Underwater robot identification mechanism

Abstract

The utility model relates to the technical field of robot equipment, in particular to an underwater robot recognition mechanism which comprises a bearing side plate, a support is fixedly mounted on one side of the bearing side plate, and the bearing side plate is fixedly mounted in a robot shell through bolts; an identification assembly is arranged on one side of the bearing side plate, and an LED illuminating lamp is arranged on one side of the identification assembly. Through the arrangement of the bearing seat, the servo motor, the worm, the worm gear, the rotary drum and other components, the worm component can be driven by the servo motor to rotate through the mutual matching relation between the servo motor and the worm component. The worm gear is meshed with the worm so as to drive the rotary drum to rotate. The device can drive a worm and a worm gear to transmit through a servo motor, the angle of the recognition probe is adjusted, and therefore the effect of recognizing the target objects in different directions is achieved.

Description

Technical Field

[0001] This application relates to the field of robotic equipment technology, and in particular to an underwater robot identification mechanism. Background Technology

[0002] In the field of underwater exploration, traditional underwater robot identification mechanisms have many limitations. Many previous underwater robot identification devices could only identify targets at specific locations and distances, making it difficult to comprehensively explore complex underwater environments. Some identification probes cannot flexibly adjust their angles, resulting in numerous blind spots and low efficiency when facing large areas of water.

[0003] A search revealed Chinese Patent Publication No. CN222522843U, which discloses an underwater robot identification mechanism. The technical solution includes an underwater robot and a highly transparent outer casing. The highly transparent outer casing is installed in the center of the top of the underwater robot. A sliding column A is installed on one side of the top of the underwater robot via a square sliding groove A. A lifting seat is installed on the top of the sliding column A. A side plate is installed on the top of the lifting seat. A waterproof motor is installed on one side of the side plate. A flipping frame is installed on the output shaft of the waterproof motor. A rubber scraper is installed on the inner surface of the flipping frame. A sliding column B is installed on the top of the underwater robot via a square sliding groove B. An equipment platform is installed on the top of the sliding column B. This underwater robot identification mechanism solves the problem that existing underwater robots, mostly used on underwater surfaces, are prone to accumulating dirt, affecting the image clarity of high-definition cameras and consequently the accuracy of underwater object identification. It improves the image clarity of high-definition cameras and thus the identification accuracy of underwater robots.

[0004] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: the devices are significantly insufficient in terms of the diversity and flexibility of their recognition functions. Structurally, they include numerous components such as square grooves and sliding columns, resulting in a complex structure that increases the probability of failure during long-term underwater use, raising maintenance difficulty and costs. Furthermore, their compactness and rationality are inferior to another type of mechanism. In terms of environmental adaptability, this patent only focuses on the impact of dirt on camera clarity, neglecting complex underwater environmental factors such as water flow impact and water pressure. Utility Model Content

[0005] To address the problems mentioned in the background section, this application provides an underwater robot identification mechanism.

[0006] This application provides an underwater robot identification mechanism, which adopts the following technical solution: an underwater robot identification mechanism includes a bearing side plate, a bracket is fixedly installed on one side of the bearing side plate, and the bearing side plate is fixedly installed inside the robot shell by bolts; an identification component is provided on one side of the bearing side plate, and an LED light is provided on one side of the identification component.

[0007] The identification component includes a bearing housing, a servo motor, a worm gear, a worm wheel, a rotating drum, an outer sleeve side plate, a helical rod, a helical groove, and an identification probe. The bearing housing is fixedly mounted on the top of the bracket. A servo motor is fixedly mounted on one side of the bearing housing. The output end of the servo motor is fixedly connected to the worm gear. A worm wheel meshes with the top of the worm gear. A rotating drum is fixedly connected to one side of the worm wheel, and an outer sleeve side plate is fixedly connected to the other side. A helical rod is threaded onto one side of the outer sleeve side plate. An identification probe is fixedly mounted on the side of the helical rod away from the bearing side plate.

[0008] The above solution enables precise control and positioning of the identification probe, thereby improving identification accuracy.

[0009] Optionally, the identification component further includes an outer sleeve, an inner sleeve side plate, an inner sleeve, a side positioning frame, a positioning cylinder, and a limiting block; the outer sleeve is fixedly installed on one side of the outer sleeve side plate by bolts, and a light-transmitting groove is provided through its outer wall; the inner sleeve is movably installed inside the outer sleeve and the outer sleeve side plate, one side of the inner sleeve is fixedly connected to the inner sleeve side plate, and the other side is fixedly connected to the side positioning frame; a positioning cylinder penetrating its main body is fixedly installed inside the inner sleeve, and a limiting block is fixedly connected inside the positioning cylinder, and the limiting block and the slots on both sides of the identification probe form a matching limiting structure.

[0010] The above solution enhances the stability and positioning accuracy of the identification probe, ensuring its reliability in complex environments.

[0011] Optionally, the LED lighting array is distributed on the end face of the inner sleeve away from the inner sleeve side plate, and forms a symmetrical arrangement with the side positioning frame; the bracket is fixedly connected to the side of the side positioning frame near the bearing side plate.

[0012] The above solution provides uniform lighting, enhancing the visibility and recognition capabilities of the identification probe.

[0013] Optionally, the outer wall of the spiral rod is provided with a continuous spiral groove, the lead of the spiral groove is 20-30mm, the helix angle is 15°-25°, and it forms a precise fit with the internal thread of the outer sleeve side plate.

[0014] The above solution ensures smooth movement and high-precision positioning of the screw rod, and improves the response speed of the identification probe.

[0015] Optionally, the light-transmitting grooves are arranged in a ring array on the surface of the outer sleeve, with a groove width of 5-8mm, a spacing between adjacent light-transmitting grooves of 1.2-1.5 times the groove width, and an angle of 30°-45° between the axis of the light-transmitting grooves and the axis of the outer sleeve.

[0016] The above solution optimizes light transmission, improves lighting efficiency, and enhances the visibility of the identification probe.

[0017] Optionally, a sliding guide structure is provided between the inner sleeve and the outer sleeve, including a linear guide rail set on the outer wall of the inner sleeve and a corresponding guide groove on the inner wall of the outer sleeve, wherein a wear-resistant bushing made of polytetrafluoroethylene is embedded in the guide groove.

[0018] The above solutions reduce frictional losses, extend the service life of the mechanism, and improve the smoothness of movement.

[0019] Optionally, the servo motor is rigidly connected to the bearing housing via a flange, and a waterproof coupling is provided between its output shaft and the worm gear, with a silicone rubber sealing sleeve covering the outer periphery of the coupling.

[0020] The above solution ensures the stable operation and waterproof performance of the servo motor, and improves the reliability and durability of the mechanism.

[0021] In summary, this application includes the following beneficial technical effects:

[0022] 1. This utility model, by setting up components such as a bearing housing, servo motor, worm gear, worm wheel, and rotating drum, utilizes the cooperative relationship between the servo motor and the worm gear to enable the worm gear to rotate under the drive of the servo motor. The worm wheel meshes with the worm gear, thereby driving the rotating drum to rotate. This achieves the goal of using a servo motor to drive the worm gear transmission, adjusting the angle of the recognition probe, and thus enabling the recognition of targets from different directions.

[0023] 2. This utility model, by setting up components such as an outer sleeve, an inner sleeve, a side positioning frame, a positioning cylinder, and a limiting block, utilizes the cooperative relationship between the inner and outer sleeve components to allow the inner sleeve component to slide along the inner wall of the outer sleeve under the constraint of the inner sleeve side plate and the outer sleeve side plate. The limiting block, in conjunction with the identification probe, enables the device to adjust the position of the identification probe through the sliding of the inner sleeve, thereby achieving a more accurate identification of the screened underwater objects. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the device in the embodiments of this application;

[0025] Figure 2 This is a schematic diagram of a partial structure of the device in an embodiment of this application;

[0026] Figure 3 This is a cross-sectional view of the device in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of a partial structure of the identification component in an embodiment of this application;

[0028] Figure 5This is a schematic diagram of the partial structure installation of the identification component in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the disassembly of the identification component parts in an embodiment of this application;

[0030] Reference numerals: 1. Bearing side plate; 2. Bracket; 3. Identification component; 301. Bearing housing; 302. Servo motor; 303. Worm gear; 304. Worm wheel; 305. Rotary drum; 306. Outer sleeve side plate; 307. Helical rod; 308. Helical groove; 309. Identification probe; 310. Outer sleeve; 311. Inner sleeve side plate; 312. Inner sleeve; 313. Side positioning frame; 314. Positioning cylinder; 315. Limiting block; 4. LED lighting. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0032] This application discloses an underwater robot identification mechanism.

[0033] Please see Figure 1 An underwater robot identification mechanism includes a bearing side plate 1, a bracket 2 fixedly installed on one side of the bearing side plate 1, and the bearing side plate 1 is fixedly installed inside the robot shell by bolts; an identification component 3 is provided on one side of the bearing side plate 1, and an LED light 4 is provided on one side of the identification component 3.

[0034] Please see Figures 2 to 6 The identification component 3 includes a bearing housing 301, a servo motor 302, a worm gear 303, a worm wheel 304, a rotating drum 305, an outer sleeve side plate 306, a spiral rod 307, a spiral groove 308, and an identification probe 309. The bearing housing 301 is fixedly installed on the top of the bracket 2. The servo motor 302 is fixedly installed on one side of the bearing housing 301. The output end of the servo motor 302 is fixedly connected to the worm gear 303. The top of the worm gear 303 is meshed with the worm wheel 304. The rotating drum 305 is fixedly connected to one side of the worm wheel 304, and the outer sleeve side plate 306 is fixedly connected to the other side. The spiral rod 307 is threaded onto one side of the outer sleeve side plate 306. The identification probe 309 is fixedly installed on the side of the spiral rod 307 away from the bearing side plate 1.

[0035] The identification component 3 also includes an outer sleeve 310, an inner sleeve side plate 311, an inner sleeve 312, a side positioning frame 313, a positioning cylinder 314, and a limiting block 315. The outer sleeve 310 is fixedly installed on one side of the outer sleeve side plate 306 by bolts, and a light-transmitting groove is opened through its outer wall. The inner sleeve 312 is movably installed inside the outer sleeve 310 and the outer sleeve side plate 306. The inner sleeve side plate 311 is fixedly connected to one side of the inner sleeve 312, and the side positioning frame 313 is fixedly connected to the other side. The positioning cylinder 314, which penetrates its main body, is fixedly installed inside the inner sleeve 312. The limiting block 315 is fixedly connected inside the positioning cylinder 314, and the limiting block 315 forms a matching limiting structure with the slots on both sides of the identification probe 309.

[0036] The LED lighting lamps 4 are arranged in a ring array on the end face of the inner sleeve 312 away from the inner sleeve side plate 311, and form a symmetrical arrangement with the side positioning frame 313; the bracket 2 is fixedly connected to the side positioning frame 313 near the bearing side plate 1.

[0037] The outer wall of the spiral rod 307 is provided with a continuous spiral groove 308. The lead of the spiral groove 308 is 20-30mm, the helix angle is 15°-25°, and it forms a precise fit with the internal thread of the outer sleeve side plate 306.

[0038] The light-transmitting grooves are arranged in a ring array on the surface of the outer sleeve 310. The width of the groove is 5-8mm, the spacing between adjacent light-transmitting grooves is 1.2-1.5 times the width of the groove, and the axis of the light-transmitting groove forms an angle of 30°-45° with the axis of the outer sleeve 310.

[0039] A sliding guide structure is provided between the inner sleeve 312 and the outer sleeve 310, including a linear guide rail set on the outer wall of the inner sleeve 312 and a corresponding guide groove on the inner wall of the outer sleeve 310, and a wear-resistant bushing made of polytetrafluoroethylene is embedded in the guide groove.

[0040] The servo motor 302 is rigidly connected to the bearing housing 301 via a flange. A waterproof coupling is provided between its output shaft and the worm gear 303, and the outer circumference of the coupling is wrapped with a silicone rubber sealing sleeve.

[0041] Further explanation is needed: the identification component 3, as the core part of the underwater robot's identification mechanism, plays a crucial role in the entire identification process. First, the bearing seat 301 in the identification component 3 is fixed to the top of the bracket 2, providing stable support for other components. The servo motor 302 is installed on one side of the bearing seat 301, and its output end is connected to the worm gear 303. When the servo motor 302 is started, it can precisely drive the worm gear 303 to rotate. Since the worm gear 303 meshes with the worm wheel 304, the rotation of the worm gear 303 drives the worm wheel 304 to rotate, which in turn causes the rotating drum 305 connected to the worm wheel 304 to rotate. Through this series of transmissions, the angle of the identification probe 309 can be flexibly adjusted, allowing the underwater robot to scan targets in different directions from all angles, greatly expanding the identification range.

[0042] Secondly, components such as the outer sleeve 310 and inner sleeve 312 in the recognition component 3 work together. The outer sleeve 310 is fixed to one side of the outer sleeve side plate 306 by bolts. The inner sleeve 312 can slide along its inner wall under the constraint of the outer sleeve 310 and the inner sleeve side plate 311. The positioning cylinder 314 and the limiting block 315 inside the inner sleeve 312 cooperate with the recognition probe 309. By sliding the inner sleeve 312, the position of the recognition probe 309 can be finely adjusted to ensure that the recognition probe 309 can accurately approach the underwater object to be identified, thereby improving the accuracy of recognition. It is through the close cooperation of these components that the recognition component 3 achieves multi-angle, high-precision underwater object recognition, helping the underwater robot to complete its tasks efficiently.

[0043] The implementation principle of an underwater robot identification mechanism according to an embodiment of this application is as follows:

[0044] First, after the equipment is started, the servo motor 302 starts to run. As a power source, the servo motor 302 converts electrical energy into mechanical energy through a rigid connection between its output end and the worm gear 303, driving the worm gear 303 to rotate.

[0045] Secondly, the rotation of the worm 303 causes the meshing worm wheel 304 to rotate. The meshing transmission between the worm 303 and the worm wheel 304 realizes the change of motion direction and the adjustment of speed, transmitting the circumferential motion of the worm 303 to the worm wheel 304.

[0046] Next, the rotation of the worm gear 304 drives the rotating drum 305, which is fixedly connected to it, to rotate synchronously. Since the identification probe 309 is installed on the structure associated with the rotating drum 305, the rotation of the rotating drum 305 enables the identification probe 309 to adjust its angle, thereby scanning targets in different directions and expanding the identification range of the device.

[0047] Next, when more accurate identification of the target object is required, the inner sleeve 312 begins to play its role. Under the constraint of the outer sleeve side plate 306 and the inner sleeve side plate 311, the inner sleeve 312 can slide along the inner wall of the outer sleeve 310. This sliding process can adjust the position of the identification probe 309, allowing the identification probe 309 to be closer to the target object.

[0048] Finally, the positioning cylinder 314 and the limiting block 315 inside the inner sleeve 312 are closely fitted with the identification probe 309. The limiting block 315 and the slots on both sides of the identification probe 309 form a matching limiting structure to ensure the stability of the identification probe 309 during movement, and ultimately achieve the purpose of accurately identifying the screened underwater objects.

[0049] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An underwater robot identification mechanism, comprising a bearing side plate (1), characterized in that: A bracket (2) is fixedly installed on one side of the bearing side plate (1), and the bearing side plate (1) is fixedly installed inside the robot shell by bolts; an identification component (3) is provided on one side of the bearing side plate (1), and an LED light (4) is provided on one side of the identification component (3); The identification component (3) includes a bearing housing (301), a servo motor (302), a worm (303), a worm wheel (304), a rotating drum (305), an outer sleeve side plate (306), a spiral rod (307), a spiral groove (308), and an identification probe (309). The bearing housing (301) is fixedly installed on the top of the bracket (2). The servo motor (302) is fixedly installed on one side of the bearing housing (301). The output end of the servo motor (302) is fixedly connected to the worm (303). The worm wheel (304) is meshed and driven on the top of the worm (303). The rotating drum (305) is fixedly connected on one side of the worm wheel (304), and the outer sleeve side plate (306) is fixedly connected on the other side. The spiral rod (307) is threaded onto one side of the outer sleeve side plate (306). The identification probe (309) is fixedly installed on the side of the spiral rod (307) away from the bearing side plate (1).

2. The underwater robot identification mechanism according to claim 1, characterized in that: The identification component (3) further includes an outer sleeve (310), an inner sleeve side plate (311), an inner sleeve (312), a side positioning frame (313), a positioning cylinder (314), and a limiting block (315); the outer sleeve (310) is fixedly installed on one side of the outer sleeve side plate (306) by bolts, and a light-transmitting groove is opened through its outer wall; the inner sleeve (312) is movably installed inside the outer sleeve (310) and the outer sleeve side plate (306), the inner sleeve (312) is fixedly connected to the inner sleeve side plate (311) on one side, and the side positioning frame (313) is fixedly connected to the other side; the positioning cylinder (314) penetrating its main body is fixedly installed inside the inner sleeve (312), and the limiting block (315) is fixedly connected inside the positioning cylinder (314), and the limiting block (315) forms a matching limiting structure with the slots on both sides of the identification probe (309).

3. The underwater robot identification mechanism according to claim 2, characterized in that: The LED lighting lamps (4) are arranged in a ring array on the side end face of the inner sleeve (312) away from the inner sleeve side plate (311), and form a symmetrical arrangement with the side positioning frame (313); the bracket (2) is fixedly connected to the side of the side positioning frame (313) near the bearing side plate (1).

4. The underwater robot identification mechanism according to claim 1, characterized in that: The outer wall of the spiral rod (307) is provided with a continuous spiral groove (308), the lead of the spiral groove (308) is 20-30mm, the helix angle is 15°-25°, and it forms a precise fit with the internal thread of the outer sleeve side plate (306).

5. The underwater robot identification mechanism according to claim 2, characterized in that: The light-transmitting grooves are arranged in a ring array on the surface of the outer sleeve (310). The groove width is 5-8mm, the spacing between adjacent light-transmitting grooves is 1.2-1.5 times the groove width, and the axis of the light-transmitting groove forms an angle of 30°-45° with the axis of the outer sleeve (310).

6. The underwater robot identification mechanism according to claim 2, characterized in that: A sliding guide structure is provided between the inner sleeve (312) and the outer sleeve (310), including a linear guide rail set on the outer wall of the inner sleeve (312) and a corresponding guide groove on the inner wall of the outer sleeve (310), wherein a wear-resistant bushing made of polytetrafluoroethylene is embedded in the guide groove.

7. The underwater robot identification mechanism according to claim 1, characterized in that: The servo motor (302) is rigidly connected to the bearing housing (301) via a flange, and a waterproof coupling is provided between its output shaft and the worm gear (303). The outer circumference of the coupling is wrapped with a silicone rubber sealing sleeve.

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