Underwater robot and measuring device thereof

Abstract

The utility model discloses an underwater robot and a measuring device thereof. The measuring device comprises an adjusting assembly which comprises a first adjusting frame and a second adjusting frame, and the second adjusting frame is rotationally connected into a movable cavity of the first adjusting frame; the measuring piece is mounted on the second adjusting frame; the elastic positioning pieces are installed on the adjusting assembly and arranged around the measuring piece, the abutting ends of the elastic positioning pieces and the measuring end of the measuring piece are located on the same side of the adjusting assembly, and the elastic positioning pieces are used for buffering rigid impact to protect the measuring piece. Through the above mode, the measuring device provided by the utility model can improve the measuring accuracy, can buffer rigid impact, and protects the measuring piece on the measuring device.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater measuring device technical field, in particular to an underwater robot and a measuring device thereof. BACKGROUND

[0002] At present, when measuring by using a robot carrying a thickness measuring sensor, the robot is controlled to make the thickness measuring sensor vertical to the measured steel plate, and then the measurement is performed.

[0003] The current underwater measuring device is prone to inaccurate measurement when measuring some irregular measurement surfaces, and rigid collision is prone to damage the equipment. CONTENT OF THE UTILITY MODEL

[0004] The present application mainly provides an underwater robot and a measuring device thereof to solve the problem of insufficient measurement accuracy of the existing measuring device and damage caused by rigid impact.

[0005] To solve the above technical problems, one technical scheme adopted by the present application is to provide a measuring device. The measuring device comprises: an adjusting assembly comprising a first adjusting frame and a second adjusting frame, the second adjusting frame being rotationally connected to an active cavity of the first adjusting frame; a measuring piece installed on the second adjusting frame; a plurality of elastic positioning pieces installed on the adjusting assembly and arranged around the measuring piece, the abutting end of the elastic positioning piece and the measuring end of the measuring piece being located on the same side of the adjusting assembly, and the elastic positioning piece being used to buffer the rigid impact to protect the measuring piece.

[0006] In some embodiments, the plurality of elastic positioning pieces are installed on the second adjusting frame; or

[0007] The plurality of elastic positioning pieces are all installed on the first adjusting frame.

[0008] In some embodiments, the elastic positioning piece comprises a first elastic piece and a positioning rod, the positioning rod being movably connected to the adjusting assembly, and the first elastic piece being elastically compressed between the blocking shoulder of the positioning piece and the adjusting assembly.

[0009] Before being subjected to the rigid impact, the height of the abutting end of the positioning rod relative to the adjusting assembly is greater than the height of the measuring end of the measuring piece relative to the adjusting assembly.

[0010] In some embodiments, the measuring piece is elastically connected to the second adjusting frame.

[0011] In some embodiments, the measuring device further comprises a base, a connecting rod and a second elastic member, the measuring member is mounted on the base, the connecting rod movably connects the base and the second adjusting frame, and the second elastic member is elastically compressed between the base and the end of the connecting rod.

[0012] In some embodiments, the second adjusting frame is provided with a through hole, and the measuring member is arranged in the through hole, and the hole area of the through hole is greater than the measuring end area of the measuring member.

[0013] The measuring member is rotatably connected to the base, and the rotation range of the measuring member is limited by the through hole.

[0014] In some embodiments, the measuring device further comprises a support frame, the first adjusting member is rotatably connected to the support frame, and the angle adjustment direction of the first adjusting frame relative to the support frame is different from the angle adjustment direction of the second adjusting frame relative to the first adjusting frame.

[0015] In some embodiments, the angle adjustment range of the first adjusting frame is greater than the angle adjustment range of the second adjusting frame.

[0016] In some embodiments, the measuring member and / or the elastic positioning member are provided with a magnetic attraction assembly.

[0017] To solve the above technical problems, another technical solution adopted by the present application is to provide an underwater robot. The underwater robot comprises the measuring device as described above.

[0018] The present application has the following beneficial effects: Different from the prior art, the present application discloses an underwater robot and a measuring device thereof. By mounting the measuring member on the second adjusting frame, rotatably connecting the second adjusting frame in the movable cavity of the first adjusting frame, and arranging a plurality of elastic positioning members around the measuring member on the adjusting assembly, when the elastic positioning members contact the surface of the measured object during measurement in underwater or other scenes, the reaction force received by the elastic positioning members can automatically rotate and adjust the second adjusting frame relative to the first adjusting frame, so that the measuring end of the measuring member is accurately aligned with the surface of the measured object, improving the measurement precision and accuracy of the measuring member, ensuring the accuracy of the measurement result, and when the elastic positioning member is subjected to a rigid impact, the impact force can be buffered and absorbed, thereby avoiding damage to the measuring device and the measuring member thereon, so as to protect the measuring device and the measuring member thereon. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 is a structural schematic diagram of an embodiment of the measuring device provided by the present application;

[0021] Figure 2 is an exploded structural schematic diagram of the measuring device as shown in Figure 1 ;

[0022] Figure 3 is a combined structural schematic diagram of the second adjusting frame and the measuring element and the like thereon in the measuring device as shown in Figure 2 ;

[0023] Figure 4 is a combined structural schematic diagram of the second adjusting frame and the measuring element and the like thereon in the measuring device as shown in Figure 3 from another perspective. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] The terms “first”, “second”, “third” in the embodiments of the present application are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second”, “third” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “a plurality of” is at least two, such as two, three, etc., unless otherwise specifically limited. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0026] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is expressly understood that the embodiments described herein can be combined with other embodiments in any way deemed useful.

[0027] The application provides a measuring device 100, referring to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of an embodiment of the measuring device provided by the application, Figure 2 is an exploded structural schematic diagram of the measuring device shown in Figure 1 .

[0028] The measuring device 100 comprises an adjusting assembly 10, a measuring member 20, and a plurality of elastic positioning members 30, wherein the adjusting assembly 10 comprises a first adjusting frame 11 and a second adjusting frame 12, the second adjusting frame 12 is rotationally connected in a movable cavity 110 of the first adjusting frame 11; the measuring member 20 is installed on the second adjusting frame 12; the plurality of elastic positioning members 30 are installed on the adjusting assembly 10 and arranged around the measuring member 20, the abutting end 31 of the elastic positioning member 30 and the measuring end 21 of the measuring member 20 are located on the same side of the adjusting assembly 10, and the elastic positioning member 30 is used for buffering rigid impact to protect the measuring member 20.

[0029] The measuring device 100 can be applied to various detection scenes such as land or underwater, can be installed on an execution end of a mechanical device, and moves with the execution end, wherein the first adjusting frame 11 can be directly connected to the execution end or indirectly connected to the execution end through a component; the number of the elastic positioning members 30 is at least three; the projections of the elastic positioning members 30 on the front view plane of the measuring end 21 are sequentially connected, and the outer contour of the geometric figure formed can constitute a polygon (regular polygon or irregular polygon); in this embodiment, "the plurality of elastic positioning members are arranged around the measuring member" means that the projection of the measuring end 21 in the above front view plane can exist wholly or partially inside the above polygon.

[0030] Optionally, the first adjusting frame 11 is rotationally connected to the execution end, the first adjusting frame 11 can rotate relative to the execution end, and the second adjusting frame 12 can rotate relative to the first adjusting frame 11, so that the first adjusting frame 11 and the second adjusting frame 12 are adaptively adjusted to rotate due to the contact of the elastic positioning member 30 with the surface of the measured object, so that the measuring end 21 of the measuring member 20 is aligned with the surface of the measured object, the measuring precision and accuracy of the measuring member 20 are improved, the measurement result is ensured to be accurate, and the rotation axis of the first adjusting frame 11 and the rotation axis of the second adjusting frame 12 can be same or different.

[0031] Optionally, the first adjusting frame 11 is fixedly connected with the execution end, and only the second adjusting frame 12 can rotate relative to the first adjusting frame 11. When the elastic positioning member 30 contacts the surface of the measured object, the reaction force can make the second adjusting frame 12 automatically rotate relative to the first adjusting frame 11 to adjust, so that the measurement end 21 of the measuring member 20 is accurately aligned with the surface of the measured object.

[0032] The mechanical equipment can confirm whether the measuring member 20 is adjusted in place based on the tactile or pressure sensing data transmitted by the measuring device 100 during measurement. Of course, if the user holds the measuring device 100, the user can also perceive whether the measuring member 20 is adjusted in place based on the feedback mechanical performance. After the measurement end 21 of the measuring member 20 is aligned with the surface of the measured object, the measurement data can be started.

[0033] It should be understood that the detection direction of the measurement end 21 is perpendicular to the surface of the measured object.

[0034] In the embodiment, the measuring device 100 further comprises a support frame 13, and the first adjusting member 11 is rotatably connected to the support frame 13. The angle adjustment direction of the first adjusting frame 11 relative to the support frame 13 is different from the angle adjustment direction of the second adjusting frame 12 relative to the first adjusting frame 11.

[0035] In other words, the execution end is connected by the support frame 13. The support frame 13 can be in the shape of an archway and comprises two spaced-apart support arms 132. The first adjusting frame 11 is rotatably connected between the two support arms 132.

[0036] The first adjusting frame 11 is rotatably connected to the corresponding support arm 132 through the first rotating shaft 111 installed on the opposite sides of the first adjusting frame 11. The second adjusting frame 12 is rotatably connected to the second rotating shaft 121 installed on the opposite sides of the second adjusting frame 12. The second adjusting frame 12 is located in the movable cavity 110 of the first adjusting frame 11. The movable cavity 110 is provided with a mounting groove 112. The second rotating shaft 121 is rotatably connected in the mounting groove 112. The number of the mounting grooves 112 is greater than or equal to the number of the second rotating shafts 121.

[0037] In other embodiments, the measuring device can be movably mounted on the mechanical equipment. The support frame can also be a fixed component of the mechanical equipment.

[0038] The movable cavity 110 is a through space on the first adjusting frame 11, and the second adjusting frame 12 can rotate relative to the first adjusting frame 11.

[0039] Further, the axis of the first rotation shaft 111 is perpendicular to the axis of the second rotation shaft 121, the first adjusting frame 11 rotates around the axis of the first rotation shaft 111, and the second adjusting frame 12 rotates around the axis of the second rotation shaft 121, so that the adjusting assembly 10 in this embodiment can adjust the pose of the measuring element 20 from two different directions, so as to adapt to more complex measurement environments and improve measurement accuracy.

[0040] Optionally, the axis of the first rotation shaft 111 is coaxial with the axis of the second rotation shaft 121, so that the first adjusting frame 11 and the second adjusting frame 12 both rotate around the same axis, and through the superimposed rotation range of the two, the adjusting assembly 10 can have a larger range of rotation adjustment angles.

[0041] In this embodiment, the angle adjustment range of the first adjusting frame 11 is greater than the angle adjustment range of the second adjusting frame 12. For example, the angle adjustment range of the first adjusting frame 11 is 120 degrees, and the angle adjustment range of the second adjusting frame 12 is 90 degrees; or, the angle adjustment range of the first adjusting frame 11 is 90 degrees, and the angle adjustment range of the second adjusting frame 12 is 60 degrees.

[0042] By setting the angle adjustment range of the second adjusting frame 12 to be slightly smaller, the measuring element 20 and other devices attached to the second adjusting frame 12 can be prevented from colliding with the first adjusting frame 11.

[0043] In this embodiment, the measuring element 20 is a thickness gauge, which is used to detect the thickness of the measured object.

[0044] Optionally, the measuring element 20 is an ultrasonic thickness gauge, which uses ultrasonic pulses to measure the thickness of the measured object. It sends a high-frequency sound wave into the measured object, and then measures the time for the sound wave to reflect back from the internal interface of the measured object. By calculating the time difference of the sound wave going back and forth and the known sound speed, the thickness of the measured object can be determined.

[0045] Optionally, the measuring element 20 can be a laser thickness gauge, which uses laser technology to detect the thickness of the measured object.

[0046] For reference Figures 1 to 4 , wherein Figure 3 is a combined structure diagram of the second adjusting frame and the measuring element and the like thereon in the measuring device as shown in Figure 2 , is another view of the combined structure diagram of the second adjusting frame and the measuring element and the like thereon as shown in Figure 4 , is another view of the combined structure diagram of the second adjusting frame and the measuring element and the like thereon as shown in Figure 3 .

[0047] The elastic positioning element 30 has elastic reset capability, which can buffer and absorb impact force when subjected to rigid impact, thereby avoiding damage to the measuring device 100 and the measuring element 20 thereon, so as to protect the measuring device 100 and the measuring element 20 thereon.

[0048] The number of the elastic positioning members 30 can be two, three, or four, etc., which are arranged around the measuring member 20, at least for protecting the measuring member 20 from direct rigid impact.

[0049] In the embodiment, the plurality of elastic positioning members 30 are installed on the second adjusting frame 12, so that the second adjusting frame 12 can be adjusted to adaptively rotate when the elastic positioning members 30 contact the surface of the measured object, and in some cases, the first adjusting frame 11 can be further adjusted to rotate by the second adjusting frame 12 due to the contact angle, so that the measuring end 21 of the measuring member 20 can be aligned with the surface of the measured object.

[0050] Alternatively, the plurality of elastic positioning members 30 can also be installed on the first adjusting frame 11, so that the first adjusting frame 11 can be adjusted to adaptively rotate when the elastic positioning members 30 contact the surface of the measured object, and further, the second adjusting frame 12 can be driven to adaptively rotate when the measuring end 21 contacts the surface of the measured object.

[0051] In some embodiments, the elastic positioning member 30 can be a spring, one end of which is fixedly connected to the first adjusting frame 11 or the second adjusting frame 12.

[0052] In the embodiment, the elastic positioning member 30 comprises a first elastic member 33 and a positioning rod 32, the positioning rod 32 is movably connected to the adjusting assembly 10, and the first elastic member 33 is elastically compressed between the stop shoulder 320 of the positioning member 32 and the adjusting assembly 10; before being subjected to rigid impact, the height of the abutting end 31 of the positioning rod 32 relative to the adjusting assembly 10 is greater than the height of the measuring end 21 of the measuring member 20 relative to the adjusting assembly 10.

[0053] In the embodiment, the second adjusting frame 12 is provided with a counterbore and a through hole is formed in the bottom of the counterbore, each positioning rod 32 is movably arranged in the counterbore and the through hole, the first elastic member 33 is a compression spring and is sleeved on the corresponding positioning rod 32, the first elastic member 33 is elastically compressed between the stop shoulder 320 and the bottom wall of the counterbore, and the abutting end 31 is one end of the positioning rod 32.

[0054] Before the elastic positioning member 30 is subjected to rigid impact, the abutting end 31 is at the highest height relative to the second adjusting frame 12 due to the elastic force of the first elastic member 33, which is greater than the height of the measuring end 21 relative to the second adjusting frame 12; when the elastic positioning member 30 is subjected to rigid impact, the positioning rod 32 is retracted and the first elastic member 33 is compressed, so as to buffer the rigid impact and protect the measuring member 20.

[0055] Further, the abutting end 31 of the positioning rod 32 is connected with an elastic cap, which can be made of plastic or rubber material with elasticity, and can be welded, clamped or screwed on the abutting end 31 of the positioning rod 32. The elastic cap can further enhance the elastic buffering capacity of the elastic positioning member 30.

[0056] In some embodiments, the measuring member 20 can be fixedly connected to the second adjusting frame 12 and rotate with the second adjusting frame 12.

[0057] In the embodiment, the measuring member 20 is elastically connected to the second adjusting frame 12, that is, the measuring member 20 also has the ability to buffer the rigid impact when impacted, so as to reduce the risk of damage.

[0058] Optionally, the measuring member 20 is slidingly arranged on the second adjusting frame 12 and a compression spring is arranged between the measuring member 20 and the second adjusting frame 12, so that the measuring member 20 is slidingly arranged on the second adjusting frame 12.

[0059] In the embodiment, the measuring device 100 further comprises a base 41, a connecting rod 42 and a second elastic member 43. The measuring member 20 is mounted on the base 41. The connecting rod 42 is movably connected to the base 41 and the second adjusting frame 12. The second elastic member 43 is elastically compressed between the base 41 and the end of the connecting rod 42.

[0060] Specifically, the measuring member 20 is fixedly connected to the base 41. The base 41 and the second adjusting frame 12 are provided with corresponding holes. The connecting rod 42 is arranged in the holes of the base 41 and the second adjusting frame 12. The second elastic member 43 is a compression spring and is sleeved on the connecting rod 42. Thus, when the measuring member 20 is not impacted, the position of the measuring member 20 relative to the second adjusting frame 12 remains unchanged. When the measuring member 20 is impacted, the impact force is transmitted to the base 41, and the second elastic member 43 is compressed with the base 41 to buffer the rigid impact.

[0061] Further, the measuring member 20 can also be rotatably connected to the base 41. The second adjusting frame 12 is provided with a through hole 120. The measuring member 20 is arranged in the through hole 120. The area of the through hole 120 is larger than the area of the measuring end 21 of the measuring member 20. The rotation range of the measuring member 20 is limited by the through hole 120, that is, the measuring member 20 can also be appropriately adjusted in angle.

[0062] In some embodiments, a magnetic attraction assembly can also be arranged on the measuring member 20 and / or the elastic positioning member 30. The magnetic attraction assembly can realize magnetic attraction with a metal measured object.

[0063] Based on this, the application further provides an underwater robot (not shown in the figure), the execution end of the underwater robot is connected with the measuring device 100 as described above. The underwater robot can detect the thickness and other information of the measured object in the underwater scene through the measuring device 100.

[0064] Distinguish from the prior art, the application discloses an underwater robot and a measuring device thereof. By installing the measuring member on the second adjusting frame, and rotatingly connecting the second adjusting frame in the movable cavity of the first adjusting frame, and setting a plurality of elastic positioning members around the measuring member on the adjusting assembly, when measuring in the underwater scene, the reaction force received by the elastic positioning member when contacting the surface of the measured object can make the second adjusting frame automatically rotate and adjust relative to the first adjusting frame, so that the measuring end of the measuring member is accurately aligned to the surface of the measured object, the measuring precision and accuracy of the measuring member are improved, the measurement result is ensured to be accurate, and when the elastic positioning member is subjected to a rigid impact, the impact force can be buffered and absorbed, thereby avoiding damage to the measuring device and the measuring member thereon, so as to protect the measuring device and the measuring member thereon.

[0065] The above is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent flow transformation using the content of the specification and the drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.

Claims

1. A measuring device, characterized in that The application relates to a measuring device for underwater robots. The measuring device comprises a regulating assembly, a measuring element, and a plurality of elastic positioning elements. The regulating assembly comprises a first regulating frame and a second regulating frame, and the second regulating frame is rotatably connected to the active cavity of the first regulating frame. The measuring element is installed on the second regulating frame.

2. The measuring device of claim 1, wherein, The plurality of elastic positioning elements are installed on the regulating assembly and arranged around the measuring element. The abutting end of the elastic positioning element and the measuring end of the measuring element are located on the same side of the regulating assembly.

3. The measuring device according to claim 1 or 2, characterized in that The elastic positioning elements are used for buffering rigid impact to protect the measuring element. The plurality of elastic positioning elements are installed on the second regulating frame; or 4. The measuring device of claim 1, wherein, The plurality of elastic positioning elements are installed on the first regulating frame.

5. The measuring device of claim 4, wherein, The elastic positioning element comprises a first elastic element and a positioning rod.

6. The measuring device of claim 5, wherein, The positioning rod is movably connected to the regulating assembly. The first elastic element is elastically compressed between the stop shoulder of the positioning element and the regulating assembly.

7. The measuring device of claim 1, wherein, Before the rigid impact, the height of the abutting end of the positioning rod relative to the regulating assembly is greater than the height of the measuring end of the measuring element relative to the regulating assembly.

8. The measuring device of claim 7, wherein, The measuring element is elastically connected to the second regulating frame.

9. The measuring device of claim 1, wherein, The measuring device further comprises a base, a connecting rod, and a second elastic element.

10. An underwater robot, characterized in that, The measuring element is installed on the base. The connecting rod movably connects the base and the second regulating frame. The second elastic element is elastically compressed between the base and the end of the connecting rod. The second regulating frame is provided with a through hole. The measuring element is arranged in the through hole. The hole area of the through hole is greater than the area of the measuring end of the measuring element. The measuring element is rotatably connected to the base. The rotating range of the measuring element is limited by the through hole. The measuring device further comprises a support frame. The first regulating frame is rotatably connected to the support frame. The angle adjustment direction of the first regulating frame relative to the support frame is different from the angle adjustment direction of the second regulating frame relative to the first regulating frame. The angle adjustment range of the first regulating frame is greater than the angle adjustment range of the second regulating frame. The measuring element and / or the elastic positioning element are provided with a magnetic attraction assembly. The underwater robot comprises the measuring device according to any one of claims 1 to 9.

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