An underwater oil cleaning robot balance degree detection device

Abstract

The utility model discloses a kind of underwater pollution cleaning robot balance degree detection devices, belong to robot detection technical field, including detection frame, detection plate and detection assembly;Detection assembly includes support, detection telescopic part and detection ball head;The independent telescopic control of detection telescopic part is implemented in the present application Dynamic adjustment to detection ball head support surface, so that detection platform can simulate the stress change caused by water flow disturbance in vertical and horizontal two directions, to accurately reproduce the stress state under complex working condition.The structure not only can realize the comprehensive evaluation to the posture stability of pollution cleaning robot, gravity adjustment capability and anti-overturning performance, but also can improve the authenticity and reliability of balance detection result.

Description

Technical Field

[0001] This utility model relates to the field of robot detection technology, specifically to a balance detection device for an underwater cleaning robot. Background Technology

[0002] With the rapid development of underwater operation technology, underwater cleaning robots have been widely used in port dredging, reservoir maintenance, ship cleaning, water intake decontamination, and nuclear power plant cooling system maintenance. These robots typically achieve autonomous underwater movement through propellers or jet propulsion systems, and work in conjunction with cameras, robotic arms, and other actuators to complete cleaning operations. Their operational stability directly affects the cleaning effectiveness and equipment safety.

[0003] Existing underwater cleaning robots mostly employ multi-propeller structures or adsorption mechanisms, such as the underwater cleaning robot disclosed in CN223312536U, to achieve autonomous operation at different depths and in complex flow fields. However, in actual use, due to factors such as water flow disturbance, changes in adsorption force, and the shift between the robot's buoyancy center and center of gravity, the equipment is prone to problems such as unstable posture, tilting, or even tipping over, resulting in deviations in the cleaning path, reduced operational accuracy, or adsorption failure.

[0004] To address these issues, some systems integrate attitude sensors within the robot to detect parameters such as pitch and roll angles, thereby indirectly assessing its balance. However, this detection method relies on electronic sensor data, which is susceptible to water flow impacts, electromagnetic interference, and sensor drift, resulting in low accuracy and failing to visually reflect the robot's actual force and balance state in the external environment.

[0005] Furthermore, traditional testing methods mostly use fixed platform structures, which can only detect the robot's balance in a static state and cannot simulate attitude changes under dynamic underwater conditions. As underwater operations become more complex, existing testing methods are no longer sufficient to accurately assess the robot's multi-pose, multi-angle, and dynamic balance performance.

[0006] Therefore, existing underwater cleaning robot detection systems cannot effectively simulate the attitude balance state in complex water flow environments, nor can they detect and evaluate the dynamic balance of the robot under different working conditions. This not only affects the accuracy of equipment debugging and calibration, but also limits the reliability of the robot's operation in complex waters. Utility Model Content

[0007] The purpose of this invention is to provide a balance detection device for underwater cleaning robots, which solves the problem that existing detection equipment cannot effectively simulate the force state under complex water flow environment, and that it is difficult to accurately detect and evaluate the balance performance of robots under different postures, angles and dynamic working conditions.

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A balance detection device for an underwater cleaning robot includes: Detection frame; A detection plate is horizontally positioned within the detection frame to divide the detection frame into a detection space and a drainage space. The detection space is located above the drainage space; the detection plate has several evenly arranged detection holes along its vertical direction; The detection assembly is located below the detection hole and includes a bracket, a detection telescopic component, and a detection ball head; The bracket is fixed to the detection frame and located within the drainage space; The detection telescopic component is vertically arranged on the bracket and has an upward-facing telescopic end; The detection ball head is fixed to the telescopic end; The detection telescopic component can extend and retract independently to drive the corresponding detection ball head to form an adjustable concave-convex distribution structure within the detection space.

[0009] A further technical solution is that the detection frame includes an upper frame and a lower frame; the detection plate is fixed to the upper end of the lower frame; a sealing ring groove is opened at the upper end of the lower frame; and the bottom end of the upper frame is engaged in the sealing ring groove by a sealing ring block.

[0010] A further technical solution is that a waterproof rubber frame strip is provided inside the sealing ring groove.

[0011] A further technical solution is that the detection frame is provided with a partition plate located within the detection space; the detection frame is provided with an adjustment component for adjusting the position of the partition plate.

[0012] A further technical solution is that the adjustment assembly includes an adjustment frame, an adjustment block, and an adjustment component; the adjustment frame is horizontally mounted on the detection frame; the adjustment frame has a horizontally arranged sliding groove; the adjustment block is slidably mounted in the sliding groove and fixed to the upper end of the partition plate.

[0013] A further technical solution is that the partition plate has horizontally arranged drainage holes.

[0014] A further technical solution is that the adjusting component includes a lead screw and a motor; one end of the lead screw is threaded through the adjusting block and rotatably connected to the side wall of the slide groove; the motor is fixed on the adjusting frame, and the power end of the motor rotatably extends into the slide groove and is coaxially fixed with the other end of the lead screw.

[0015] A further technical solution is that the lower side of the detection plate is provided with a waterproof rubber ring coaxial with the detection hole; the telescopic end slides through the waterproof rubber ring.

[0016] Compared with the prior art, the beneficial effects of this utility model are: This application achieves dynamic adjustment of the ball head support surface by independently controlling the telescopic extension of the detection telescopic component. This allows the detection platform to simulate force changes caused by water flow disturbance in both vertical and horizontal directions, thereby accurately reproducing the force state under complex working conditions. This structure not only enables a comprehensive evaluation of the posture stability, center of gravity adjustment capability, and anti-tipping performance of the cleaning robot, but also improves the authenticity and reliability of the balance detection results. Attached Figure Description

[0017] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a three-dimensional drawing of the present invention.

[0018] Figure 2 This is a three-dimensional structural view of the lower frame of this utility model.

[0019] Figure 3 This utility model Figure 2 A magnified view of a portion of point A in the middle.

[0020] Figure 4 This is a three-dimensional view of the detection component of this utility model.

[0021] Figure 5 This utility model Figure 4 A magnified view of a section at point B in the middle.

[0022] Figure 6 This is a three-dimensional view of the adjustment component of this utility model.

[0023] Icons: Detection frame 1, upper frame 11, lower frame 12, sealing ring groove 121, waterproof rubber frame strip 122, detection plate 2, detection hole 21, waterproof rubber ring 22, detection component 3, bracket 31, detection telescopic component 32, detection ball head 33, partition plate 4, drainage hole 41, adjustment component 5, adjustment frame 51, adjustment block 52, lead screw 53, motor 54. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model. Example

[0025] like Figures 1-6 As shown, this utility model provides a balance detection device for an underwater cleaning robot, including a detection frame 1, a detection plate 2, and a detection component 3. The detection plate 2 is horizontally arranged inside the detection frame 1, dividing the detection frame 1 into a detection space and a drainage space. The detection space is located above the drainage space. Several evenly arranged detection holes 21 are vertically opened on the detection plate 2. The detection component 3 is located below the detection holes 21 and includes a support 31, a detection telescopic component 32, and a detection ball head 33. The support 31 is fixed on the detection frame 1 and located in the drainage space. The detection telescopic component 32 is vertically arranged on the support 31 and has an upwardly oriented telescopic end. The detection ball head 33 is fixed on the telescopic end. The detection telescopic component 32 can extend and retract independently to drive the corresponding detection ball head 33 to form an adjustable concave-convex distribution structure in the detection space, thereby simulating complex underwater terrain or stress environment, and is used to detect the balance performance of the cleaning robot under different support states.

[0026] The principles and beneficial effects of the above technical solution: In practical applications, the uncertainty of the underwater flow field and the transient changes in the adsorption force often lead to robot instability, center of gravity shift or local tilt. Traditional detection platforms can only perform static detection in a planar environment and cannot reflect the robot's balance performance under different angles, different postures and dynamic water flow.

[0027] This solution sets up multiple independently controllable telescopic components 32 inside the detection frame 1, enabling the detection ball head 33 to form an adjustable concave-convex terrain structure within the detection space, thereby simulating the multi-point uneven support and water flow impact force distribution experienced by the cleaning robot in a complex underwater environment.

[0028] In this embodiment, the detection frame 1 includes an upper frame 11 and a lower frame 12; the detection plate 2 is fixed to the upper end of the lower frame 12; a sealing ring groove 121 is opened at the upper end of the lower frame 12; the bottom end of the upper frame 11 is snapped into the sealing ring groove 121 by a sealing ring block; a waterproof rubber frame strip 122 is provided in the sealing ring groove 121.

[0029] The principles and beneficial effects of the above technical solution: The frame and lower frame 12 are designed as separate structures, which facilitates the disassembly and maintenance of the testing space; the arrangement of the waterproof rubber frame strip 122 can effectively prevent water leakage between the testing space and the drainage space, ensuring the airtightness and stability of the testing environment.

[0030] In this embodiment, the detection frame 1 is provided with a partition plate 4 located in the detection space; the detection frame 1 is provided with an adjustment component 5 for adjusting the position of the partition plate 4; the adjustment component 5 includes an adjustment frame 51, an adjustment block 52 and an adjustment element; the adjustment frame 51 is horizontally arranged on the detection frame 1; the adjustment frame 51 has a horizontally arranged slide groove; the adjustment block 52 is slidably arranged in the slide groove and fixed to the upper end of the partition plate 4; the adjustment element includes a lead screw 53 and a motor 54; one end of the lead screw 53 is threaded through the adjustment block 52 and rotatably connected to the side wall of the slide groove; the motor 54 is fixed on the adjustment frame 51, and the power end of the motor 54 rotatably extends into the slide groove and is coaxially fixed to the other end of the lead screw 53; the motor 54 is a servo motor 54.

[0031] The principles and beneficial effects of the above technical solution: By setting a horizontally movable partition 4 within the detection space, and cooperating with the motor 54 to drive the lead screw 53 to form an adjustment component 5, the effective range of the detection space can be flexibly changed. When detecting robots of different sizes or with different center of gravity distributions, the partition 4 can automatically adjust its position to achieve precise definition of the detection area.

[0032] In addition, by driving the lead screw 53 to move the adjusting block 52 through the motor 54, the partition plate 4 can be smoothly pushed to move along the slide, so that the direction of water flow disturbance and fluid pressure distribution inside the detection space can be controlled, thereby realizing the simulation of the robot's balance state under different hydrodynamic environments.

[0033] In this embodiment, the partition plate 4 has horizontally arranged drainage holes 41.

[0034] The principles and beneficial effects of the above technical solution: The partition plate 4 has horizontally arranged drainage holes 41, which can reduce water resistance when the partition plate 4 moves, avoid the formation of a large water pressure difference, and thus reduce the load on the adjustment drive.

[0035] In this embodiment, a waterproof rubber ring 22 coaxial with the detection hole 21 is provided on the lower side of the detection plate 2; the telescopic end slides through the waterproof rubber ring 22.

[0036] The principles and beneficial effects of the above technical solution: The waterproof rubber ring 22 can form a reliable water seal structure while ensuring the flexibility of telescopic movement, preventing water in the drainage space from flowing up into the detection space along the telescopic hole, and maintaining the pressure and fluid stability of the detection environment.

[0037] Although the present invention has been described herein with reference to several illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter combination within the scope of the disclosure, drawings, and claims. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A balance detection device for an underwater cleaning robot, characterized in that, include: Detection frame; A detection plate is horizontally positioned within the detection frame to divide the detection frame into a detection space and a drainage space. The detection space is located above the drainage space; the detection plate has several evenly arranged detection holes along its vertical direction; The detection assembly is located below the detection hole and includes a bracket, a detection telescopic component, and a detection ball head; The bracket is fixed to the detection frame and located within the drainage space; The detection telescopic component is vertically arranged on the bracket and has an upward-facing telescopic end; The detection ball head is fixed to the telescopic end; The detection telescopic component can extend and retract independently to drive the corresponding detection ball head to form an adjustable concave-convex distribution structure within the detection space.

2. The underwater cleaning robot balance detection device according to claim 1, characterized in that: The detection frame includes an upper frame and a lower frame; the detection plate is fixed to the upper end of the lower frame; a sealing ring groove is opened at the upper end of the lower frame; the bottom end of the upper frame is engaged in the sealing ring groove by a sealing ring block.

3. The underwater cleaning robot balance detection device according to claim 2, characterized in that: The sealing ring groove is equipped with a waterproof rubber frame strip.

4. The underwater cleaning robot balance detection device according to claim 1, characterized in that: The detection frame is provided with a partition plate located within the detection space; the detection frame is provided with an adjustment component for adjusting the position of the partition plate.

5. The underwater cleaning robot balance detection device according to claim 4, characterized in that: The adjustment assembly includes an adjustment frame, an adjustment block, and an adjustment component; the adjustment frame is horizontally mounted on the detection frame; the adjustment frame has a horizontally arranged sliding groove; the adjustment block is slidably mounted in the sliding groove and fixed to the upper end of the partition plate.

6. The underwater cleaning robot balance detection device according to claim 4, characterized in that: The partition plate has horizontally arranged drainage holes.

7. The underwater cleaning robot balance detection device according to claim 5, characterized in that: The adjusting component includes a lead screw and a motor; one end of the lead screw is threaded through the adjusting block and rotatably connected to the side wall of the slide groove; the motor is fixed on the adjusting frame, and the power end of the motor rotatably extends into the slide groove and is coaxially fixed with the other end of the lead screw.

8. The underwater cleaning robot balance detection device according to claim 1, characterized in that: The lower side of the detection plate is provided with a waterproof rubber ring coaxial with the detection hole; the telescopic end slides through the waterproof rubber ring.

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