Propeller propulsion type underwater dredging robot

Abstract

The utility model discloses a propeller propulsion type underwater dredging robot, including underwater dredging robot body, the remote controller is connected to the outside of underwater dredging robot body, and the bottom of underwater dredging robot body is installed waterproof pressure -resistant camera and echo sounder sensor in proper order. The utility model discloses when using, through the propulsion mechanism that the drive casing, two propelling propellers etc. are independently arranged in the front and back and left and right of underwater dredging robot body, through the rotation speed and direction of independently controlling each orientation propelling propeller, can realize three -dimensional vector thrust, be convenient for according to the position of waiting dredging that waterproof pressure -resistant camera is shot, and the flexible adjusting device carries out and pushes forward, side shift or pitch motion etc., and every step motor starts, can drive the rotation movement of propelling propeller on driving wheel and driven wheel, through setting two groups of moving propelling propellers on the front and back and left and right four orientations, has promoted the propulsion drive effect, and the energy utilization rate is high.

Description

Technical Field

[0001] This utility model relates to the field of underwater dredging robot technology, specifically a propeller-driven underwater dredging robot. Background Technology

[0002] Underwater dredging robots have a wide range of applications, mainly used to solve problems such as underwater silt, sediment, and garbage removal. Their emergence has greatly reduced the burden on dredging workers. However, there are still some problems with the actual operation of existing equipment of this type.

[0003] Current underwater dredging robots are often tracked or jet-propelled. Tracked robots are prone to sinking in soft terrain such as mud and sand, resulting in high resistance and even getting stuck. Jet-propelled robots require a lot of energy to generate high-speed water flow for propulsion, resulting in low energy efficiency. Furthermore, they are not easy to turn in multiple directions and have poor maneuverability. Based on this, we propose a new type of propeller-propelled underwater dredging robot. Utility Model Content

[0004] The purpose of this invention is to provide a propeller-driven underwater dredging robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a propeller-driven underwater dredging robot, comprising an underwater dredging robot body, a remote controller connected externally to the underwater dredging robot body, a waterproof and pressure-resistant camera and a sonar sensor sequentially mounted on the bottom of the underwater dredging robot body, a drive housing evenly fixed to the inner side wall of the underwater dredging robot body, a stepper motor fixed to the outer side wall of the drive housing, a drive wheel connected to the output end of the stepper motor, a driven wheel movably connected inside the drive housing at one end of the drive wheel, a transmission belt connecting the driven wheel and the drive wheel, and the driven wheel and the drive wheel... Each drive wheel is fixed with a propeller for propulsion. Airbag-type floats are evenly fixed on the outer side wall of the underwater dredging robot body. A main air pipe is connected to the airbag-type floats. An internal air tank is fixed inside the underwater dredging robot body. A reversible air pump is installed between the internal air tank and the main air pipe. A pressure gauge is installed on the main air pipe. An internal sludge suction pipe and an internal sludge storage tank are fixed inside the underwater dredging robot body in sequence. An internal sludge suction pump is installed between the internal sludge storage tank and the internal sludge suction pipe. A filter drain pipe and an external sludge suction hose are installed on the top of the internal sludge suction pipe in sequence. An external sludge suction pump is installed on the external sludge suction hose.

[0006] Preferably, the drive housing is distributed sequentially in the front, back, left, and right directions of the underwater dredging robot body.

[0007] Preferably, the outer sidewalls of the driven wheel and the driving wheel and the inner sidewall of the transmission belt are all provided with limiting tooth layers.

[0008] Preferably, the propeller for propulsion is made of carbon fiber reinforced polymer.

[0009] Preferably, a motor is uniformly fixed to the outer wall of the inner suction pipe, and a rubber sealing layer is provided between the motor and the inner suction pipe.

[0010] Preferably, the output end of the motor is connected to a crushing roller, and the outer wall of the crushing roller is coated with a fluoropolymer coating, which improves the anti-adhesion effect of the crushing roller, reduces the problem of impurity adhesion, and makes it easier to break up the collected dirt and avoid clogging.

[0011] Preferably, an encoder is installed between the stepper motor and the drive wheel to facilitate control of the rotational speed of the drive wheel.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] (1) The propeller-driven underwater dredging robot has optimized its performance by installing encoders and other equipment. The propulsion mechanism consists of a drive housing and two propellers arranged independently on the front, back, left and right sides of the underwater dredging robot body. By independently controlling the speed and direction of the propellers in each direction, three-dimensional vector thrust can be achieved. It is convenient to flexibly adjust the device to push forward, move sideways or pitch according to the location to be dredged captured by the waterproof and pressure-resistant camera. Specifically, by using the driving action of the stepper motor and the monitoring feedback effect of the encoder shaft, the speed and direction of the corresponding propellers can be intelligently controlled. Furthermore, when each stepper motor is started, it can drive the propellers on the drive wheel and the driven wheel to rotate. By setting two sets of moving propellers in the front, back, left and right directions, the propulsion driving effect is improved and the energy utilization rate is high. It solves the problem of easy sinking and low energy utilization efficiency in soft terrain such as soft mud and sand, which is common in tracked propulsion or jet propulsion. It is easy to promote.

[0014] (2) The propeller-driven underwater dredging robot has optimized its structure by installing internal suction pipe fittings, etc. Users can choose different dredging methods according to the amount of underwater dredging. The sludge can be directly pumped into the internal storage tank through the internal suction pump inside the underwater dredging robot body and the internal suction pipe fittings for storage. This can achieve small-scale, fixed-point dredging. When the amount of dredging is large, the user can connect the external suction hose to the internal suction pipe fittings and start the external suction pump to pump the sludge to the ground through the internal suction pipe fittings and the external suction hose. In addition, during this process, the filter drain pipe at the top of the internal suction pipe fittings can filter out the water and prevent too much water from being carried to the ground, which makes the device highly applicable.

[0015] (3) The propeller-driven underwater dredging robot is equipped with an underwater dredging robot body, etc., so that the sonar sensor can monitor the water depth of the underwater dredging robot body in real time and provide feedback during the specific operation of the device. This facilitates the control module inside the underwater dredging robot body to start the reversible air pump and, in conjunction with the air pressure monitoring function of the air pressure gauge, fill the air inside the internal air tank into the airbag float, or perform the reverse operation to adjust the buoyancy state of the outer wall of the underwater dredging robot body by changing the air pressure state of the airbag float, which is convenient for assisting in diving or rising and has a wider range of applications. Attached Figure Description

[0016] Figure 1 This is a front view structural diagram of the present invention;

[0017] Figure 2 This is a partial cross-sectional view of the main body of the underwater dredging robot of this utility model.

[0018] Figure 3 This is a front view schematic diagram of the propeller structure for propulsion of this utility model;

[0019] Figure 4 This is a side view sectional structural diagram of the drive housing of this utility model;

[0020] Figure 5 This is a schematic diagram of the rear view structure of the motor of this utility model.

[0021] In the diagram: 1. External sludge pump; 2. External sludge suction hose; 3. Remote control; 4. Internal sludge suction fittings; 5. Underwater sludge cleaning robot body; 6. Main air connection pipe; 7. Airbag-type float; 8. Propeller; 9. Motor; 10. Internal sludge storage tank; 11. Internal air storage tank; 12. Drive housing; 13. Reversible air pump; 14. Pressure gauge; 15. Filter drain pipe; 16. Internal sludge pump; 17. Encoder; 18. Stepper motor; 19. Driven wheel; 20. Drive belt; 21. Drive wheel; 22. Crushing roller; 23. Waterproof and pressure-resistant camera; 24. Sonar sensor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0023] Please see Figure 1-5An embodiment of this utility model is provided: a propeller-driven underwater dredging robot, including an underwater dredging robot body 5, a remote controller 3 connected to the outside of the underwater dredging robot body 5, a waterproof and pressure-resistant camera 23 and a sonar sensor 24 installed sequentially at the bottom of the underwater dredging robot body 5, a drive housing 12 evenly fixed to the inner side wall of the underwater dredging robot body 5, a stepper motor 18 fixed to the outer side wall of the drive housing 12, an active wheel 21 connected to the output end of the stepper motor 18, a driven wheel 19 movably connected inside the drive housing 12 at one end of the active wheel 21, a transmission belt 20 connected between the driven wheel 19 and the active wheel 21, and a propeller 8 fixed on both the driven wheel 19 and the active wheel 21;

[0024] The drive housing 12 is distributed sequentially in the front, back, left, and right directions of the underwater dredging robot body 5;

[0025] Limiting tooth layers are provided on the outer side walls of the driven wheel 19 and the driving wheel 21 and the inner side wall of the transmission belt 20;

[0026] The propeller 8 is made of carbon fiber reinforced polymer;

[0027] An encoder 17 is installed between the stepper motor 18 and the drive wheel 21 to facilitate control of the rotation speed of the drive wheel 21;

[0028] In use, the underwater dredging robot body 5 is equipped with a propulsion mechanism consisting of a drive housing 12 and two propulsion propellers 8 arranged independently in the front, back, left, and right directions. By independently controlling the speed and direction of the propulsion propellers 8 in each direction, three-dimensional vector thrust can be achieved. This allows for flexible adjustment of the device to perform forward thrust, lateral movement, or pitching motion based on the location to be dredged captured by the waterproof and pressure-resistant camera 23. Specifically, the speed and direction of the corresponding propulsion propellers 8 can be intelligently controlled by utilizing the driving action of the stepper motor 18 and the monitoring feedback effect of the encoder 17's rotating shaft. Furthermore, when each stepper motor 18 is started, it can drive the rotation of the propulsion propellers 8 on the drive wheel 21 and the driven wheel 19. By setting two sets of moving propulsion propellers 8 in the front, back, left, and right directions, the propulsion driving effect is improved and the energy utilization rate is high.

[0029] An airbag-type float 7 is uniformly fixed on the outer side wall of the underwater dredging robot body 5. A main connecting air pipe 6 is connected to the airbag-type float 7. An internal air tank 11 is fixed inside the underwater dredging robot body 5. A reversible air pump 13 is installed between the internal air tank 11 and the main connecting air pipe 6. A pressure gauge 14 is installed on the main connecting air pipe 6.

[0030] In use, the sonar sensor 24 can monitor the water depth of the underwater dredging robot body 5 in real time and provide feedback, which facilitates the control module inside the underwater dredging robot body 5 to start the reversible air pump 13 and, in conjunction with the air pressure monitoring function of the air pressure gauge 14, fill the air inside the internal air tank 11 into the airbag float 7, or perform the reverse operation to adjust the buoyancy state of the outer wall of the underwater dredging robot body 5 by changing the air pressure state of the airbag float 7, which is convenient for assisting in diving or rising and has a wider range of applications.

[0031] The underwater dredging robot body 5 has an internal suction pipe 4 and an internal sludge storage tank 10 fixed inside. An internal suction pump 16 is installed between the internal sludge storage tank 10 and the internal suction pipe 4. A filter drain pipe 15 and an external suction hose 2 are installed on the top of the internal suction pipe 4. An external suction pump 1 is installed on the external suction hose 2.

[0032] When in use, users can choose different dredging methods according to the amount of underwater dredging. They can directly use the internal suction pump 16 inside the underwater dredging robot body 5 to pump the sludge into the internal storage tank 10 for storage through the internal suction pipe 4. This can achieve small-scale, fixed-point dredging. When the amount of dredging is large, the user can connect the external suction hose 2 to the internal suction pipe 4, start the external suction pump 1, and pump the sludge to the ground through the internal suction pipe 4 and the external suction hose 2. During this process, the filter drain pipe 15 at the top of the internal suction pipe 4 can filter out the water to prevent too much water from being carried to the ground.

[0033] Motors 9 are evenly fixed on the outer wall of the inner suction pipe 4, and a rubber sealing layer is provided between the motors 9 and the inner suction pipe 4.

[0034] The output end of the motor 9 is connected to the crushing roller 22. The outer wall of the crushing roller 22 is coated with a fluoropolymer coating, which improves the anti-adhesion effect of the crushing roller 22 and reduces the problem of impurity adhesion.

[0035] In use, the following steps are taken according to the volume of underwater dredging: First, the user can select different dredging methods based on the amount of dredging required. The sludge can be directly pumped into the internal storage tank 10 via the internal suction pump 16 inside the underwater dredging robot body 5 and the internal suction pipe 4. This allows for small-scale, fixed-point dredging. For larger volumes, the user can connect the external suction hose 2 to the internal suction pipe 4, start the external suction pump 1, and pump the sludge to the ground via the internal suction pipe 4 and the external suction hose 2. During this process, the filter drain pipe 15 at the top of the internal suction pipe 4 filters out water, preventing excessive water from being carried to the ground. Simultaneously, the sonar sensor 24 monitors the immersion depth of the underwater dredging robot body 5 in real time and provides feedback. This allows the control module inside the underwater dredging robot body 5 to start the reversible air pump 13, which, in conjunction with the air pressure monitoring function of the pressure gauge 14, fills the air tank 11 with gas into the airbag-type float 7, or performs a reverse operation. By changing the air pressure of the airbag-type float 7, the buoyancy of the outer wall of the underwater dredging robot body 5 can be adjusted, facilitating descent or ascent and enhancing its applicability. In addition, by independently arranging a drive housing 12 and two propellers 8 on the front, back, left, and right sides of the underwater dredging robot body 5, a propulsion mechanism can be formed. By independently controlling the speed and direction of the propellers 8 in each direction, three-dimensional vector thrust can be achieved. This allows for flexible adjustment of the device to perform forward thrust, lateral movement, or pitching motion based on the location to be dredged captured by the waterproof and pressure-resistant camera 23. Specifically, by utilizing the driving action of the stepper motor 18 and the monitoring feedback effect of the encoder 17's rotating shaft, the speed and direction of the corresponding propellers 8 can be intelligently controlled. Furthermore, the activation of each stepper motor 18 can drive the rotation of the propellers 8 on the drive wheel 21 and driven wheel 19. By setting two sets of moving propellers 8 in each of the four directions (front, back, left, and right), the propulsion effect is improved and the energy utilization rate is high.

Claims

1. A propeller-driven underwater dredging robot, characterized in that, The system includes an underwater dredging robot body (5), to which a remote controller (3) is externally connected. A waterproof and pressure-resistant camera (23) and a sonar sensor (24) are sequentially installed at the bottom of the underwater dredging robot body (5). A drive housing (12) is uniformly fixed to the inner wall of the underwater dredging robot body (5). A stepper motor (18) is fixed to the outer wall of the drive housing (12). An active wheel (21) is connected to the output end of the stepper motor (18). A driven wheel (19) is movably connected inside the drive housing (12) at one end of the active wheel (21). A transmission belt (20) connects the driven wheel (19) and the active wheel (21). A propeller (8) is fixed to both the driven wheel (19) and the active wheel (21). An airbag-type float (7) is uniformly fixed on the outer wall of the underwater dredging robot body (5). A main connecting air pipe (6) is connected to the airbag-type float (7). An internal air tank (11) is fixed inside the underwater dredging robot body (5). A reversible air pump (13) is installed between the internal air tank (11) and the main connecting air pipe (6). A pressure gauge (14) is installed on the main connecting air pipe (6). An internal suction pipe (4) and an internal sludge tank (10) are fixed inside the underwater dredging robot body (5) in sequence. An internal suction pump (16) is installed between the internal sludge tank (10) and the internal suction pipe (4). A filter drain pipe (15) and an external suction hose (2) are installed on the top of the internal suction pipe (4) in sequence. An external suction pump (1) is installed on the external suction hose (2).

2. The propeller-driven underwater dredging robot according to claim 1, characterized in that: The drive housing (12) is distributed sequentially in the front, back, left, and right directions of the underwater dredging robot body (5).

3. The propeller-driven underwater dredging robot according to claim 1, characterized in that: The outer sidewalls of the driven wheel (19) and the driving wheel (21) and the inner sidewall of the transmission belt (20) are all provided with a limiting tooth layer.

4. The propeller-driven underwater dredging robot according to claim 1, characterized in that: The propeller (8) is made of carbon fiber reinforced polymer.

5. The propeller-driven underwater dredging robot according to claim 1, characterized in that: A motor (9) is uniformly fixed on the outer wall of the inner suction pipe (4), and a rubber sealing layer is provided between the motor (9) and the inner suction pipe (4).

6. The propeller-driven underwater dredging robot according to claim 5, characterized in that: The output end of the motor (9) is connected to a crushing roller (22), and the outer wall of the crushing roller (22) is coated with a fluoropolymer coating.

7. The propeller-driven underwater dredging robot according to claim 1, characterized in that: An encoder (17) is installed between the stepper motor (18) and the drive wheel (21).

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