Sonar lifting structure for underwater robot

Abstract

The utility model relates to underwater robot technical field, concretely is a kind of underwater robot is used sonar lifting structure, include: robot body, robot body center is equipped with automatic telescopic link by sealing box, and the protective sleeve is equipped in the lower portion of sealing box and located in the middle part of robot body, and the movable rod end of automatic telescopic link is inserted into protective sleeve and is connected with guide piston, and sonar is installed in the bottom surface of guide piston through mounting bracket, and automatic telescopic link works, can drive sonar to extend or retract protective sleeve by guide piston.The utility model, by guide piston cooperation protective sleeve, limit the shaking of automatic telescopic link end, guarantee the stability and detection accuracy of sonar;Sonar is retracted protective sleeve using automatic telescopic link, when robot fast movement, can avoid knock, and can reduce moving resistance;By setting drain, can reduce guide piston moving resistance, guarantee lifting accuracy.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, specifically to a sonar lifting structure for underwater robots. Background Technology

[0002] An underwater robot is a device used for ocean exploration, underwater operations, and observation. It is typically equipped with cameras and searchlights for observation. In some special working scenarios, sonar equipment is also used for underwater terrain detection and obstacle avoidance in environments with poor visibility.

[0003] Due to the size limitations of robots, sonar is currently installed far from the robot body to avoid its own noise and interference from the carrier. However, during robot deployment, retrieval, or high-speed relocation, sonar devices protruding from the body pose a collision risk and increase the robot's drag. Some robots use lifting rods or similar devices to raise and lower the sonar, but in actual use, the lifting rods or lifting frames vibrate slightly due to water flow and robot movement, affecting the sonar's detection accuracy. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a sonar lifting structure for underwater robots.

[0005] The technical solution of this utility model is:

[0006] A sonar lifting structure for an underwater robot includes: The robot body has an automatic telescopic rod installed at its center via a sealed box. A protective sleeve is located below the sealed box and in the middle of the robot body. The movable end of the automatic telescopic rod is inserted into the protective sleeve and connected to a guide piston. A sonar is installed on the bottom surface of the guide piston via a mounting bracket. When the automatic telescopic rod is working, it can drive the sonar to extend or retract the protective sleeve through the guide piston.

[0007] Preferably, the sealing box includes a drive box, a sealing plate is detachably installed at the bottom of the drive box, and the automatic telescopic rod is fixedly installed on the top surface of the sealing plate and located inside the drive box.

[0008] Preferably, the sealing plate has a sealing sleeve at the center of its bottom surface, a sealing cap at the end of the sealing sleeve, a sealing element in the sealing sleeve, and the automatic telescopic rod passes through the sealing sleeve, the sealing element, and the sealing cap.

[0009] Preferably, a limiting ring is provided on the inner side of the bottom end of the protective sleeve, and the limiting ring is used to limit the movement distance of the guide piston.

[0010] Preferably, the top of the protective sleeve is provided with several drainage holes, which are axially divided into two layers. The upper layer is a horizontal hole, and the lower layer of drainage holes is inclined outward and downward at 30-60°.

[0011] Preferably, the drain hole described below is flush with the top dead center of the guide piston.

[0012] Preferably, an angle adjustment mechanism is provided between the mounting bracket and the sonar, which can be used to adjust the angle of the sonar before it is launched into the water.

[0013] Compared with the prior art, the beneficial effects of this utility model are: This invention utilizes a guide piston in conjunction with a protective sleeve to limit the swaying of the end of the automatic telescopic rod, ensuring the stability and detection accuracy of the sonar; the automatic telescopic rod retracts the sonar into the protective sleeve, preventing collisions and reducing movement resistance when the robot moves rapidly; and by setting a drainage outlet, the movement resistance of the guide piston can be reduced, ensuring lifting accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a first cross-sectional view of the overall structure of this utility model; Figure 3 This is a second cross-sectional view of the overall structure of this utility model; Figure 4 This is an exploded view of the lifting component structure in this utility model; Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0015] The meanings of the labels in the diagram are as follows: 1. Robot body; 2. Drive box; 3. Sealing plate; 4. Automatic telescopic rod; 5. Sealing sleeve; 6. Seal; 7. Sealing cover; 8. Protective sleeve; 9. Limiting ring; 10. Guide piston; 11. Mounting bracket; 12. Guide groove; 13. Sonar; 14. Rotating shaft; 15. Guide rod; 16. Locking nut; 17. Drain hole. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1: Please see Figure 1-5 The present invention will describe the above technical solution in detail through the following embodiments: A sonar lifting structure for an underwater robot includes: The robot body 1 has an automatic telescopic rod 4 installed at its center through a sealed box. A protective sleeve 8 is located below the sealed box and in the middle of the robot body 1. The movable end of the automatic telescopic rod 4 is inserted into the protective sleeve 8 and connected to a guide piston 10. A sonar 13 is installed on the bottom surface of the guide piston 10 through a mounting bracket 11. When the automatic telescopic rod 4 is working, it can drive the sonar 13 to extend or retract the protective sleeve 8 through the guide piston 10.

[0018] The sealing box is used to protect the automatic telescopic rod 4 and prevent water from entering the automatic telescopic rod 4.

[0019] The sealed box can also be equipped with devices to control the sonar 13, which are connected to the sonar 13 via wires.

[0020] The wire can be placed inside the protective sleeve 8, and the wire needs to be flexible.

[0021] The sealing box includes a drive box 2, and a sealing plate 3 is detachably installed at the bottom of the drive box 2. An automatic telescopic rod 4 is fixedly installed on the top surface of the sealing plate 3 and located inside the drive box 2.

[0022] The drive box 2 is fixedly connected to the robot body 1 with screws, and the opening faces downward.

[0023] The sealing plate 3 is fixedly connected to the drive box 2 by screws and is used to seal the drive box 2.

[0024] A sealing sleeve 5 is provided at the center of the bottom surface of the sealing plate 3. A sealing cover 7 is provided at the end of the sealing sleeve 5. A sealing element 6 is provided in the sealing sleeve 5. An automatic telescopic rod 4 passes through the sealing sleeve 5, the sealing element 6 and the sealing cover 7.

[0025] Seal 6 is used for dynamic sealing of the automatic telescopic rod 4 to prevent water leakage when the movable rod of the automatic telescopic rod 4 extends or retracts. Sealing cap 7 is used to prevent seal 6 from detaching.

[0026] A limiting ring 9 is provided on the inner side of the bottom end of the protective sleeve 8. The limiting ring 9 is used to limit the movement distance of the guide piston 10.

[0027] The limiting ring 9 can prevent the guide piston 10 from moving excessively and causing it to disengage from the protective sleeve 8.

[0028] The top of the protective sleeve 8 is provided with several drainage holes 17. The drainage holes 17 are divided into two layers axially. The upper layer is a horizontal hole, and the lower layer of drainage holes 17 is inclined outward and downward at 30-60°.

[0029] When the guide piston 10 descends, external water can enter the protective sleeve 8 through the drain hole 17. When the guide piston 10 rises, the water on the top of the guide piston 10 can be discharged through the drain hole 17, ensuring that the pressure on the upper and lower sides of the guide piston 10 is balanced.

[0030] The lower drain hole 17 is flush with the top dead center of the guide piston 10.

[0031] The drain hole 17 is provided in two layers. After the robot body 1 leaves the water surface, the pressure difference can be used to discharge the water above the top surface of the guide piston 10 through the lower drain hole 17, reducing water residue.

[0032] An angle adjustment mechanism is provided between the mounting bracket 11 and the sonar 13, which can be used to adjust the angle of the sonar 13 before it is launched into the water.

[0033] The angle adjustment mechanism includes a rotating shaft 14 and a guide rod 15. The rotating shaft 14 is located on the left and right sides of the middle of the sonar 13, and the guide rod 15 is located on the left and right sides of the tail of the sonar 13.

[0034] The sonar 13 is rotatably connected to the mounting bracket 11 via a rotating shaft 14.

[0035] The mounting bracket 11 is provided with an arc-shaped guide groove 12. The guide rod 15 is inserted into the guide groove 12 and can slide along the guide groove 12. By adjusting the position of the guide rod 15, the angle of the sonar 13 can be changed.

[0036] When the angle is vertically downward, it is more advantageous for terrain detection; when the angle is 0-30°, it is more advantageous for detecting obstacles ahead; and when the angle is 30-60°, it can take into account both obstacle detection and terrain detection.

[0037] The end of the guide rod 15 is threaded through the guide groove 12 and connected to a locking nut 16. By tightening the locking nut 16, the rotation of the sonar 13 can be prevented.

[0038] For locking nuts 16, wing nuts are preferred.

[0039] Working principle: In operation, the automatic telescopic rod 4 is extended, and the sonar 13 is driven to descend via the guide piston 10. When the guide piston 10 abuts against the limit ring 9, the sonar 13 extends out of the protective sleeve 8, allowing it to perform detection under unobstructed conditions.

[0040] When the guide piston 10 descends, external water can enter the upper part of the protective sleeve 8 through the drain hole 17 to ensure pressure balance.

[0041] When the work is completed, during the robot deployment, retrieval, or high-speed transfer phase, the automatic telescopic rod 4 is retracted and raised to the piston 10. The sonar 13 is retracted into the protective sleeve 8 and protected from impact.

[0042] Water at the top of the protective sleeve 8 will be discharged from the drain hole 17 to ensure pressure balance.

[0043] When the robot body 1 is being retrieved, the robot body 1 leaves the water surface. The water remaining on the upper part of the protective sleeve 8 will be discharged from the lower drain hole 17 due to the pressure difference between the upper and lower drain holes 17.

[0044] Before deployment, the automatic telescopic rod 4 can be extended to extend the sonar 13 out of the protective sleeve 8.

[0045] Loosen the locking nut 16, adjust the angle of the sonar 13 according to the task requirements, tighten the locking nut 16 again, and finally control the automatic telescopic rod 4 to retract, so that the sonar 13 is retracted into the protective sleeve 8.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A sonar lifting structure for an underwater robot, characterized in that, include: The robot body (1) has an automatic telescopic rod (4) installed in the center of the robot body (1) through a sealed box. A protective sleeve (8) is provided below the sealed box and in the middle of the robot body (1). The movable end of the automatic telescopic rod (4) is inserted into the protective sleeve (8) and connected to a guide piston (10). A sonar (13) is installed on the bottom surface of the guide piston (10) through a mounting bracket (11). When the automatic telescopic rod (4) is working, it can drive the sonar (13) to extend or retract the protective sleeve (8) through the guide piston (10).

2. The sonar lifting structure for an underwater robot as described in claim 1, characterized in that: The sealing box includes a drive box (2), and a sealing plate (3) is detachably installed at the bottom of the drive box (2). The automatic telescopic rod (4) is fixedly installed on the top surface of the sealing plate (3) and located inside the drive box (2).

3. The sonar lifting structure for an underwater robot as described in claim 2, characterized in that: The sealing plate (3) has a sealing sleeve (5) at the center of its bottom surface, a sealing cap (7) at the end of the sealing sleeve (5), a sealing element (6) on the sealing sleeve (5), and the automatic telescopic rod (4) passes through the sealing sleeve (5), the sealing element (6) and the sealing cap (7).

4. The sonar lifting structure for an underwater robot as described in claim 1, characterized in that: The protective sleeve (8) is provided with a limiting ring (9) on the inner side of its bottom end. The limiting ring (9) is used to limit the movement distance of the guide piston (10).

5. The sonar lifting structure for an underwater robot as described in claim 1, characterized in that: The top of the protective sleeve (8) is provided with several drainage holes (17). The drainage holes (17) are divided into two layers in the axial direction. The upper layer is a horizontal hole, and the lower layer drainage holes (17) are inclined outward and downward at 30-60°.

6. The sonar lifting structure for an underwater robot as described in claim 5, characterized in that: The drain hole (17) below is flush with the top dead center of the guide piston (10).

7. The sonar lifting structure for an underwater robot as described in claim 1, characterized in that: An angle adjustment mechanism is provided between the mounting bracket (11) and the sonar (13), which can be used to adjust the angle of the sonar (13) before it is launched into the water.

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