Underwater robot

Abstract

The utility model relates to the technical field of mine underwater survey, and discloses an underwater robot which comprises a rack, a plurality of propellers are installed in the rack, a cover plate is arranged on the outer side of the rack, and a front side plate of the cover plate is located at the front end of the robot and provided with a sampling mechanism. The sampling mechanism comprises a telescopic piece, a rotating piece, a sampling piece and a storage piece, and the telescopic piece is rotationally connected with the front side plate. The rotating piece is installed at the output end of the telescopic piece. The sampling piece is installed at the output end of the rotating piece and used for taking water and soil samples in a mine, and the storage piece is connected to the front side plate and used for receiving the water and soil samples obtained by the sampling piece in batches. According to the scheme, the sampling mechanism with the telescopic part and the rotating part cooperatively matched is adopted, the telescopic part can stretch and retract in the axial direction, and a sampling head is accurately sent to a preset point position; and the rotating piece can adjust the angle of the sampling head to adapt to different sampling surfaces, so that high-precision fixed-point sampling is realized in a complex underwater environment, and the problem of insufficient grabbing precision of a traditional mechanical arm is solved.

Description

Technical Field

[0001] This utility model relates to the field of underwater mine exploration technology, and in particular to an underwater robot. Background Technology

[0002] Currently, with the increasing demand for underwater environmental surveying in fields such as mining, water conservancy, hydropower, and marine scientific research, unmanned underwater robots have become a key technological means. Existing underwater robots are mostly based on propellers and observation devices such as cameras and sonar, enabling mobile inspection and imaging recording in complex waters, but they still have significant shortcomings in acquiring water or bottom soil samples. Most systems rely on divers or simple mechanical grasping devices, making it difficult to achieve precise sampling at predetermined locations, and also unable to automate the storage of samples from multiple points.

[0003] Some research and products have attempted to install sampling bottles or suction devices at the end of the robotic arm equipped with robots. However, due to the lack of a dedicated telescopic, rotating and valve coordination mechanism, the docking accuracy between the sampling head and the sampling point is low, and the sample is prone to loss or contamination during the sampling process. In addition, existing devices can generally only complete one-time sampling and cannot independently store water and soil samples collected multiple times, making it difficult to meet the needs of continuous monitoring and multi-point sampling.

[0004] The inventors believe that the prior art has the following defects:

[0005] 1. Existing systems are unable to accurately locate and sample designated positions in complex underwater environments, resulting in large sampling errors and low efficiency;

[0006] 2. The lack of a flexible sampling head angle and position adjustment mechanism makes it difficult for the sampling head to align with the target point, which can easily lead to sample loss or external interference.

[0007] 3. It is impossible to store water and soil samples collected multiple times in separate zones, and the samples are easily mixed or lost, which is not conducive to subsequent analysis and long-term monitoring. Utility Model Content

[0008] To address the technical problems mentioned in the background section, this utility model provides an underwater robot.

[0009] This utility model is achieved by the following technical solution: an underwater robot, including a frame, a plurality of thrusters are installed inside the frame, a cover plate is provided on the outside of the frame, and the front side plate of the cover plate is located at the front end of the robot and is equipped with a sampling mechanism.

[0010] The sampling mechanism includes a telescopic component, a rotating component, a sampling component, and a storage component, wherein:

[0011] The telescopic component and the front side panel are rotatably connected.

[0012] The rotating component is installed at the output end of the telescopic component.

[0013] The sampling component is installed at the output end of the rotating component and is used to collect water and soil samples inside the mine.

[0014] The storage unit is connected to the front panel and is used to receive water and soil samples obtained by the sampling unit in stages.

[0015] Preferably, the telescopic component is an electric push rod, a pneumatic cylinder, or a hydraulic cylinder. One side of the telescopic component is connected to a mounting block, and a connecting shaft is inserted through the mounting block. The two ends of the connecting shaft are respectively fixed to a convex plate connected to the front side plate, and a motor that drives the connecting shaft and the mounting block to rotate is installed on one of the convex plates.

[0016] Preferably, the rotating component is a waterproof motor.

[0017] Preferably, the sampling component includes an integrated sampling head and tip, and a separate conical block, wherein: the sampling head and tip are provided with a hollow for storing water and soil samples, the tip has several sampling holes circumferentially distributed and communicating with the hollow, and the side of the tip away from the sampling head is provided with an opening, and the hollow is provided with a distance adjustment component that drives the conical block to move along its own axial direction to open and close the opening.

[0018] Preferably, the sampling head has a cylindrical structure, with the tip and the cone-shaped block having the same taper, and the sampling hole can extend to the sampling head.

[0019] Preferably, the storage component is a circular structure, and several independent storage cavities are provided inside the storage component. The annular sidewall of the storage component is provided with through holes corresponding to the storage cavities. A valve mechanism is also provided at the through hole. When the sample is inserted into the through hole to a certain depth, the valve mechanism opens, and the valve mechanism is closed at other times.

[0020] One end face of the storage unit is connected to a bracket that is fixed to the front side plate, and an adjustment mechanism that allows the storage unit to rotate is installed on the bracket.

[0021] Preferably, the valve mechanism includes a cylinder fixed to the inner port of the through hole, the inner end of the cylinder having an outlet, and a sealing cover rotatably mounted at the outlet, with a torsion spring mounted on the rotating shaft of the sealing cover to facilitate its automatic reset.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] Beneficial technical effects

[0024] This solution employs a sampling mechanism that combines telescopic and rotating components. The telescopic component can extend and retract axially to precisely deliver the sampling head to the predetermined location; the rotating component can adjust the angle of the sampling head to adapt to different sampling surfaces, thereby achieving high-precision fixed-point sampling in complex underwater environments and solving the problem of insufficient grasping accuracy of traditional robotic arms.

[0025] The sampling device proposed in this solution includes an integrated sampling head and a movable cone block. The hollow internal structure and porous tip design allow for the rapid introduction of soil and water samples. The cone block opens and closes the sampling port through a distance adjustment device, effectively preventing sample leakage and cross-contamination during collection or recovery, and ensuring sample integrity.

[0026] The proposed storage device is a ring structure with several independent storage cavities and valve mechanisms at corresponding positions: the valves automatically open when the sampling device is inserted into the through hole and close after sampling is completed, thereby realizing the partitioned and isolated storage of water and soil samples collected multiple times, which is convenient for subsequent experimental analysis and long-term monitoring.

[0027] The modular design and flexible interfaces of this solution make it not only suitable for water and soil sampling inside mines, but also applicable to rescue and salvage, bridge and dam inspection, scientific research and archaeology, water conservancy and hydropower, etc., which has extremely high promotion value and application prospects. Attached Figure Description

[0028] Figure 1 This is a side view of the underwater robot proposed in this utility model;

[0029] Figure 2 This is a perspective view of the underwater robot proposed in this utility model;

[0030] Figure 3 This is a top view of the underwater robot proposed in this utility model;

[0031] Figure 4 This is a cross-sectional view of the storage component proposed in this utility model after the sampling component is inserted into one of the through holes;

[0032] Figure 5 This utility model Figure 4 Enlarged view of point A.

[0033] Explanation of key symbols:

[0034] In the diagram: 1. Frame; 2. Cover plate; 3. Telescopic component; 4. Rotating component; 5. Sampling component; 6. Storage component; 7. Support; 8. Adjustment mechanism; 9. Protruding plate; 10. Mounting block; 11. Motor; 12. Cylinder; 13. Sealing cover; 14. Connecting rod; 15. Distance adjustment component; 16. Outlet; 101. Propeller; 201. Front side plate; 202. Side plate; 601. Through hole; 602. Storage cavity; 501. Sampling head; 502. Tip; 503. Conical block; 504. Sampling hole. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0036] Example 1:

[0037] Reference Figures 1-5 This embodiment proposes an underwater robot, including a frame 1. Several thrusters 101 are installed within the frame 1. Specifically, it can be designed with three horizontal thrusters and one vertical thruster. The three horizontal thrusters are TG166 thrusters, with a front-to-rear thrust of 36 kg and a lateral thrust of 18 kg. A cover plate 2 is provided on the outer side of the frame 1. The front side plate 201 of the cover plate 2 is located at the front end of the robot and is equipped with a sampling mechanism. Furthermore, this robot can be equipped with various sensors such as auxiliary cameras, sonar, robotic arms, underwater acoustic positioning systems, and altimeters to accurately acquire information about the internal structure of the mine. However, this is not the core technical point of this solution and will not be elaborated upon here. For those skilled in the art, equipping underwater robots with auxiliary cameras, sonar, robotic arms, underwater acoustic positioning systems, and altimeters are conventional technical means and can already be achieved in existing technologies.

[0038] The sampling mechanism includes a telescopic component 3, a rotating component 4, a sampling component 5, and a storage component 6, wherein:

[0039] The telescopic component 3 and the front side plate 201 are rotatably connected; as a preferred embodiment of the present utility model, the telescopic component 3 is selected as an electric push rod, a cylinder or a hydraulic cylinder, and a mounting block 10 is connected to one side of the telescopic component 3. A connecting shaft is inserted on the mounting block 10, and the two ends of the connecting shaft are respectively fixed to the protruding plate 9 connected to the front side plate 201. A motor 11 for driving the connecting shaft and the mounting block 10 to rotate is installed on one of the protruding plates 9.

[0040] The rotating component 4 is installed at the output end of the telescopic component 3; in this embodiment, the rotating component 4 is a waterproof motor.

[0041] The sampling component 5 is installed at the output end of the rotating component 4 and is used to collect water and soil samples inside the mine. Preferably, the sampling component 5 includes an integral sampling head 501 and a tip 502 and a split conical block 503, wherein: the sampling head 501 and the tip 502 are provided with a hollow for storing water and soil samples, the tip 502 is circumferentially distributed with a plurality of sampling holes 504 communicating with the hollow, and the side of the tip 502 away from the sampling head 501 is provided with an opening, and a distance adjustment component 15 is provided in the hollow to drive the conical block 503 to move along its own axial direction to open and close the opening.

[0042] Furthermore, the sampling head 501 has a cylindrical structure, with the tip 502 and the conical block 503 having the same taper, and part of the sampling hole 504 can extend onto the sampling head 501.

[0043] In this scheme, the storage unit 6 is connected to the front side plate 201 and is used to receive the soil and water samples obtained by the sampling unit 5 in stages.

[0044] Reference Figures 4-5 In this solution, the storage component 6 is a circular structure. The storage component 6 is provided with several independent storage cavities 602. The annular sidewall of the storage component 6 is provided with through holes 601 corresponding to the storage cavities 602. A valve mechanism is also provided at the through hole 601. When the sampling component 5 is inserted into the through hole 601 to a certain depth, the valve mechanism opens, and the valve mechanism is closed at other times.

[0045] The storage unit 6 is connected to a bracket 7 fixed to the front side plate 201 on one end face, and an adjustment mechanism 8 is installed on the bracket 7 to make the storage unit 6 rotate.

[0046] It should be noted that, referring to Figure 4 and Figure 5 The valve mechanism includes a cylinder 12 fixed to the inner port of the through hole 601. The inner end of the cylinder 12 has an outlet 16, and a sealing cover 13 is rotatably installed at the outlet 16. A torsion spring is installed on the rotation shaft of the sealing cover 13 to facilitate its automatic reset.

[0047] The underwater robot proposed in this solution, when working underwater, uses a well-drilling robot to detect and collect water and soil samples at key points. The specific operation is as follows: First, the motor 11 drives the mounting block 10 to rotate the telescopic component 3, adjusting the angle of the sampling component. Then, the telescopic component 3 is activated, causing the sampling head to gradually approach the sampling point. Simultaneously, the rotating component is activated, making it easier for the sampling component 5 to penetrate deeper into the sampling point and obtain water and soil samples. Specifically, the water and soil samples enter the hollow cavity through the sampling hole 504. After sampling, the telescopic component 3 resets, the rotating component closes, and the motor 11 drives the telescopic component 3 to reset, so that the end of the telescopic component 3 points to one of the through holes on the storage component 6. The telescopic component 3 is activated again, causing the sampling head 501 to be inserted into the corresponding cylinder until the sealing cover 13 is opened (e.g., ...). Figure 4 As shown), the distance adjustment component 15 (which can be a miniature electric push rod) then operates to push the cone block downwards, so that the water and soil sample in the hollow cavity can enter the storage chamber 602 for storage. Then, the telescopic component 3 drives the sampling component to reset, thus completing one sampling process as described above.

[0048] The underwater robot proposed in this solution can also be applied to fields such as rescue and salvage, bridge and dam inspection, scientific research and archaeology, and water conservancy and hydropower.

[0049] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. An underwater robot comprising a frame (1) in which several propellers (101) are mounted, characterized in that, The machine frame (1) is externally provided with a cover plate (2), the front side plate (201) of the cover plate (2) is located at the front end of the robot and is provided with a sampling mechanism; The sampling mechanism comprises a telescopic member (3), a rotating member (4), a sampling member (5) and a storage member (6), wherein: The telescopic member (3) is rotationally connected with the front side plate (201); The rotating member (4) is installed at the output end of the telescopic member (3); The sampling member (5) is installed at the output end of the rotating member (4) and is used for sampling water and soil samples in the mine; The storage member (6) is connected with the front side plate (201) and is used for receiving water and soil samples sampled by the sampling member (5) in batches.

2. An underwater robot as claimed in claim 1, characterized in that The telescopic member (3) is selected from an electric push rod, an air cylinder or a hydraulic cylinder, one side of the telescopic member (3) is connected with a mounting block (10), a connecting shaft is inserted through the mounting block (10), both ends of the connecting shaft are fixed on the protruding plates (9) connected with the front side plate (201), and one of the protruding plates (9) is provided with a motor (11) for driving the connecting shaft and the mounting block (10) to rotate.

3. An underwater robot as claimed in claim 1, characterized in that The rotating member (4) is selected from a waterproof motor.

4. An underwater robot as claimed in claim 1, characterized in that The sampling member (5) comprises an integrated sampling head (501), a sharp portion (502) and a split conical block (503), wherein: the sampling head (501) and the sharp portion (502) are provided with a hollow for storing water and soil samples, a plurality of sampling holes (504) are circumferentially distributed on the sharp portion (502) and are communicated with the hollow, an opening is arranged on the side of the sharp portion (502) away from the sampling head (501), a distance adjusting member (15) is arranged in the hollow for driving the conical block (503) to move along the axis of the hollow, so as to open and close the opening.

5. An underwater robot as claimed in claim 4, characterized in that The sampling head (501) is in a cylindrical structure, the taper of the sharp portion (502) and the conical block (503) is consistent, and part of the sampling holes (504) can extend to the sampling head (501).

6. An underwater robot as claimed in claim 1, characterized in that The storage member (6) is in a circular structure, a plurality of independent storage cavities (602) are arranged in the storage member (6), a through hole (601) corresponding to the storage cavity (602) is formed in the annular side wall of the storage member (6), a valve mechanism is arranged at the through hole (601), and when the sampling member (5) is inserted into the through hole (601) by a certain depth, the valve mechanism is opened, and the valve mechanism is closed at other times; One side end surface of the storage member (6) is connected with a support (7) fixed with the front side plate (201), and an adjusting mechanism (8) for rotating the storage member (6) is installed on the support (7).

7. An underwater robot as claimed in claim 6, characterized in that The valve mechanism comprises a cylinder (12) fixed at the inner port of the through hole (601), the inner end of the cylinder (12) has an outlet (16), a sealing cover (13) is rotationally installed at the outlet (16), and a torsional spring is installed on the rotary shaft of the sealing cover (13) to facilitate automatic reset.

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