Sealed cabin and wall-climbing robot

Abstract

The utility model provides a sealed cabin and a wall-climbing robot, and the sealed cabin comprises a first cabin body which is provided with a first opening; the second cabin body and the first cabin body are arranged in a diagonal mode, the second cabin body is communicated with the first cabin body, and a second opening is formed in the second cabin body; the first opening is communicated with the second opening; and the cover body is provided with a covering space and is used for sealing and covering the first opening and the second opening. The sealed cabin provided by the embodiment of the utility model improves or solves the technical problem that the wall-climbing robot is heavier in burden due to the fact that the sealed cabin is difficult to effectively utilize the idle space of the wall-climbing robot in the prior art, and improves the utilization rate of the idle space of the wall-climbing robot.

Description

Technical Field

[0001] This application belongs to the technical field of underwater cleaning devices, and more specifically, relates to a sealed chamber and a wall-climbing robot. Background Technology

[0002] Underwater climbing robots need to carry motor drive equipment, control equipment, and various sensors, while also communicating with the shore and receiving power.

[0003] However, most devices and sensors are not waterproof. Therefore, a sealed chamber that facilitates the expansion of various sensors needs to be designed. Furthermore, due to the limited space of wall-climbing robots, conventional sealed chambers occupy a large volume, making it difficult to fully utilize the unused space on the robot. This results in a heavier overall weight for the wall-climbing robot, thus reducing its operational efficiency. Utility Model Content

[0004] In order to improve or solve the technical problem that the sealed cabin is difficult to effectively utilize the idle space of the wall-climbing robot, resulting in a heavy burden on the wall-climbing robot, the purpose of this application is to provide a sealed cabin and a wall-climbing robot.

[0005] In a first aspect, embodiments of this application provide a sealed chamber, comprising:

[0006] The first compartment has the first opening;

[0007] The second compartment is diagonally opposite to the first compartment and communicates with the first compartment, and has a second opening; the first opening and the second opening are connected.

[0008] And a cover having a sealing space for sealing the first opening and the second opening.

[0009] Furthermore, the first cabin is connected to the second cabin via an arc-shaped cabin.

[0010] Furthermore, the arc-shaped cabin is provided with:

[0011] The third opening faces the cover and communicates with the first and second openings; the cover is used to seal and cover the first, second, and third openings.

[0012] The first connection port is located at one end of the arc-shaped cabin and is connected to the first cabin.

[0013] The second connection port is located at the other end of the arc-shaped cabin and connects to the second cabin.

[0014] Furthermore, the opening width of the first connection port is greater than the width of the interior of the arc-shaped cabin, and the opening width of the second connection port is greater than the width of the interior of the arc-shaped cabin.

[0015] Furthermore, the first compartment is a rectangular structure with a first notch; the second compartment is a rectangular structure with a second notch.

[0016] The first notch is connected to the first connection port, and the second notch is connected to the second connection port so that the first cabin and the second cabin are diagonally opposite each other.

[0017] Furthermore, the covering space of the cover body is provided with:

[0018] The first cover compartment has a first cover opening for closing the first opening;

[0019] The second cover compartment has a second cover opening for covering the second opening, and is connected to the first cover compartment through the arc-shaped cover compartment, and is diagonally opposite to the first cover compartment.

[0020] And an arc-shaped cover compartment, having a third cover opening for closing the third opening.

[0021] Furthermore, the arc-shaped cover compartment is equipped with:

[0022] The third connection port is located at one end of the arc-shaped cover compartment and is connected to the first cover compartment.

[0023] The fourth connection port is located at the other end of the arc-shaped cover compartment and connects with the second cover compartment;

[0024] The first cover compartment is a rectangular structure with a third notch; the second cover compartment is a rectangular structure with a fourth notch; the third notch is connected to the third connection port, and the fourth notch is connected to the fourth connection port so that the first cover compartment and the second cover compartment are diagonally opposite each other.

[0025] Furthermore, the first and second cover compartments are respectively located at two mutually diagonally opposite first corners of the cover body; both of the two mutually diagonally opposite second corners of the cover body are provided with hollowed-out portions.

[0026] Furthermore, the outer side of the cover is provided with an installation groove, and / or the bottom of the sealed chamber is provided with a support for installing the first electronic component or the second electronic component, and / or the second opening is flush with the first opening, and / or the first chamber, the arc-shaped chamber and the second chamber are integrally formed, and the first cover chamber, the arc-shaped cover chamber and the second cover chamber are integrally formed.

[0027] Secondly, embodiments of this application provide a wall-climbing robot, including the sealed cabin.

[0028] This application provides a sealed cabin and a wall-climbing robot. By arranging the first cabin and the second cabin diagonally opposite each other, the sealed cabin does not need to occupy a whole rectangular space, thus making full use of idle space and improving the space utilization rate of the wall-climbing robot. By using a cover with a sealing space to seal and cover the first cabin and the second cabin, the components in the first cabin and the second cabin can be easily picked up, placed and installed. At the same time, the sealing space in the cover can further increase the accommodation space of the sealed cabin, thereby further improving the space utilization rate of the wall-climbing robot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A three-dimensional structural diagram of the sealed chamber from one perspective.

[0031] Figure 2 This is a schematic diagram of the three-dimensional structure of the cover from one perspective.

[0032] Figure 3 This is a top view of the cover.

[0033] Figure 4 This is a schematic diagram of the three-dimensional structure of the cover from another perspective.

[0034] Figure 5 This is a structural schematic diagram of the cabin from one perspective.

[0035] Figure 6 This is a top view of the cabin.

[0036] Figure 7 This is a structural diagram of the cabin where the first and second electronic components are installed.

[0037] Among them, the markings in the figure are:

[0038] 01-First opening, 02-Second opening, 03-Third opening, 1-Cover body, 2-Carrier body, 101-First hollow part, 102-Second hollow part, 103-Mounting groove, 104-First cable outlet hole, 105-First closed compartment, 106-Second closed compartment, 107-First arc-shaped side, 108-Second arc-shaped side, 109-Arch-shaped closed compartment, 201-First compartment body, 202-Second compartment body, 203-Arch-shaped compartment body, 204-Third arc-shaped side, 205-Third cable outlet hole, 206-Support part, 207-Fourth cable outlet hole, 208-Fourth arc-shaped side, 301-First electronic component, 302-Second electronic component, 401-First watertight head, 402-Second watertight head, 403-Third watertight head. Detailed Implementation

[0039] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0040] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0041] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] Underwater climbing robots need to carry motor drive equipment, control equipment, and various sensors, while also communicating with the shore and receiving power.

[0044] However, most devices and sensors are not waterproof. Therefore, a sealed chamber that facilitates the expansion of various sensors needs to be designed. Furthermore, due to the limited space of wall-climbing robots, conventional sealed chambers occupy a large volume, making it difficult to fully utilize the unused space on the robot. This results in a heavier overall weight for the wall-climbing robot, thus reducing its operational efficiency.

[0045] To improve or solve the technical problem in related technologies where sealed cabins cannot effectively utilize the idle space of wall-climbing robots, resulting in a heavy burden on the robots, embodiments of this application provide a sealed cabin, see reference. Figure 1-7 As shown, the sealed chamber includes a cover 1 and a chamber 2; the chamber 2 includes a first chamber 201 and a second chamber 202, the first chamber having a first opening; the second chamber is diagonally opposite to the first chamber and communicates with the first chamber, the second chamber having a second opening; the first opening of the first chamber and the second opening of the second chamber are connected; the cover has a sealing space for sealing and sealing the first opening and the second opening; the first opening and the second opening face the cover.

[0046] See Figure 6 As shown, both the first opening 01 and the second opening 02 are oriented upwards. To facilitate closing, the first opening 01 and the second opening 02 are flush.

[0047] Diagonal refers to a diagonal relationship that is not at a right angle. In the embodiments of this application, diagonal setting means that the line connecting the centers of two objects forms an angle with the horizontal or vertical direction, and this angle is acute. Diagonal setting of the first compartment and the first compartment means that the line connecting the centers of the two first compartments forms an angle with the horizontal or vertical direction, and this angle is acute.

[0048] Therefore, by setting the first compartment and the second compartment diagonally, the sealed compartment does not need to occupy a whole rectangular space, thus making full use of idle space, such as irregularly shaped idle space with diagonal corners, thereby improving the space utilization rate of the wall-climbing robot. By using a cover with a sealing space to seal the first compartment and the second compartment, the components in the first compartment and the second compartment can be easily picked up, placed and installed. At the same time, the sealing space in the cover can further increase the accommodation space of the sealed compartment, thereby further improving the space utilization rate of the wall-climbing robot.

[0049] See Figure 5 As shown, the first cabin 201 is connected to the second cabin 202 through the arc-shaped cabin 203.

[0050] In some embodiments, the arc-shaped cabin 203 includes: a third opening 03, a first connection port, and a second connection port; the third opening faces the cover 1 and communicates with the first opening and the second opening; the cover is used to seal and cover the first opening, the second opening, and the third opening; the first connection port is located at one end of the arc-shaped cabin and communicates with the first cabin; the second connection port is located at the other end of the arc-shaped cabin and communicates with the second cabin.

[0051] See Figure 5 and 6 As shown, the first opening 01, the second opening 02, and the third opening 03 all face upwards. The interiors of the first compartment, the arc-shaped compartment, and the second compartment are interconnected to form the same space. Therefore, when electronic devices are arranged in compartment 2, a suitable compartment can be selected for placement according to the actual situation. Thus, the above-mentioned arrangement of compartment 2 allows for more flexible placement of electronic devices.

[0052] In some embodiments, the first cabin 201 is a rectangular structure with a first notch; the second cabin 202 is a rectangular structure with a second notch; the first notch communicates with the first connection port, and the second notch communicates with the second connection port so that the first cabin and the second cabin are diagonally opposite each other.

[0053] See Figure 5 As shown, the first compartment 201 on the left is connected to the second compartment 202 on the right through the middle arc-shaped compartment 203. The upper right part of the first compartment 201 on the left has a first notch, and the lower left part of the second compartment 202 on the right has a second notch; the upper side of the first notch is connected to the upper side of the second notch through the fourth arc-shaped side 208 of the arc-shaped compartment 203; the lower side of the first notch is connected to the lower side of the second notch through the third arc-shaped side 204 of the arc-shaped compartment 203.

[0054] See Figure 6 As shown, the irregularly shaped structure formed by the diagonal arrangement of the cabin 2 allows for the creation of spaces in the upper left and lower right corners, accommodating the shape requirements of sealed cabins in irregularly shaped spaces. Therefore, cabin 2 can be used to house electronic components in wall-climbing robots that lack a single, continuous space.

[0055] In order to adapt to the shape of the cabin 2 and further extend the irregular space of the cabin 2 within the covering space of the cover, thereby further enhancing the space utilization, the cover also adopts a structure similar to that of the cabin to cover the cabin.

[0056] In some embodiments, the cover space of the cover body is provided with a first cover compartment 105, a second cover compartment 106 and an arc-shaped cover compartment 109; the first cover compartment 105 has a first cover opening for covering a first opening; the second cover compartment 106 has a second cover opening for covering a second opening, the second cover compartment 106 is connected to the first cover compartment 105 through the arc-shaped cover compartment 109, the second cover compartment 106 is diagonally opposite to the first cover compartment 105, and the arc-shaped cover compartment 109 has a third cover opening for covering a third opening.

[0057] See Figure 2 and 3 As shown, the first cover compartment 105 is a rectangular structure with a third notch; the second cover compartment 106 is a rectangular structure with a fourth notch. The third notch of the first cover compartment 105 is located at the lower right position of the first cover compartment 105, and the fourth notch of the second cover compartment 106 is located at the upper left position of the second cover compartment 106.

[0058] In some embodiments, the arc-shaped cover compartment is provided with a third connection port and a fourth connection port; the third connection port is located at one end of the arc-shaped cover compartment and communicates with the first cover compartment; the fourth connection port is located at the other end of the arc-shaped cover compartment and communicates with the second cover compartment; the third notch communicates with the third connection port, and the fourth notch communicates with the fourth connection port so that the first cover compartment and the second cover compartment are diagonally opposite each other.

[0059] Specifically, see Figure 3 As shown, the right side of the third gap is connected to the right side of the second gap via the second arc-shaped side 108 of the arc-shaped cover compartment; the left side of the third gap is connected to the left side of the second gap via the first arc-shaped side 107 of the arc-shaped cover compartment.

[0060] The cover adopts a structure similar to that of the cabin, which allows the space inside the cabin and the space inside the cover to have the same shape when the cover is sealed and closed. By setting the closing space inside the cover as described above, the space inside the cabin can be further expanded in the height direction, thereby allowing the sealed cabin to make full use of the height inside the cabin and increase the internal usable space.

[0061] In some embodiments, the first cover compartment and the second cover compartment are respectively located at two mutually diagonally opposite first corners of the cover body; both of the two mutually diagonally opposite second corners of the cover body are provided with hollow portions.

[0062] See Figure 3As shown, the perforated portion includes a first perforated portion 101 and a second perforated portion 102. The first perforated portion 101 is located on the right side of the first cover compartment 105, and the second perforated portion 102 is located on the left side of the second cover compartment, thus forming a structure in which the first cover compartment and the second cover compartment are diagonally arranged. This diagonal arrangement of the perforated portions facilitates the installation of the sealed compartment and reduces its overall weight. Therefore, when the sealed compartment is installed on the wall-climbing robot, the overall weight of the wall-climbing robot can be further reduced, thereby lessening the burden on the robot.

[0063] In some embodiments, the opening width of the first connection port of the arc-shaped cabin 203 is greater than the width inside the arc-shaped cabin, and the opening width of the second connection port is greater than the width inside the arc-shaped cabin.

[0064] See Figure 6 As shown, the opening width of the first connection port can be represented by b1, the opening width of the second connection port can be represented by c1, and the width of the interior of the arc-shaped cabin can be represented by a1. b1 can be greater than or equal to c1, and a1 is less than c1.

[0065] The above method allows the arc-shaped cabin to have a structure that is large at both ends and small in the middle. Therefore, when the connecting wires of electronic components in the first cabin 201 enter the second cabin 202 through the arc-shaped cabin, the width a1 inside the arc-shaped cabin constrains the connecting wires from a loose state to a more concentrated state, thus achieving a function of standardization and constraint on the connecting wires, facilitating their arrangement. In addition, the arc-shaped cabin can also be used to house other smaller electronic components; this is not a limitation.

[0066] Correspondingly, the curved canopy also adopts a structure similar to the aforementioned curved hull. (See also...) Figure 3 As shown, the opening width of the third connecting port of the arc-shaped covered compartment can be represented by b2, the opening width of the fourth connecting port can be represented by c1, and the internal width of the arc-shaped covered compartment can be represented by a2. b2 can be greater than or equal to c2, and a2 is less than c2. The arc-shaped covered compartment also exhibits a structure that is larger at both ends and smaller in the middle. The position of the arc-shaped covered compartment is opposite to the position of the arc-shaped compartment body, thereby further expanding the usable space inside the arc-shaped compartment.

[0067] In addition, the first cover opening of the arc-shaped cover compartment faces the first opening, the second cover opening faces the second opening, and the third cover opening faces the third opening; the first cover opening, the second cover opening, and the third cover opening are used to cover the first opening, the second opening, and the third opening, respectively.

[0068] In addition, considering that the sealed cabin should be able to carry motor control equipment, enough cable interfaces should be provided to establish wired communication with the robot motor and shore control equipment and to complete power delivery.

[0069] See Figure 1-7 As shown, the first compartment is equipped with a first electronic component 301, and the second compartment is equipped with a second electronic component 302; the connecting wire of the first electronic component 301 passes through the arc-shaped compartment and connects to the second electronic component 302; the first covered compartment 105 is equipped with a first cable outlet 104, and the second covered compartment 106 is equipped with a second cable outlet (not shown in the figure).

[0070] The first compartment 201 is provided with a third cable outlet 205, and the second compartment is provided with a fourth cable outlet 207;

[0071] The first external wire a of the first electronic component 301 passes through the first outlet hole 104;

[0072] The first external wire a is sealed and fixed to the first outlet hole 104 by the first watertight head 401, the second connecting wire a of the first electronic component 301 passes through the third outlet hole 205, and the second external wire a is sealed and fixed to the third outlet hole 205 by the second watertight head 402.

[0073] The second connecting wire b of the second electronic component 302 passes through the fourth outlet hole 207, and the second external wire b is sealed and fixed to the fourth outlet hole by the third watertight head 403;

[0074] The first external wire b of the second electronic component passes through the second outlet hole; the first external wire b is sealed and fixed to the second outlet hole by a fourth watertight head. For easy sealing, sealing rings are installed on the first outlet hole, the second outlet hole, the third outlet hole, and the fourth outlet hole.

[0075] In some embodiments, the outer side of the cover is further provided with a mounting groove 103. The mounting groove 103 facilitates better engagement of the cover with the mounting location of the wall-climbing robot. The bottom of the sealed chamber is provided with a support portion 206 for mounting the first electronic component 301 or the second electronic component 302. The support portion 206 allows for more stable mounting of the first and second electronic components within the chamber. Optionally, the first chamber, the arc-shaped chamber, and the second chamber are integrally formed, as are the first cover chamber 105, the arc-shaped cover chamber 109, and the second cover chamber 106.

[0076] The first electronic component 301 or the second electronic component 302 can be a main control board, power manager, motor control board / graphics processor, etc., and there is no limitation here.

[0077] Secondly, embodiments of this application provide a wall-climbing robot, including the sealed cabin.

[0078] The functions and effects of the technical features in this technical solution that are similar to or related to the aforementioned technical solution are similar to those in the aforementioned technical solution, and the inventive concept and beneficial effects of this technical solution are similar to those in the aforementioned technical solution, so they will not be repeated here.

[0079] Understandably, based on the aforementioned sealed cabin with its irregular shape, the cable outlet of the sealed cabin is equipped with a miniature 16-pin, miniature 8-pin, or miniature 4-pin interface to meet the communication and power distribution needs of the underwater robot. This not only meets the waterproof requirements of the robot but also provides sufficient cable interfaces to satisfy the robot's communication and power distribution needs.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A containment chamber, characterized in that, The sealing cabin comprises: a first cabin body having a first opening; a second cabin body diagonally opposite to the first cabin body and in communication with the first cabin body, and having a second opening; the first opening and the second opening are in communication; and a cover body having a cover space for sealing the first opening and the second opening.

2. The capsule of claim 1, wherein The first cabin body is in communication with the second cabin body through an arc-shaped cabin body.

3. The capsule of claim 2, wherein, The arc-shaped cabin body is provided with: a third opening facing the cover body and in communication with the first opening and the second opening; the cover body is used for sealing the first opening, the second opening and the third opening; a first connecting port provided at one end of the arc-shaped cabin body and in communication with the first cabin body; a second connecting port provided at the other end of the arc-shaped cabin body and in communication with the second cabin body.

4. The capsule of claim 3, wherein The opening width of the first connecting port is greater than the width of the interior of the arc-shaped cabin body, and the opening width of the second connecting port is greater than the width of the interior of the arc-shaped cabin body.

5. The capsule of claim 3, wherein The first cabin body is a rectangular structure having a first notch; the second cabin body is a rectangular structure having a second notch; the first notch is in communication with the first connecting port, and the second notch is in communication with the second connecting port so that the first cabin body and the second cabin body are diagonally opposite.

6. The capsule according to any one of claims 2-5, wherein The cover space of the cover body is provided with: a first cover cabin having a first cover port for covering the first opening; a second cover cabin having a second cover port for covering the second opening and being in communication with the first cover cabin through an arc-shaped cover cabin and diagonally opposite to the first cover cabin; and an arc-shaped cover cabin having a third cover port for covering the third opening.

7. The sealing cabin according to claim 6, wherein the arc-shaped cover cabin is provided with: a third connecting port provided at one end of the arc-shaped cover cabin and in communication with the first cover cabin; a fourth connecting port provided at the other end of the arc-shaped cover cabin and in communication with the second cover cabin; the first cover cabin is a rectangular structure having a third notch; the second cover cabin is a rectangular structure having a fourth notch; the third notch is in communication with the third connecting port, and the fourth notch is in communication with the fourth connecting port so that the first cover cabin and the second cover cabin are diagonally opposite.

8. The capsule of claim 7, wherein, The first cover cabin and the second cover cabin are respectively provided at two first corners of the cover body which are diagonally opposite to each other; two second corners of the cover body which are diagonally opposite to each other are both provided with hollow parts.

9. The capsule of claim 8, wherein, The outer side of the cover body is further provided with a mounting groove, and / or the bottom of the sealing cabin is provided with a support part for mounting a first electronic component or a second electronic component, and / or the second opening is flush with the first opening, and / or the first cabin body, the arc-shaped cabin body and the second cabin body are integrally formed, and the first cover cabin, the arc-shaped cover cabin and the second cover cabin are integrally formed.

10. A wall-climbing robot, characterized by comprising: The sealing cabin comprises any one of claims 1-9.

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