Waterproof positioning module of underwater robot

Abstract

The utility model discloses a waterproof positioning module for an underwater robot, which belongs to the technical field of positioning modules and comprises a shell, a connector is arranged at one end of the shell, a sealing device is arranged on the outer surface of the connector and comprises a circular ring, a circular groove is formed in one side of the inner wall of the circular ring, and a sealing ring is arranged in the circular groove. The inner wall of the threaded cylinder is in threaded connection with a first screw rod, one end of the first screw rod is fixedly connected with a rectangular rod, the end, away from the first screw rod, of the rectangular rod is fixedly connected with a piston rod, and the upper end and the lower end of the circular ring are fixedly connected with cylinders correspondingly. The threaded cylinder is pushed to rotate to enable the piston rod to slide on the inner wall of the cylinder, the rubber sheet on one side of the inner wall of the circular groove is controlled to expand outwards to be pressed on the outer side of the joint of the connectors, connection between the two connectors is reinforced, and connection looseness of the connectors when the underwater robot shakes is avoided as much as possible; and the outer side of the joint of the joint is further sealed, so that the waterproof effect of the joint is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to positioning module technical field, concretely is a kind of underwater robot waterproof positioning module. BACKGROUND

[0002] Underwater robot is a kind of intelligent robot that can execute task in underwater environment, the position of robot is positioned using navigation system when working underwater, part underwater robot uses extended Kalman filter algorithm to design combined navigation system, can more accurately position the position of robot underwater.

[0003] When using underwater robot positioning system, the probe of positioning module needs to be installed on the surface of robot as a whole, and the connector on the probe is connected with the connector on robot, when underwater robot works in water and collides or encounters large current, the whole robot will shake greatly, causing the connector on the probe to be loose at the connection with the connector on robot, affecting the stability and normal use of probe connection. UTILITY MODEL CONTENT

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides an underwater robot waterproof positioning module, which solves the problem that when underwater robot works in water and collides or encounters large current, the whole robot will shake greatly, causing the connector on the probe to be loose at the connection with the connector on robot, affecting the stability and normal use of probe connection.

[0005] To achieve the above object, the utility model provides the following technical scheme: an underwater robot waterproof positioning module, comprising a shell, a plurality of probes are arranged at one end of the shell, a frame rod is fixedly connected to the end of the shell close to the probes, a connector is arranged at one end of the shell, a sealing device is arranged on the outer surface of the connector, the sealing device comprises a ring, the inner wall of one end of the ring is fixedly connected to the outer surface of the connector, a circular groove is formed in one side of the inner wall of the ring, a rubber sheet is fixedly connected to one side of the inner wall of the circular groove, a threaded cylinder is rotatably connected to one side of the ring, two first screw rods are threadedly connected to the inner wall of the threaded cylinder, the screw thread directions of the outer surfaces of the two first screw rods are opposite, a rectangular rod is fixedly connected to one end of the first screw rod away from the threaded cylinder, a piston rod is fixedly connected to one end of the rectangular rod away from the first screw rod, a cylinder is fixedly connected to the upper and lower ends of the ring respectively, the cylinder and the circular groove are through, and the piston rod slides in the inner wall of the cylinder.

[0006] As a further scheme of the utility model: two support rods are fixedly connected to one side of the rectangular rod, one end of the two support rods away from the rectangular rod is fixedly connected to one side of the first screw rod and one side of the piston rod respectively.

[0007] As a further scheme of the present utility model: the outer surface of the threaded cylinder is fixedly connected with a plurality of convex strips, which are circumferentially distributed on the outer surface of the threaded cylinder.

[0008] As a further scheme of the present utility model: the inner wall of the annular ring is fixedly connected with two reinforcing strips, which are located outside the inner wall connecting portion of the rubber sheet and the circular groove.

[0009] As a further scheme of the present utility model: one side of the shell is provided with a positioning device, which comprises an L-shaped plate, one side of the L-shaped plate is fixedly connected with one side of the shell, a sliding groove is formed in one side of the L-shaped plate, a T-shaped block is slidably connected with the inner wall of the sliding groove, a clamping plate is fixedly connected with one side of the T-shaped block, one side of the clamping plate slides on one side of the L-shaped plate, a second screw rod is rotatably connected with the inner wall of the L-shaped plate, and the outer surface of the second screw rod is threadedly connected with the inner wall of the T-shaped block.

[0010] As a further scheme of the present utility model: one side of the clamping plate is fixedly connected with a positioning block, which slides on one side of the L-shaped plate.

[0011] As a further scheme of the present utility model: one end of the second screw rod away from the L-shaped plate is fixedly connected with an operating block, and the outer surface of the operating block is provided with a plurality of protrusions.

[0012] Compared with the prior art, the underwater robot waterproof positioning module has the advantages that: 1. The sealing device is arranged, the threaded cylinder is rotated by pushing, the piston rod slides on the inner wall of the cylinder, the rubber sheet on one side of the inner wall of the circular groove is expanded outward to press tightly on the connecting portion outside the joint, the connection between the two joints is reinforced, the loosening of the joint connection when the underwater robot shakes is avoided as much as possible, and the connecting portion outside the joint is further sealed, thereby improving the waterproof effect of the joint.

[0013] 2. The underwater robot waterproof positioning module can further reinforce the connection of the rubber sheet and the inner wall connecting portion of the circular groove by arranging the reinforcing strips, so as to avoid the breakage of the connection between the rubber sheet and the inner wall of the circular groove when the rubber sheet expands outward as much as possible.

[0014] 3. The underwater robot waterproof positioning module is provided with a positioning device, the T-shaped block slides on the inner wall of the sliding groove by rotating the second screw rod, the clamping plate moves on one side of the L-shaped plate, one end of the clamping plate and the L-shaped plate is clamped on the outer surface of the robot respectively, the position of the shell on the outer surface of the robot is further fixed, and the connection stability of the positioning module and the outer surface of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The present utility model is a three-dimensional structure schematic view.

[0016] Figure 2 It is the structure schematic view of the shell of the utility model.

[0017] Figure 3 It is the structure schematic view of the shell of the utility model Figure 2 It is the structure schematic view of the shell of the utility model

[0018] Figure 4 It is the structure schematic view of the shell of the utility model

[0019] In the figure: 1, shell; 2, sealing device; 3, positioning device; 4, frame rod; 5, probe; 6, joint; 21, round ring; 22, round groove; 23, rubber sheet; 24, threaded cylinder; 25, first screw rod; 26, rectangular rod; 27, piston rod; 28, cylinder; 29, support rod; 210, convex strip; 211, reinforcing strip; 31, L-shaped plate; 32, sliding groove; 33, second screw rod; 34, T-shaped block; 35, clamping plate; 36, positioning block; 37, operating block. DETAILED DESCRIPTION

[0020] The technical scheme of the patent will be further explained in detail in combination with specific implementation manners.

[0021] For example Figures 1-3As shown, the utility model provides a technical scheme: an underwater robot waterproof positioning module, including casing 1, casing 1 one end is provided with several probes 5, casing 1 is fixedly connected with frame rod 4 close to the one end of probe 5, casing 1 one end is provided with connector 6, the outer surface of connector 6 is provided with sealing device 2, sealing device 2 includes circular ring 21, the inner wall one end of circular ring 21 is fixedly connected with the outer surface of connector 6, the inner wall one side of circular ring 21 is provided with round groove 22, the inner wall one side of round groove 22 is fixedly connected with rubber sheet 23, the one side of circular ring 21 is rotatably connected with threaded cylinder 24, the inner wall of threaded cylinder 24 is threadedly connected with two first screw rods 25, the thread direction of the outer surface of two first screw rods 25 is opposite, the one end of first screw rod 25 away from threaded cylinder 24 is fixedly connected with rectangular rod 26, the one end of rectangular rod 26 away from first screw rod 25 is fixedly connected with piston rod 27, the upper and lower ends of circular ring 21 are respectively fixedly connected with cylinder 28, cylinder 28 is through with the inside of round groove 22, piston rod 27 slides in the inner wall of cylinder 28, by setting rubber sheet 23, when installing positioning module on the surface of underwater robot, after inserting connector 6 on underwater robot into the outside of connector 6 one end of casing 1, the connecting place of two connector 6 will be in the inside of circular ring 21, then push threaded cylinder 24 on the one side of circular ring 21 to rotate, control two first screw rods 25 to move in the inside of threaded cylinder 24 towards the same direction, make piston rod 27 slide in the inner wall of cylinder 28 and punch the air in the inside of cylinder 28 to the inside of round groove 22, make rubber sheet 23 on the inner wall one side of round groove 22 expand outward and press tightly on the outside of the connecting place of connector 6, reinforce the connection between two connector 6, and further seal the outside of the connecting place of connector 6, improve the waterproof effect of connector 6.

[0022] Specifically, as shown, Figures 2-3 The one side of rectangular rod 26 is fixedly connected with two support rods 29, the one end of two support rods 29 away from rectangular rod 26 is respectively fixedly connected with the one side of first screw rod 25 and the one side of piston rod 27, by setting support rod 29, the connection between rectangular rod 26 and first screw rod 25 and piston rod 27 can be reinforced, the connection structure strength between first screw rod 25 and rectangular rod 26 and piston rod 27 is improved, the outer surface of threaded cylinder 24 is fixedly connected with several convex strips 210, the convex strips 210 are circumferentially distributed on the outer surface of threaded cylinder 24, and the threaded cylinder 24 can be more conveniently pushed to rotate and is not easy to slip with hand by abutting the convex strips 210 on the outer surface of threaded cylinder 24 with hand.

[0023] Specifically, as shown, Figures 2-3 The inner wall of circular ring 21 is fixedly connected with two reinforcing strips 211, the two reinforcing strips 211 are located on the outside of the inner wall connecting place of rubber sheet 23 and round groove 22, by setting reinforcing strip 211, the further reinforcement of the outside connecting place of rubber sheet 23 and the inner wall of round groove 22 can be achieved, and the rupture of the connecting place of rubber sheet 23 and the inner wall of round groove 22 when rubber sheet 23 expands outward is avoided as far as possible.

[0024] Specifically, as shown in Figure 1 , Figure 2 and Figure 4 , one side of the shell 1 is provided with a positioning device 3, the positioning device 3 comprises an L-shaped plate 31, one side of the L-shaped plate 31 is fixedly connected with one side of the shell 1, a sliding groove 32 is opened in one side of the L-shaped plate 31, a T-shaped block 34 is slidably connected with the inner wall of the sliding groove 32, a clamping plate 35 is fixedly connected with one side of the T-shaped block 34, one side of the clamping plate 35 slides on one side of the L-shaped plate 31, a second screw 33 is rotatably connected with the inner wall of the L-shaped plate 31, the outer surface of the second screw 33 is threadedly connected with the inner wall of the T-shaped block 34, when installing the positioning module, the shell 1 is placed on the surface of the underwater robot, the shell 1 is bound to the surface of the robot by binding rope, then the second screw 33 can be rotated to control the T-shaped block 34 to slide on the inner wall of the sliding groove 32 to drive the clamping plate 35 to move on one side of the L-shaped plate 31, one end of the clamping plate 35 and the L-shaped plate 31 is clamped on both sides of the surface of the robot respectively, the position of the shell 1 on the surface of the robot is further fixed, and the connection stability of the positioning module and the surface of the robot is improved.

[0025] Specifically, as shown in Figure 2 and Figure 4 , one side of the clamping plate 35 is fixedly connected with a positioning block 36, one side of the positioning block 36 slides on one side of the L-shaped plate 31, when the T-shaped block 34 and the clamping plate 35 are moved by rotating the second screw 33, one side of the positioning block 36 will slide on one side of the L-shaped plate 31, the angle between the clamping plate 35 and the L-shaped plate 31 can be further limited by the positioning block 36, and the angle deviation of the clamping plate 35 when moving is avoided as much as possible, one end of the second screw 33 away from the L-shaped plate 31 is fixedly connected with an operating block 37, the outer surface of the operating block 37 is provided with a plurality of protrusions, holding the protrusions on the outer surface of the operating block 37 can more conveniently push the operating block 37 to control the second screw 33 to rotate and adjust the position of the clamping plate 35.

[0026] The utility model discloses a working principle is: S1, install the positioning module, place the casing 1 at the shell surface of underwater robot, through binding the casing 1 with the outer surface of robot by binding rope, rotate second screw rod 33 control T block 34 in the inner wall sliding groove 32 drive the clamping plate 35 in L-shaped plate 31 one side movement, the clamping plate 35 and L-shaped plate 31 one end is clamped in the two sides of the outer surface of robot respectively, the position of casing 1 on the outer surface of robot is further fixed, underwater robot is inserted on the joint 6 one end of casing 1 joint 6 outside, then the joint of two joint 6 will be in the inside of annular ring 21, push the rotation of screw drum 24 one side of annular ring 21, control two first screw rod 25 in the inside of screw drum 24 moves towards the same direction, make piston rod 27 in the inner wall sliding cylinder 28 the air in the inside of cylinder 28 is beaten into the inside of circular groove 22, make the rubber sheet 23 of circular groove 22 inner wall one side expands and presses tightly in the joint 6 joint outside, the connection between two joint 6 is reinforced.

[0027] S2, underwater robot is placed in water, control underwater robot moves, through the sonar system on underwater robot and the GPS in the inside of probe 5 in casing 1 inside one end PPS and data information are transmitted to the control panel of control end and are calculated, the position of underwater robot is positioned.

[0028] In the description of the utility model, it is necessary to explain, unless another explicit provision and limitation, the term "installation", "link", "connection" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be directly connected, also can be indirectly connected through intermediate medium, can be the intercommunication of two elements. For ordinary skilled person in the art, the above-mentioned terms can be understood in the specific meaning in the utility model by specific circumstances.

[0029] The above has made the detailed explanation to the preferable implementation of the patent, but the patent is not limited to the above-mentioned embodiment, still can make various changes within the knowledge scope of ordinary skilled person in the art without departing from the purpose of the patent.

Claims

1. An underwater robot waterproof positioning module comprising a housing (1), characterized in that: One end of the shell (1) is provided with several probes (5), one end of the shell (1) is fixedly connected with frame rod (4) near the probe (5), one end of the shell (1) is provided with joint (6), the outer surface of the joint (6) is provided with sealing device (2), the sealing device (2) comprises a circular ring (21), one end of the inner wall of the circular ring (21) is fixedly connected with the outer surface of the joint (6), the inner wall of the circular ring (21) is provided with a circular groove (22), the inner wall of the circular groove (22) is fixedly connected with the rubber sheet (23), one side of the circular ring (21) is rotatably connected with the threaded cylinder (24), the inner wall of the threaded cylinder (24) is threadedly connected with two first screw rods (25), the screw thread direction of the outer surface of the two first screw rods (25) is opposite, one end of the first screw rod (25) away from the threaded cylinder (24) is fixedly connected with the rectangular rod (26), one end of the rectangular rod (26) away from the first screw rod (25) is fixedly connected with the piston rod (27), the upper and lower ends of the circular ring (21) are fixedly connected with the cylinder (28) respectively, the cylinder (28) is through with the inside of the circular groove (22), the piston rod (27) slides in the inner wall of the cylinder (28).

2. The waterproof positioning module for an underwater robot of claim 1, wherein: One side of the rectangular rod (26) is fixedly connected with two supporting rods (29), one end of the two supporting rods (29) away from the rectangular rod (26) is fixedly connected with one side of the first screw rod (25) and one side of the piston rod (27) respectively.

3. The waterproof positioning module for an underwater robot of claim 2, wherein: The outer surface of the threaded cylinder (24) is fixedly connected with several convex strips (210), which are circumferentially distributed on the outer surface of the threaded cylinder (24).

4. The waterproof positioning module for an underwater robot of claim 3, wherein: The inner wall of the circular ring (21) is fixedly connected with two reinforcing strips (211), which are located outside the inner wall connecting portion of the rubber sheet (23) and the circular groove (22).

5. The waterproof positioning module for underwater robots of claim 1, wherein: One side of the shell (1) is provided with positioning device (3), the positioning device (3) comprises L-shaped plate (31), one side of the L-shaped plate (31) is fixedly connected with one side of the shell (1), one side of the L-shaped plate (31) is provided with sliding groove (32), the inner wall of the sliding groove (32) is slidably connected with T-shaped block (34), one side of the T-shaped block (34) is fixedly connected with clamping plate (35), one side of the clamping plate (35) slides on one side of the L-shaped plate (31), the inner wall of the L-shaped plate (31) is rotatably connected with second screw rod (33), the outer surface of the second screw rod (33) is threadedly connected with the inner wall of the T-shaped block (34).

6. The waterproofed positioning module of claim 5, wherein: One side of the clamping plate (35) is fixedly connected with positioning block (36), one side of the positioning block (36) slides on one side of the L-shaped plate (31).

7. The waterproofed positioning module of an underwater robot according to claim 6, characterized in that: One end of the second screw rod (33) away from the L-shaped plate (31) is fixedly connected with operating block (37), the outer surface of the operating block (37) is provided with several protrusions.

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