Positioning mechanism for fixing water gun of underwater robot

Abstract

The utility model relates to the technical field of robot equipment, in particular to an underwater robot water gun fixing positioning mechanism which comprises a bottom plate, a limiting top cover is fixedly mounted at the top of the bottom plate, and a positioning mechanism body is arranged on one side of the bottom plate; according to the device, the first servo motor, the lead screw, the internal thread side plate and other components are arranged, the first servo motor drives the lead screw to rotate through the mutual matching relation between the first servo motor and the lead screw, so that the internal thread side plate can move on the lead screw through rotation of the lead screw, and then the sleeve is driven to move. Therefore, the device can adjust the axial position of the gun barrel of the water gun through driving of the first servo motor, and the effect that the position of the water gun is flexibly adjusted to meet different operation requirements is achieved. And through the mutual matching relation among the second servo motor, the worm, the worm gear and the turntable, the second servo motor drives the worm to rotate, and the worm and the worm gear are in meshing transmission, so that the turntable can rotate through the transmission of the worm and the worm gear.

Description

Technical Field

[0001] This application relates to the field of robotic equipment technology, and in particular to a positioning mechanism for fixing a water gun on an underwater robot. Background Technology

[0002] Traditional underwater operations face complex and variable environments, with underwater robotic water guns often encountering challenges such as water flow impacts and unpredictable target locations. Early water gun fixation methods were relatively simple, mostly using rigid connections. This made it difficult to adjust the water gun's position and angle once fixed, hindering timely responses to actual operational conditions. For example, in underwater pipeline cleaning operations, the complex internal structure of pipelines and varying degrees of dirt distribution and blockage in different locations make it difficult for rigidly connected water guns to comprehensively cover and effectively clean all areas.

[0003] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: most existing devices can only achieve single-dimensional adjustment, such as adjusting only the horizontal position of the water gun, but cannot flexibly change its angle, making it difficult to simultaneously meet the diverse needs of different positions and angles in complex tasks such as underwater pipe cleaning. Furthermore, when faced with irregularly distributed dirt inside the pipe, they cannot achieve comprehensive cleaning coverage, resulting in low operational efficiency. Utility Model Content

[0004] In order to solve the problems mentioned in the background art, this application provides a positioning mechanism for fixing the water gun of an underwater robot.

[0005] The positioning mechanism for fixing a water gun for an underwater robot provided in this application adopts the following technical solution: A positioning mechanism for fixing a water gun for an underwater robot includes a base plate, a limit cover is fixedly installed on the top of the base plate, and a positioning mechanism is provided on one side of the base plate;

[0006] The positioning mechanism includes a first servo motor, a lead screw, an internally threaded side plate, a sleeve, a bearing housing, a second servo motor, a worm gear, a worm wheel, a turntable, an eccentric groove, a hollow ball, and a water gun rod. The first servo motor is fixedly installed on one side of the base plate side plate. The output end of the first servo motor is fixedly connected to the lead screw. The lead screw is threaded onto the internally threaded side plate. The sleeve is fixedly connected to one side of the internally threaded side plate. The bearing housing is fixedly installed inside the sleeve. The second servo motor is installed on one side of the bearing housing. The output end of the second servo motor is connected to the worm gear. The worm gear meshes with the worm wheel for transmission. The worm wheel is fixedly connected to the turntable. The turntable has an eccentric groove. A hollow ball is movably installed in the eccentric groove. The hollow ball is movably embedded inside the base plate side plate. The water gun rod is sleeved inside the hollow ball.

[0007] The above solution enables precise positioning and stable control of the water gun barrel, ensuring the accuracy and reliability of underwater operations.

[0008] Optionally, the positioning mechanism further includes a limiting ring, a water gun head, and a water supply pipe. The limiting ring is fixedly sleeved on the end of the water gun rod, the water gun head is installed at the end of the water gun rod and communicates with the internal cavity, and the water supply pipe communicates with the internal cavity of the water gun rod.

[0009] The above solution further enhances the fixing effect of the water gun and the sealing performance of the water supply system, thereby improving the overall structural stability.

[0010] Optionally, the limiting top cover has an axial limiting groove inside, and the bottom of the sleeve has a protrusion that cooperates with the limiting groove. The height of the protrusion is 1.2-1.5 times the depth of the limiting groove.

[0011] The above solution ensures the stability and accuracy of the sleeve during movement, preventing unnecessary shaking and deviation.

[0012] Optionally, the transmission ratio between the worm gear and the worm is 15:1-25:1, and the angle between the worm axis and the worm gear axis is 85-95 degrees.

[0013] The above solution optimizes transmission efficiency, reduces energy loss, and improves system response speed and accuracy.

[0014] Optionally, the eccentric groove is an involute groove with an eccentricity of 1 / 4 to 1 / 3 of the turntable radius, and the fit clearance between the hollow sphere and the eccentric groove is 0.5 to 1.2 mm.

[0015] The above solution achieves smooth movement and high-precision positioning of the water gun barrel, reducing friction and wear.

[0016] Optionally, the lead screw adopts a trapezoidal thread structure, with a pitch 1.2-2 times the thickness of the internal thread side plate, and the end of the lead screw is provided with a guide portion with a gradually decreasing diameter.

[0017] The above solution improves the transmission efficiency and durability of the lead screw, ensuring the long-term stable operation of the positioning mechanism.

[0018] Optionally, a rotary sealing assembly is provided at the connection between the water supply pipe and the water gun rod, the rotary sealing assembly including at least two O-rings and a wear-resistant bushing.

[0019] The above solutions effectively prevented water leakage and ensured the sealing and reliability of the water supply system.

[0020] Optionally, the bearing housing adopts a double-direction thrust ball bearing structure, with dust covers and waterproof sealing rings on both sides respectively.

[0021] The above solutions enhance the load-bearing capacity and protective performance of the bearing housing, and extend its service life.

[0022] Optionally, the turntable and the worm gear are connected by a tapered fit, and the mating surface is provided with an axial positioning key and a locking nut.

[0023] The above solution ensures a tight connection between the turntable and the worm gear, improving the stability and accuracy of the transmission.

[0024] Optionally, the side plate of the base plate is provided with a spherical groove, the fitting gap between the hollow ball and the spherical groove is 0.8-1.5mm, and the surface of the spherical groove is provided with a polytetrafluoroethylene wear-resistant coating.

[0025] The above solution reduces frictional resistance and improves the flexibility and wear resistance of the hollow ball.

[0026] In summary, this application includes the following beneficial technical effects:

[0027] 1. This utility model, by incorporating components such as a first servo motor, a lead screw, and an internally threaded side plate, utilizes the cooperative relationship between the first servo motor and the lead screw. The first servo motor drives the lead screw to rotate, allowing the internally threaded side plate to move along the lead screw, thereby moving the sleeve. This enables the device to adjust the axial position of the water gun barrel through the drive of the first servo motor, achieving flexible adjustment of the water gun position to adapt to different operational needs.

[0028] 2. This utility model, by setting up a second servo motor, worm gear, worm wheel, and turntable, utilizes the cooperative relationship between the second servo motor, worm gear, worm wheel, and turntable. The second servo motor drives the worm gear to rotate, and the worm gear meshes with the worm wheel, enabling the turntable to rotate through the transmission between the worm gear and worm wheel. Because the turntable has an eccentric groove, a hollow ball is movably installed within the eccentric groove. The hollow ball is fitted onto the water gun rod, thus enabling the device to adjust the angle of the water gun rod via the drive of the second servo motor, achieving multi-angle operation. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the device in the embodiments of this application;

[0030] Figure 2 This is a schematic diagram of a partial structure of the device in an embodiment of this application;

[0031] Figure 3 This is a partial structural diagram of the positioning mechanism in an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the partial structure installation of the positioning mechanism in an embodiment of this application;

[0033] Reference numerals in the attached drawings: 1. Base plate; 2. Limiting top cover; 3. Positioning mechanism; 301. First servo motor; 302. Lead screw; 303. Internal thread side plate; 304. Sleeve; 305. Bearing seat; 306. Second servo motor; 307. Worm gear; 308. Worm wheel; 309. Turntable; 310. Eccentric groove; 311. Hollow ball; 312. Water gun rod; 313. Limiting ring; 314. Water gun head; 315. Water supply pipe. Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0035] This application discloses a positioning mechanism for fixing a water gun on an underwater robot.

[0036] Please see Figure 1 A positioning mechanism for fixing a water gun for an underwater robot includes a base plate 1, a limiting top cover 2 fixedly installed on the top of the base plate 1, and a positioning mechanism 3 provided on one side of the base plate 1.

[0037] Please see Figures 2 to 4 The positioning mechanism 3 includes a first servo motor 301, a lead screw 302, an internally threaded side plate 303, a sleeve 304, a bearing seat 305, a second servo motor 306, a worm gear 307, a worm wheel 308, a turntable 309, an eccentric groove 310, a hollow ball 311, and a water gun rod 312. The first servo motor 301 is fixedly installed on one side of the base plate 1. The output end of the first servo motor 301 is fixedly connected to the lead screw 302. The lead screw 302 is threadedly sleeved with the internally threaded side plate 303. A sleeve 304 is fixedly connected to one side of 303. A bearing seat 305 is fixedly installed inside the sleeve 304. A second servo motor 306 is installed on one side of the bearing seat 305. The output end of the second servo motor 306 is connected to a worm gear 307. The worm gear 307 meshes with a worm wheel 308 for transmission. The worm wheel 308 is fixedly connected to a turntable 309. The turntable 309 is provided with an eccentric groove 310. A hollow ball 311 is movably installed in the eccentric groove 310. The hollow ball 311 is movably embedded inside the side plate of the base plate 1. The water gun rod 312 is sleeved inside the hollow ball 311.

[0038] The positioning mechanism 3 also includes a limiting ring 313, a water gun head 314, and a water supply pipe 315. The limiting ring 313 is fixedly sleeved on the end of the water gun rod 312. The water gun head 314 is installed on the end of the water gun rod 312 and communicates with the internal cavity. The water supply pipe 315 communicates with the internal cavity of the water gun rod 312.

[0039] The limiting top cover 2 has an axial limiting groove inside, and the bottom of the sleeve 304 has a protrusion that mates with the limiting groove. The height of the protrusion is 1.2-1.5 times the depth of the limiting groove.

[0040] The transmission ratio between the worm gear 308 and the worm 307 is 15:1-25:1, and the angle between the axis of the worm 307 and the axis of the worm gear 308 is 85-95 degrees.

[0041] The eccentric groove 310 is an involute groove with an eccentricity of 1 / 4 to 1 / 3 of the radius of the turntable 309. The fit clearance between the hollow ball 311 and the eccentric groove 310 is 0.5-1.2 mm.

[0042] The lead screw 302 adopts a trapezoidal thread structure, and its pitch is 1.2-2 times the thickness of the internal thread side plate 303. The end of the lead screw 302 is provided with a guide section with a gradually decreasing diameter.

[0043] A rotary sealing assembly is provided at the connection between the water supply pipe 315 and the water gun rod 312. The rotary sealing assembly includes at least two O-rings and a wear-resistant bushing.

[0044] The bearing housing 305 adopts a double-direction thrust ball bearing structure, with dust covers and waterproof seals on both sides.

[0045] The turntable 309 and the worm gear 308 are connected by a tapered fit, and the mating surfaces are provided with an axial positioning key and a lock nut.

[0046] The side plate of the base plate 1 is provided with a spherical groove. The fit clearance between the hollow ball 311 and the spherical groove is 0.8-1.5mm. The surface of the spherical groove is provided with a polytetrafluoroethylene wear-resistant coating.

[0047] Further explanation is needed: the positioning mechanism 3 plays a core role in the underwater robot's water gun fixing system, greatly improving the flexibility and accuracy of water gun operation. It is mainly composed of a series of key components, including the first servo motor 301, the lead screw 302, and the internally threaded side plate 303. The first servo motor 301 is installed on one side of the base plate 1, and its output end is connected to the lead screw 302. When the first servo motor 301 starts operating, the lead screw 302 rotates accordingly. The internally threaded side plate 303, which is threadedly connected to the lead screw 302, moves smoothly axially along the lead screw 302 according to its rotation direction and speed. During this process, the internally threaded side plate 303 is fixedly connected to the sleeve 304, allowing the sleeve 304 to move synchronously with the internally threaded side plate 303, thereby driving the water gun barrel 312, which is sleeved within the hollow ball 311, to adjust its axial position. In this way, the positioning mechanism 3 achieves precise control over the horizontal position of the water gun barrel 312, meeting the needs of different positions of the water gun during underwater operations. It can be flexibly adjusted whether near the target work area or away from obstacles. The second servo motor 306 is mounted on one side of the bearing housing 305, and its output end is connected to the worm gear 307. The worm gear 307 meshes with the worm wheel 308 for transmission, and the worm wheel 308 is fixedly connected to the turntable 309. When the second servo motor 306 operates, it drives the worm gear 307 to rotate. Utilizing the specific transmission ratio between the worm wheel 308 and the worm gear 307, the high-speed rotation of the worm gear 307 is converted into low-speed, high-torque rotation of the worm wheel 308 and the turntable 309. The turntable 309 has an eccentric groove 310, in which a hollow ball 311 is movably installed. The hollow ball 311 is embedded inside the side plate of the base plate 1 and sleeves the water gun barrel 312. As the turntable 309 rotates, the eccentric groove 310 drives the hollow ball 311 to move. Due to the movement characteristics of the hollow ball 311, the water gun rod 312 can change its angle with the hollow ball 311 as the fulcrum.

[0048] The implementation principle of the positioning mechanism for fixing the water gun of an underwater robot in this application embodiment is as follows:

[0049] First, the first servo motor 301 is started as the power source for axial position adjustment. This motor is fixedly mounted on one side of the base plate 1. When it is powered on, the motor's output shaft drives the lead screw 302 to rotate. Because the lead screw 302 adopts a specific trapezoidal thread structure, this provides the basis for subsequent precise transmission.

[0050] Secondly, driven by the rotation of the lead screw 302, the internal threaded side plate 303 begins to move axially along the lead screw 302. The threaded engagement between the internal threaded side plate 303 and the lead screw 302 allows its movement distance and speed to be precisely controlled by adjusting the speed and direction of rotation of the first servo motor 301. Furthermore, the internal threaded side plate 303 is fixedly connected to the sleeve 304, meaning that the sleeve 304 will move synchronously with the internal threaded side plate 303.

[0051] Next, the bearing housing 305 inside the sleeve 304 provides support and positioning, ensuring the stable operation of the second servo motor 306. When the second servo motor 306 starts, the worm gear 307 connected to its output end begins to rotate. The meshing transmission between the worm gear 307 and the worm wheel 308 is the key to achieving angle adjustment. Their specific transmission ratio of 15:1-25:1 converts the high-speed rotation of the worm gear 307 into the low-speed, high-torque rotation of the worm wheel 308, providing a stable power output for subsequent precise angle control.

[0052] Next, the worm gear 308 drives the turntable 309, which is fixedly connected to it, to rotate. The turntable 309 is provided with a special involute-shaped eccentric groove 310, and a hollow ball 311 is movably installed in the eccentric groove 310. As the turntable 309 rotates, the special shape of the eccentric groove 310 causes the hollow ball 311 to move along a specific trajectory within the groove.

[0053] Finally, the hollow ball 311 is embedded inside the side plate of the base plate 1, and the water gun rod 312 is sleeved inside it. The movable characteristics of the hollow ball 311 allow the water gun rod 312 to change angles with the hollow ball 311 as a fulcrum. At the same time, in terms of axial position adjustment, the water gun rod 312 moves with the sleeve 304, realizing the adjustment of its position in the horizontal direction. Through this series of coordinated operations, the underwater robot water gun fixing positioning mechanism 3 completes the precise adjustment of the position and angle of the water gun rod 312, meeting the diverse needs of underwater operations.

[0054] 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. A positioning mechanism for fixing a water gun on an underwater robot, comprising a base plate (1), characterized in that: A limiting top cover (2) is fixedly installed on the top of the base plate (1), and a positioning mechanism (3) is provided on one side of the base plate (1); The positioning mechanism (3) includes a first servo motor (301), a lead screw (302), an internal thread side plate (303), a sleeve (304), a bearing seat (305), a second servo motor (306), a worm gear (307), a worm wheel (308), a turntable (309), an eccentric groove (310), a hollow ball (311), and a water gun rod (312). The first servo motor (301) is fixedly installed on one side of the side plate of the base plate (1). The output end of the first servo motor (301) is fixedly connected to the lead screw (302). The lead screw (302) is threadedly sleeved with the internal thread side plate (303). A sleeve (304) is fixedly connected to one side of the bearing (305), and a bearing seat (305) is fixedly installed inside the sleeve (304). A second servo motor (306) is installed on one side of the bearing seat (305). The output end of the second servo motor (306) is connected to a worm gear (307). The worm gear (307) meshes with a worm wheel (308) for transmission. The worm wheel (308) is fixedly connected to a turntable (309). The turntable (309) is provided with an eccentric groove (310). A hollow ball (311) is movably installed in the eccentric groove (310). The hollow ball (311) is movably embedded in the side plate of the base plate (1). The water gun rod (312) is sleeved inside the hollow ball (311).

2. The positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The positioning mechanism (3) further includes a limiting ring (313), a water gun head (314), and a water supply pipe (315). The limiting ring (313) is fixedly sleeved on the end of the water gun rod (312). The water gun head (314) is installed on the end of the water gun rod (312) and communicates with the internal cavity. The water supply pipe (315) communicates with the internal cavity of the water gun rod (312).

3. The positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The limiting top cover (2) has an axial limiting groove inside, and the bottom of the sleeve (304) has a protrusion that cooperates with the limiting groove. The height of the protrusion is 1.2-1.5 times the depth of the limiting groove.

4. The positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The transmission ratio between the worm wheel (308) and the worm (307) is 15:1-25:1, and the angle between the axis of the worm (307) and the axis of the worm wheel (308) is 85-95 degrees.

5. A positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The eccentric groove (310) is an involute groove with an eccentricity of 1 / 4 to 1 / 3 of the radius of the turntable (309). The fit clearance between the hollow ball (311) and the eccentric groove (310) is 0.5-1.2 mm.

6. The positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The lead screw (302) adopts a trapezoidal thread structure, and its pitch is 1.2-2 times the thickness of the internal thread side plate (303). The end of the lead screw (302) is provided with a guide part with a gradually decreasing diameter.

7. A positioning mechanism for fixing a water gun on an underwater robot according to claim 2, characterized in that: A rotary sealing assembly is provided at the connection between the water supply pipe (315) and the water gun rod (312), the rotary sealing assembly including at least two O-ring seals and a wear-resistant bushing.

8. A positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The bearing housing (305) adopts a double-direction thrust ball bearing structure, and dust covers and waterproof sealing rings are provided on both sides respectively.

9. A positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The turntable (309) and the worm gear (308) are connected by a tapered fit, and the mating surface is provided with an axial positioning key and a locking nut.

10. A positioning mechanism for fixing a water gun on an underwater robot according to claim 1, characterized in that: The side plate of the base plate (1) is provided with a spherical groove, and the gap between the hollow ball (311) and the spherical groove is 0.8-1.5mm. The surface of the spherical groove is provided with a polytetrafluoroethylene wear-resistant coating.

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