A float and sink device for an underwater robot

Abstract

This utility model relates to the field of underwater robot technology, and more particularly to a buoyancy device for an underwater robot. It includes a robot body with floats attached to both its front and rear ends. The floats are fully sealed, and their surfaces are covered with semi-cylindrical limit covers. Positioning seats are fixedly installed on both sides of the robot body, and water storage bags are mounted on these seats. Clamping seats are provided on the surface of the water storage bags, with both the inward-facing sides of the positioning seats and clamping seats being curved surfaces. The water storage bags are cylindrical. This design, by employing fully sealed floats with a hollow interior, generates sufficient buoyancy to ensure the underwater robot can stably float after the water storage bags are completely emptied. This design avoids pulling on the robot's cables during buoyancy, reducing the risk of equipment damage.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a buoyancy device for underwater robots. Background Technology

[0002] Underwater robots play a vital role in fields such as marine science, underwater engineering, and environmental monitoring. They are particularly widely used in shallow water areas up to 100 meters deep due to their flexibility and efficiency.

[0003] Underwater robots can be categorized into different types based on their design and purpose, such as shallow-water robots, mid-water robots, deep-water robots, and ultra-deep-water robots. Different types of underwater robots have varying diving depths and operational capabilities to adapt to different application scenarios. According to the patent announcement number "CN221477504U", a buoyancy device and an underwater robot are disclosed. The buoyancy device features a counterweight that moves synchronously with the piston at its piston end. This counterweight balances the weight at both ends of the buoyancy body's cavity when it is filled with water and when it is empty. Specifically, when the cavity is filled with water, the counterweight follows the piston to the open end of the cavity, thus balancing the weight of the counterweight and the drive mechanism. When the cavity is empty, the counterweight follows the piston to the inlet / outlet end of the cavity, balancing the weight of the drive mechanism. Therefore, the underwater robot does not experience overall weight imbalance, thus not affecting its navigation or operational posture.

[0004] Currently, the recovery of underwater robots typically involves pulling them back from the water by reeling in the cable. While this method is simple and effective, it also presents some potential problems, particularly the risk of cable damage. During recovery, the cable needs to withstand significant mechanical stress, especially when the underwater robot gets stuck or encounters obstacles, the pulling force increases dramatically, potentially causing cable damage or even breakage. Additionally, insufficient counterweight is a common problem during the underwater robot's descent, especially when it needs to reach a certain depth. Insufficient counterweight can prevent the underwater robot from continuing to descend, impacting its operational efficiency and mission completion. Utility Model Content

[0005] The purpose of this invention is to address the aforementioned shortcomings in the existing technology by proposing a buoyancy device for underwater robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a floating and sinking device for an underwater robot, comprising a robot body, wherein floats are attached to both the front and rear ends of the robot body, the floats are fully sealed, and the surface of the floats is covered with a limit cover, the limit cover being semi-cylindrical.

[0007] The robot body has positioning seats fixedly installed on both the left and right sides. A water storage bag is provided on the positioning seat. A clamp is provided on the surface of the water storage bag. The inward side of the positioning seat and the inward side of the clamp are both arc surfaces. The water storage bag is cylindrical.

[0008] Several rope loops are fixed to both sides of the robot body via brackets, and several binding ropes are fixed to the surface of the water storage bag. The end of any binding rope away from the water storage bag is bound to the corresponding rope loop.

[0009] Preferably, a plurality of square rods are fixedly distributed on the outward side of the positioning seat, and an anti-detachment plate is fixedly installed at the other end of the square rods.

[0010] Preferably, a square sleeve corresponding to the position of the square rod is fixed through the surface of the clamp, and the inside of the square sleeve is slidably sleeved with the surface of the square rod.

[0011] Preferably, a spring is wound around the surface of the square rod, and the two ends of the spring are respectively assembled with the end face of the square sleeve and the surface of the anti-detachment plate.

[0012] Preferably, a waterproof sealing pump is fixedly installed on the upper end of the robot body. The inlet flange of the waterproof sealing pump is connected to a pipe. A connection port is fixedly installed through one side of the upper end of the water storage bag. The end of the pipe away from the waterproof sealing pump is connected to the end flange of the connection port.

[0013] Preferably, mounting brackets are symmetrically fixedly installed at both the upper and lower ends of the limiting cover. The mounting brackets are L-shaped and their vertical positions are closely attached to the surface of the robot body.

[0014] Preferably, a plurality of inner sleeves are embedded and fixed on the surface of the mounting bracket, and a threaded post is assembled on the surface of the robot body. The surface of the threaded post is slidably sleeved with the inside of the inner sleeve. A threaded cap is threadedly installed on the surface of the threaded post, and one side of the threaded cap is tightly attached to the end face of the inner sleeve.

[0015] The design scheme proposed in this utility model has the following beneficial effects in application:

[0016] 1. This solution uses a fully sealed float with a hollow interior to generate sufficient buoyancy, ensuring that the underwater robot can float stably after the water storage bag is completely emptied. This design avoids pulling on the robot's cables during the ascent process, reducing the risk of equipment damage. At the same time, the semi-cylindrical limiting cover covering the surface of the float can effectively fix the position of the float, preventing it from moving or shifting in the water, thereby improving the stability and reliability of the overall structure.

[0017] 2. This solution uses an arc-shaped design to cover most of the outer area of ​​the water storage bag, achieving stable clamping of the water-filled bag. After being filled with water, the water storage bag acts as a counterweight structure to help the underwater robot maintain its diving depth. Furthermore, the binding design of the rope and rope loop securely connects the water storage bag to the robot body, effectively preventing it from being lost. At the same time, the connection between the waterproof sealing pump and the water storage bag is connected through a pipe, enabling remote control of water pumping and drainage, thus gradually stabilizing the ascent process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall front structure of this utility model;

[0019] Figure 2 This is a bottom view of the overall bottom of this utility model;

[0020] Figure 3 For the present utility model Figure 2 Enlarged view of point A;

[0021] Figure 4 For the present utility model Figure 1 Enlarged diagram of point B.

[0022] In the diagram: 1. Robot body; 12. Float; 13. Limiting cover; 14. Positioning seat; 15. Clamp; 16. Water storage bag; 17. Rope loop; 18. Binding rope; 2. Square rod; 21. Square sleeve; 22. Anti-detachment plate; 23. Spring; 201. Waterproof sealing pump; 202. Pipe; 203. Connection port; 3. Mounting bracket; 31. Internal sleeve; 32. Threaded column; 33. Threaded cap. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Example 1

[0025] Reference Figures 1-4 A floating and sinking device for an underwater robot includes a robot body 1. Floats 12 are attached to both the front and rear ends of the robot body 1. The floats 12 are fully sealed, and a limiting cover 13 covers the surface of the floats 12. The limiting cover 13 is semi-cylindrical. The floats 12 are made of corrosion-resistant and pressure-resistant plastic material. Through its complete sealing, the interior is hollow, thus giving the floats 12 sufficient buoyancy. This allows the underwater robot to float stably after the water storage bag 16 is completely emptied, without pulling on its own body cable. The limiting cover 13 ensures the stability of the floats 12.

[0026] Positioning seats 14 are fixedly installed on both the left and right sides of the robot body 1. A water storage bag 16 is provided on the positioning seat 14. A clamping seat 15 is provided on the surface of the water storage bag 16. The inward side of the positioning seat 14 and the inward side of the clamping seat 15 are both arc surfaces. The water storage bag 16 is cylindrical. The positioning seat 14 and the clamping seat 15 can ensure the stable positioning and clamping of the water storage bag 16. The positioning seat 14 and the clamping seat 15 cover two-thirds of the outer ring of the water storage bag 16, which can stably clamp the water storage bag 16 filled with water. After the water storage bag 16 is filled with water, it can be used as a counterweight structure to continuously ensure the diving depth of the underwater robot.

[0027] Several rope loops 17 are fixed to both sides of the robot body 1 via brackets. Several binding ropes 18 are fixed to the surface of the water storage bag 16. The end of any binding rope 18 away from the water storage bag 16 is bound to the corresponding rope loop 17. As the water storage bag 16 gradually empties its internal water when the robot body 1 needs to float, the water storage bag 16 will become deflated. At the same time, the clamping ability of the positioning seat 14 and the clamping seat 15 will deteriorate. In order to prevent the deflated water storage bag 16 from separating from the robot body 1, it can be bound to the rope loops 17 by binding ropes 18 to ensure that the water storage bag 16 will not be lost.

[0028] Among them, several square rods 2 are fixedly distributed on the outward side of the positioning seat 14, and an anti-detachment plate 22 is fixedly installed on the other end of the square rods 2. The anti-detachment plate 22 prevents the clamping seat 15 from detaching from the positioning seat 14 when the clamping seat 15 extends and retracts.

[0029] The clamp 15 has a square sleeve 21 that corresponds to the position of the square rod 2. The inside of the square sleeve 21 is slidably sleeved with the surface of the square rod 2. By sliding the square sleeve 21 at multiple positions on the surface of the square rod 2, the horizontal movement of the clamp 15 can be kept stable.

[0030] Among them, a spring 23 is wound around the surface of the square rod 2. The two ends of the spring 23 are respectively assembled with the end face of the square sleeve 21 and the surface of the anti-detachment plate 22. The spring 23 enables the positioning seat 14 and the clamping seat 15 to have a stable clamping effect when clamping the water-filled storage bag 16.

[0031] The robot body 1 is equipped with a waterproof sealing pump 201 fixedly mounted on its upper end. The inlet flange of the waterproof sealing pump 201 is connected to a pipe 202. A connector 203 is fixedly installed through one side of the upper end of the water storage bag 16. The end of the pipe 202 away from the waterproof sealing pump 201 is connected to the end flange of the connector 203. The waterproof sealing pump 201 is connected to the internal processor of the robot body 1 through a wire, enabling remote operation on water. The waterproof sealing pump 201 can effectively withstand water pressure and waterproof the interior. The connector 203 can waterproof the water storage bag 16. Water is pumped by the waterproof sealing pump 201 and drained through the pipe 202, so that the floating process is gradually stabilized.

[0032] The upper and lower ends of the limiting cover 13 are symmetrically fixed with mounting brackets 3. The mounting brackets 3 are L-shaped and are set in close contact with the surface of the robot body 1 in the vertical position. The mounting brackets 3 can fit into the robot body 1 from the upper and lower positions of the limiting cover 13.

[0033] The mounting bracket 3 has several built-in sleeves 31 embedded and fixed on its surface. The robot body 1 has a threaded post 32 mounted on its surface. The surface of the threaded post 32 is slidably connected to the inside of the built-in sleeve 31. A threaded cap 33 is threadedly installed on the surface of the threaded post 32. One side of the threaded cap 33 is tightly attached to the end face of the built-in sleeve 31. When the float 12 needs to be replaced, the threaded cap 33 is rotated so that the threaded cap 33 and the threaded post 32 are threadedly separated. This allows the threaded post 32 to slide off the built-in sleeve 31, thereby enabling the disassembly of the limit cover 13 from the robot body 1.

[0034] In practical implementation: This solution achieves stable buoyancy and descent control of the robot through the synergistic effect of the float 12 and the water storage bag 16. The float 12 adopts a fully sealed structure and is made of corrosion-resistant and pressure-resistant plastic material. The inside is kept hollow, thereby generating sufficient buoyancy. When the water storage bag 16 is completely emptied of the internal water by the waterproof sealing pump 201, the buoyancy of the float 12 is sufficient to overcome the overall weight of the robot, so that the robot can float stably to the water surface and avoid pulling the body cable due to insufficient buoyancy. The limiting cover 13 covers the surface of the float 12. Its semi-cylindrical structure is fixed to the robot body 1 by the mounting bracket 3. The mounting bracket 3 is detachably connected by the sliding fit between the inner sleeve 31 and the threaded column 32 and the locking of the threaded cap 33, ensuring that the position of the float 12 does not shift during operation. At the same time, the water storage bag 16 shrinks in volume after being emptied. It is prevented from detaching from the robot body 1 by the binding of the rope 18 and the rope ring 17, thereby ensuring the reliability of the buoyancy process.

[0035] The water storage bag 16 has a cylindrical structure. Water is injected into it through the waterproof sealing pump 201 via the pipe 202 and the connector 203. Once it is full, it becomes a counterweight, increasing the overall weight of the robot to enable it to dive. The positioning seat 14 and the clamp 15 together cover two-thirds of the outer ring of the water storage bag 16. The sliding cooperation between the square sleeve 21 and the square rod 2 ensures that the clamp 15 moves horizontally and stably. The spring 23 applies continuous pressure to keep the clamping structure tightly attached to the surface of the water storage bag 16. The anti-detachment plate 22 prevents the clamp 15 from detaching from the square rod 2.

[0036] The waterproof sealing pump 201 is fixed to the upper end of the robot body 1. Its water inlet end is connected to the flange of the connection port 203 at the upper end of the water storage bag 16 through the pipe 202. The pumping and draining operations are controlled by the internal processor of the robot. When floating, the waterproof sealing pump 201 gradually drains the water in the water storage bag 16 to reduce the counterweight and make the buoyancy of the float 12 dominant. When diving, it injects water in the opposite direction to increase the weight. The limit cover 13 is connected to the robot body 1 through the mounting bracket 3. The inner sleeve 31 and the threaded column 32 are slidably connected. The threaded cap 33 is locked and fixed. When the float 12 needs to be replaced, the threaded cap 33 can be loosened to remove it. The sliding structure of the square rod 2 and the square sleeve 21, together with the spring 23, ensures that the clamping force adapts to the volume change of the water storage bag 16. The anti-detachment plate 22 prevents the components from separating.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A float and sink device for an underwater robot, comprising a robot body (1), characterized in that: The robot body (1) has floats (12) attached to both the front and rear ends. The floats (12) are fully sealed. The surface of the floats (12) is covered with a limit cover (13). The limit cover (13) is semi-cylindrical. The robot body (1) has a positioning seat (14) fixedly installed on both the left and right sides. A water storage bag (16) is provided on the positioning seat (14). A clamp (15) is provided on the surface of the water storage bag (16). The inward side of the positioning seat (14) and the inward side of the clamp (15) are both arc surfaces. The water storage bag (16) is cylindrical. The robot body (1) has several rope loops (17) fixed on both sides by brackets, and several binding ropes (18) are fixed on the surface of the water storage bag (16). The end of any binding rope (18) away from the water storage bag (16) is bound to the corresponding rope loop (17).

2. The buoyancy device for an underwater robot according to claim 1, characterized in that: Several square rods (2) are fixedly distributed on the outward side of the positioning seat (14), and an anti-detachment plate (22) is fixedly installed at the other end of the square rods (2).

3. The buoyancy device for an underwater robot according to claim 2, characterized in that: The surface of the clamp (15) is fixed with a square sleeve (21) corresponding to the position of the square rod (2), and the inside of the square sleeve (21) is slidably sleeved with the surface of the square rod (2).

4. A buoyancy device for an underwater robot according to claim 3, characterized in that: A spring (23) is wound around the surface of the square rod (2), and the two ends of the spring (23) are respectively assembled with the end face of the square sleeve (21) and the surface of the anti-detachment plate (22).

5. A buoyancy device for an underwater robot according to claim 4, characterized in that: The upper end of the robot body (1) is fixedly equipped with a waterproof sealing pump (201), and the inlet flange of the waterproof sealing pump (201) is connected to a pipe (202). A connector (203) is fixedly installed through one side of the upper end of the water storage bag (16), and the end of the pipe (202) away from the waterproof sealing pump (201) is connected to the end flange of the connector (203).

6. A buoyancy device for an underwater robot according to claim 5, characterized in that: The upper and lower ends of the limiting cover (13) are symmetrically fixed with mounting brackets (3). The mounting brackets (3) are L-shaped and are set in close contact with the surface of the robot body (1) in the vertical position.

7. A buoyancy device for an underwater robot according to claim 6, characterized in that: The mounting bracket (3) has several built-in sleeves (31) embedded and fixed on its surface. The robot body (1) is equipped with a threaded column (32). The surface of the threaded column (32) is slidably connected to the inside of the built-in sleeve (31). The surface of the threaded column (32) is threaded with a threaded cap (33). One side of the threaded cap (33) is tightly attached to the end face of the built-in sleeve (31).

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