Underwater distance measuring device for underwater robot

Abstract

The utility model discloses an underwater distance measuring device for an underwater robot, which particularly relates to the technical field of underwater measurement and comprises an underwater robot body, two first shells are fixedly connected to two sides of the underwater robot body, adjusting assemblies are mounted in the first shells, and two second shells are fixedly connected to the upper surfaces of the first shells. A cleaning mechanism is mounted on the outer side of the second shell, a plurality of fixing rods are fixedly connected to the outer side of the underwater robot body, and lighting lamps are fixedly connected to one ends of the fixing rods; the adjusting assembly comprises inorganic glass, and the inorganic glass is fixedly connected with one side of the first shell. Compared with the prior art, by arranging the adjusting assembly, the first supporting frame and the second supporting frame can drive the infrared distance meter to adjust the distance measuring angle, the position and the angle of the infrared distance meter can be flexibly adjusted according to different working environments and task requirements, the optimal measuring angle can be kept, and the working efficiency is improved. Therefore, the ranging precision is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater measuring technical field more specifically, the utility model relates to a kind of underwater ranging device for underwater robot. BACKGROUND

[0002] Underwater robot is also called unmanned remote control submersible, and is a kind of extreme operation robot working underwater. Underwater environment is harsh and dangerous, and the diving depth of human is limited, so underwater robot has become an important tool for developing ocean. Unmanned remote control submersible mainly includes two kinds: cable remote control submersible and cableless remote control submersible, wherein the cable remote control submersible is divided into three kinds: water self-propelled type, towed type and climbing type on the structure of seabed.

[0003] The existing underwater ranging device for underwater robot has poor ranging effect, and the single ranging laser structure is usually used to detect the distance of underwater object, which cannot ensure the accuracy of subsequent measurement data, resulting in poor ranging effect.

[0004] According to the search, the Chinese patent with the publication number CN217181232U discloses an underwater ranging device for underwater robot, which is provided with a limiting assembly. The limiting assembly is used with the mounting frame through the threaded rod, so as to adjust the position of the limiting plate and the rubber non-slip pad. The limiting plate is convenient for limiting and fixing underwater robots of different models. The rubber non-slip pad has good non-slip effect and can avoid loosening during fixing. This limiting and fixing method is simple and has good limiting effect, which is convenient to use.

[0005] When the above-mentioned underwater ranging device for underwater robot is actually used, the infrared range finder of part of the underwater ranging device adopts a fixed mode, which leads to the need for frequent adjustment of the position of the robot in the complex underwater environment to cope with different measurement requirements, thereby causing inaccurate or invalid ranging results. UTILITY MODEL CONTENTS

[0006] In order to overcome the above-mentioned defects of the prior art, the utility model provides an underwater ranging device for underwater robot to solve the problems raised in the above-mentioned background art.

[0007] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0008] An underwater ranging device for underwater robot, comprising an underwater robot body, two first housings are fixedly connected to the two sides of the underwater robot body, an adjusting assembly is installed in the first housing, two second housings are fixedly connected to the upper surface of the first housing, a cleaning mechanism is installed on the outer side of the second housing, a plurality of fixing rods are fixedly connected to the outer side of the underwater robot body, and a lighting lamp is fixedly connected to one end of the fixing rod.

[0009] The adjusting assembly comprises inorganic glass, the inorganic glass is fixedly connected with one side of a first shell, a first servo motor is fixedly connected inside the first shell, a first support frame is fixedly connected to an output end of the first servo motor, a second slide column is fixedly connected to an inner side of the first support frame, a first connecting rod is rotationally connected inside the first support frame, a rotating ball is fixedly connected to one end of the first connecting rod, an infrared range finder is fixedly connected to a front side of the rotating ball, a second servo motor is fixedly connected inside the first shell, two air hoses are in communication inside the first shell, a second support frame is fixedly connected to an output end of the second servo motor, a first slide column is fixedly connected to an inner side of the second support frame, the rotating ball is fixedly connected to the inner side of the second support frame, a first sliding groove and a second sliding groove are formed in the rotating ball, the first sliding groove is arranged above the second sliding groove, the inner side of the second sliding groove is in sliding connection with the second slide column, and the inner side of the first sliding groove is in sliding connection with the first slide column.

[0010] By adopting the above technical scheme, the first support frame and the second support frame can drive the infrared range finder to adjust the position and the angle, and the flexibility of the underwater robot body measurement is improved.

[0011] As further description of the above technical scheme, the cleaning mechanism comprises a third servo motor, the third servo motor is fixedly connected with the inner side of the second shell, a first gear is fixedly connected to an output end of the third servo motor, a second gear is engaged on one side of the first gear, a second connecting rod is fixedly connected inside the second gear, the second connecting rod is rotationally connected with the inside of the second shell, a sweeping plate is fixedly connected to the outer side of the second connecting rod, two cleaning cottons are fixedly connected on one side of the sweeping plate, a brush plate is arranged between the two cleaning cottons, and the brush plate is fixedly connected with one side of the sweeping plate.

[0012] By adopting the above technical scheme, the sweeping plate drives the brush plate and the cleaning cotton to swing in front of the inorganic glass, so that the surface of the inorganic glass can be cleaned, and the clarity of the inorganic glass is maintained.

[0013] The technical effects and advantages of the utility model are as follows:

[0014] 1、By setting the adjusting assembly, compared with the prior art, the first support frame and the second support frame can drive the infrared range finder to adjust the distance angle, the position and the angle of the infrared range finder can be flexibly adjusted according to different working environments and task requirements, the best measurement angle can be maintained, and the distance measurement precision is improved.

[0015] 2. By setting the cleaning mechanism, compared with the prior art, the brush plate and the cleaning cotton are swung on the surface of the inorganic glass by the sweeping plate, so that the surface of the inorganic glass can be cleaned, the dirt, sand or other impurities attached to the inorganic glass can be effectively reduced, the clarity of the inorganic glass is helped to be maintained, and the accuracy and reliability of the distance measurement are improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the overall structure schematic view of the utility model.

[0017] Figure 2 It is the first shell right side structure schematic view of the utility model.

[0018] Figure 3 It is the ball connection part local structure schematic view of the utility model.

[0019] Figure 4 It is the ball structure schematic view of the utility model.

[0020] Figure 5 It is the second shell internal structure schematic view of the utility model.

[0021] Figure 6 It is the sweeping plate structure schematic view of the utility model.

[0022] The figure sign is: 1, underwater robot body;2, first shell;3, second shell;4, fixed rod;5, illuminating lamp;6, inorganic glass;7, first servo motor;8, first support frame;9, first connecting rod;10, ball;11, infrared range finder;12, second servo motor;13, second support frame;14, first sliding column;15, second sliding column;16, first sliding groove;17, second sliding groove;18, third servo motor;19, first gear;20, second gear;21, second connecting rod;22, sweeping plate;23, brush plate;24, cleaning cotton. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor belong to the scope of protection of the utility model.

[0024] The embodiment of the application discloses an underwater ranging device for an underwater robot, which comprises an underwater robot body 1, two first housings 2 fixedly connected on the two sides of the underwater robot body 1, an adjusting assembly installed in the first housing 2, two second housings 3 fixedly connected on the upper surfaces of the first housings 2, cleaning mechanisms installed on the outer sides of the second housings 3, and a plurality of fixing rods 4 fixedly connected to the outer side of the underwater robot body 1, and a lighting lamp 5 fixedly connected to one end of the fixing rod 4.

[0025] The adjusting assembly comprises inorganic glass 6, which is fixedly connected with one side of the first housing 2, a first servo motor 7 fixedly connected in the first housing 2, a first support frame 8 fixedly connected to the output end of the first servo motor 7, a second slide column 15 fixedly connected to the inner side of the first support frame 8, a first connecting rod 9 rotationally connected in the first support frame 8, a rotating ball 10 fixedly connected to one end of the first connecting rod 9, an infrared range finder 11 fixedly connected to the front side of the rotating ball 10, a second servo motor 12 fixedly connected in the first housing 2, two air hoses in communication in the first housing 2, a second support frame 13 fixedly connected to the output end of the second servo motor 12, a first slide column 14 fixedly connected to the inner side of the second support frame 13, the inner side of the second support frame 13 fixedly connected with the rotating ball 10, a first sliding groove 16 and a second sliding groove 17 formed in the outer side of the rotating ball 10, the first sliding groove 16 arranged above the second sliding groove 17, the inner side of the second sliding groove 17 slidingly connected with the second slide column 15, the inner side of the first sliding groove 16 slidingly connected with the first slide column 14, the first servo motor 7 is used for driving the first support frame 8 to rotate, the first connecting rod 9 is rotationally connected with the inner side of the first support frame 8, so that the first support frame 8 can drive the rotating ball 10 to rotate through the first connecting rod 9, the rotating ball 10 can drive the infrared range finder 11 to move left and right, the first slide column 14 is slidingly connected with the inner side of the first sliding groove 16, so that the first sliding groove 16 limits the left and right rotation angle of the rotating ball 10, and the rotating ball 10 can stably drive the infrared range finder 11 to move, the second servo motor 12 can drive the second support frame 13 to drive the rotating ball 10 to move up and down, the first connecting rod 9 is rotationally connected in the first support frame 8, so that the rotating ball 10 can drive the infrared range finder 11 to move up and down, the second slide column 15 is slidingly connected with the inner side of the second sliding groove 17, so that the second sliding groove 17 limits the up and down rotation angle of the rotating ball 10, and the rotating ball 10 can stably drive the infrared range finder 11 to move, so that the position and angle of the infrared range finder 11 can be flexibly adjusted, the best measurement angle can be kept, and the ranging precision is improved.

[0026] Reference Figure 5 and 6As shown, the cleaning mechanism comprises a third servo motor 18 fixedly connected to the inner side of the second shell 3, the output end of the third servo motor 18 is fixedly connected with a first gear 19, one side of the first gear 19 is engaged with a second gear 20, the second gear 20 is fixedly connected with a second connecting rod 21 inside, the second connecting rod 21 is rotatably connected with the second shell 3, the outer side of the second connecting rod 21 is fixedly connected with a sweeping plate 22, one side of the sweeping plate 22 is fixedly connected with two cleaning cottons 24, a brush plate 23 is arranged between the two cleaning cottons 24, the brush plate 23 is fixedly connected with one side of the sweeping plate 22, the first gear 19 is driven to engage and drive the second gear 20 to rotate by the third servo motor 18, so that the second gear 20 drives the sweeping plate 22 to swing outside the second shell 3 through the second connecting rod 21, so that the sweeping plate 22 drives the brush plate 23 and the cleaning cotton 24 to clean the surface of the inorganic glass 6, which can effectively reduce the dirt and impurities attached to the inorganic glass 6.

[0027] The utility model discloses a kind of underwater ranging devices for underwater robots, and specific structure is as attached Figures 1-6As shown, in the technical scheme, through the cooperation between various structures, first, the underwater robot 1 is placed into the measuring water area through the lifting rope, when the underwater robot body 1 needs to be adjusted during underwater ranging, first, the first servo motor 7 is started, the first support frame 8 can be driven to rotate left and right by the first servo motor 7, the first support frame 8 is rotatably connected with the first connecting rod 9 inside, so that the first support frame 8 can drive the rotating ball 10 to move through the first connecting rod 9 when moving, so that the rotating ball 10 can drive the infrared range finder 11 to adjust the left and right deflection angle, the rotating ball 10 can be limited in the left and right deflection angle through the sliding connection between the first sliding groove 16 inside and the first sliding column 14, and the rotating ball 10 can stably deflect left and right at a certain angle, when it is necessary to adjust the up and down angle, the infrared range finder 11 is rotated to be horizontal to the second sliding column 15, and then the second servo motor 12 is started, the second support frame 13 is driven to rotate by the second servo motor 12, the first connecting rod 9 is rotatably connected with the first support frame 8 inside, so that the second support frame 13 can drive the infrared range finder 11 to move up and down inside the first support frame 8 through the rotating ball 10, the second sliding column 15 is slidably connected with the second sliding groove 17 inside, and the second sliding groove 17 can limit the up and down deflection angle of the rotating ball 10, so that the rotating ball 10 can stably drive the infrared range finder 11 to deflect up and down at an angle, and the infrared range finder 11 can be more flexible for measurement, when the underwater impurities adhere to the surface of the inorganic glass 6 and affect the measurement, the third servo motor 18 is started, the first gear 19 is driven to rotate left and right by the third servo motor 18, the second gear 20 is driven to rotate by the first gear 19, the second gear 20 drives the sweeping plate 22 to swing outside the second housing 3 through the second connecting rod 21, and the sweeping plate 22 can sweep and clean the surface of the inorganic glass 6 through the brush plate 23 and the cleaning cotton 24, so that the inorganic glass 6 can be kept clear.

[0028] In the drawings of the utility model, only the structures related to the embodiments of the utility model are involved, other structures can be referred to the general design, and the same embodiments and different embodiments of the utility model can be combined with each other under the condition of no conflict.

[0029] The contents not described in detail in the specification all belong to the prior art known to those skilled in the art, and the model parameters of various appliances are not specifically limited, and conventional equipment can be used, in the technical scheme, the appliance control elements not mentioned belong to the prior art, so they are not shown in the drawings, and will not be described here.

[0030] Finally, the above is only the preferred embodiment of the utility model, and is not used for limiting the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An underwater ranging device for an underwater robot, comprising an underwater robot body (1), characterized in that: The underwater robot body (1) is fixedly connected with two first shells (2) on both sides, the adjusting assembly is installed in the first shell (2), the first shell (2) is fixedly connected with two second shells (3) on the upper surface, the cleaning mechanism is installed on the outer side of the second shell (3), a plurality of fixed rods (4) are fixedly connected to the outer side of the underwater robot body (1), and the fixed rod (4) is fixedly connected with a lighting lamp (5) at one end; The adjusting assembly comprises inorganic glass (6), the inorganic glass (6) is fixedly connected with the first shell (2) on one side, the first shell (2) is fixedly connected with the first servo motor (7) inside, and the first servo motor (7) is fixedly connected with the first support frame (8) at the output end.

2. The underwater ranging device for underwater robots of claim 1, wherein: The first support frame (8) is fixedly connected with the second slide column (15) on the inner side, the first support frame (8) is rotatably connected with the first connecting rod (9) inside, the first connecting rod (9) is fixedly connected with the rotating ball (10) at one end, and the rotating ball (10) is fixedly connected with the infrared range finder (11) on the front side.

3. The underwater ranging device for underwater robots of claim 1, wherein: The first shell (2) is fixedly connected with the second servo motor (12) inside, two air hoses are communicated in the first shell (2), the second servo motor (12) is fixedly connected with the second support frame (13) at the output end, the second support frame (13) is fixedly connected with the first slide column (14) on the inner side, and the second support frame (13) is fixedly connected with the rotating ball (10) on the inner side.

4. The underwater ranging device for underwater robots of claim 2, wherein: The rotating ball (10) is provided with a first sliding groove (16) and a second sliding groove (17) on the outer side, the first sliding groove (16) is arranged above the second sliding groove (17), the second sliding groove (17) is slidably connected with the second slide column (15) on the inner side, and the first sliding groove (16) is slidably connected with the first slide column (14) on the inner side.

5. The underwater ranging device for underwater robots of claim 1, wherein: The cleaning mechanism comprises a third servo motor (18), the third servo motor (18) is fixedly connected with the second shell (3) on the inner side, the third servo motor (18) is fixedly connected with the first gear (19) at the output end, and the first gear (19) is meshed with the second gear (20) on one side.

6. The underwater ranging device for underwater robots of claim 5, wherein: The second gear (20) is fixedly connected with the second connecting rod (21) inside, and the second connecting rod (21) is rotatably connected with the second shell (3) inside.

7. The underwater ranging device for an underwater robot of claim 6, wherein: The second connecting rod (21) is fixedly connected with the sweeping plate (22) on the outer side, the sweeping plate (22) is fixedly connected with two cleaning cottons (24) on one side, a brush plate (23) is arranged between the two cleaning cottons (24), and the brush plate (23) is fixedly connected with the sweeping plate (22) on one side.

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