and the rear-end pan-tilt head are respectively installed at the front and rear ends of the robot frame, and the transmission device is located in the middle, so that the overall robot forms a layout of rear-end drive, middle transmission, and front-end rotation. Compared with the method of arranging the entire device at the front end of the robot, it occupies a small volume, making the overall structure of the robot compact, which can overcome the many limitations brought by the large diameter and high water pressure of the water diversion tunnel.

[0040] The front-mounted pan / tilt system drives the camera, searchlight, and sonar system to rotate at multiple angles, enabling comprehensive inspection of limited detection environments such as diversion tunnels. Furthermore, the stepper motor drive system offers a simple structure, compact size, ease of maintenance, and low cost, making the device highly cost-effective while maintaining performance, facilitating widespread application.

[0041] It should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Those skilled in the art will appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A multi-angle information acquisition device for underwater robots used in water diversion tunnels, characterized in that: It includes a front-end rotating platform, a transmission device and a rear-end platform. The rear-end platform is provided with a driving device, which is connected to the front-end rotating platform through the transmission device and drives the front-end rotating platform to rotate. The transmission device includes a synchronous belt, a first synchronous pulley and a second synchronous pulley, wherein the first synchronous pulley is connected to the driving device, and the second synchronous pulley is connected to the front rotating platform; An information collection device is installed on the front-end rotating platform, and the information collection device collects multi-angle information as the front-end rotating platform rotates.

2. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 1, characterized in that: The rear end platform is fixed at the rear end of the robot and is a rectangular box structure, and the driving device is arranged inside the rear end platform.

3. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 1, characterized in that: The driving device adopts an electric motor, which is coaxially connected to the first synchronous pulley through an input shaft and drives the second synchronous pulley to rotate through a synchronous belt.

4. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 1, characterized in that: An output shaft is provided on one side of the second synchronous pulley, the output shaft is fixedly connected to the second synchronous pulley, and the front end rotating platform is fixedly connected to the output shaft.

5. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 4, characterized in that: Brackets are provided at both ends of the output shaft for support.

6. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 5, characterized in that: The output shaft is rotatably connected to the bracket via a bearing.

7. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 1, characterized in that: The information collection device includes a camera, a searchlight and a sonar.

8. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 7, characterized in that: The sonar is arranged on the top of the front-end rotating platform; the lower part of the front-end rotating platform is a cavity, and the camera and the searchlight are arranged in the cavity.

9. The multi-angle information acquisition device for underwater robots used in water diversion tunnels according to claim 8, characterized in that: A camera bracket is provided in the cavity at the lower part of the front-end rotating platform. The camera bracket is W-shaped, and the camera and the searchlight are embedded in the bracket recess in parallel.

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