Underwater robot with rapidly exchangeable multi-parameter sensor integrated assembly

Abstract

The utility model discloses an underwater robot of quick replacement multi -parameter sensor integrated assembly relates to underwater robot technical field, wherein, underwater robot of quick replacement multi -parameter sensor integrated assembly includes main casing, lock pin mechanism and sensor store, and the sealing end cover place of main casing has integrated wet plug -in socket, the front end of sensor store is around the distribution with a plurality of mounting through -hole, can supply a plurality of sensor installation, the front end of sensor store is equipped with elastic sealing structure, and the elastic sealing structure is equipped with an elastic hole to every mounting through -hole, and the front end of sensor store is inserted with wet plug -in socket, and is locked the main casing with sensor store through lock pin mechanism, and wet plug -in socket supports the elastic sealing structure. The technical scheme provided by the utility model can promote the sensor of underwater robot's installation and removal efficiency.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to an underwater robot with a rapidly replaceable multi-parameter sensor integrated component. Background Technology

[0002] Currently, there are two main methods for installing multi-parameter sensors on underwater robots when conducting water quality monitoring tasks. The first method involves pre-drilling threaded holes or flanges on the outer casing and securing the sensors one by one with screws or clamping rings. The second method involves centrally installing the sensors in a detachable sensor compartment, with the compartment sealed and electrically connected to the main body via flanges and bolts. Regardless of the method used, replacing sensors, reinstalling them, and performing a sealing operation are typically time-consuming processes. Utility Model Content

[0003] The main purpose of this invention is to propose an underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly, aiming to improve the efficiency of sensor installation and removal in underwater robots.

[0004] To achieve the above objectives, the present invention proposes an underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly, comprising:

[0005] The main housing has a wet-plug socket integrated at its sealed end cap;

[0006] Locking mechanism;

[0007] The sensor compartment has multiple mounting through holes arranged circumferentially at its front end, which can accommodate multiple sensors. The front end of the sensor compartment is provided with an elastic sealing structure, and the elastic sealing structure has an elastic hole corresponding to each of the mounting through holes. The front end of the sensor compartment is inserted into the wet plug socket, and the main housing and the sensor compartment are locked by the locking pin mechanism. The wet plug socket presses against the elastic sealing structure.

[0008] In one embodiment, the elastic sealing structure includes an elastic sealing ring and a floating pressure plate stacked along the insertion direction of the sensor compartment.

[0009] In one embodiment, the elastic sealing ring includes a first sealing ring and a second sealing ring, which are respectively disposed on both sides of the floating pressure plate.

[0010] In one embodiment, the floating pressure plate is provided with a plurality of axially extending sliding brackets, and the sensor compartment is provided with a sliding channel corresponding to the sliding brackets, and the sliding brackets are slidably disposed in the sliding channel.

[0011] In one embodiment, with the end face of the sensor compartment as the reference plane, the floating pressure plate moves within a range of ±0.3 mm.

[0012] In one embodiment, the floating pressure plate is made of polytetrafluoroethylene.

[0013] In one embodiment, a locking mechanism is provided on each of the radial sides of the wet plug socket.

[0014] In one embodiment, the main housing is integrally formed.

[0015] In one embodiment, the main housing is made of aluminum.

[0016] In one embodiment, the outer peripheral surface of the main housing is provided with a plurality of weight-reducing grooves.

[0017] The technical solution of this utility model provides an elastic hole corresponding to each mounting through hole on the elastic sealing structure. When multiple sensors are installed into multiple mounting holes, the elastic hole adapts to the expansion or contraction of the sensors, automatically compensating for the outer diameter tolerances of sensors of different specifications and ensuring sealing reliability at a water depth of 100m. Secondly, because the front end of the sensor compartment has an elastic sealing structure, when the sensor compartment and the wet-plug socket are plugged in, they will press against each other to seal the elastic sealing structure, thereby achieving a seal at the connection surface and further improving the sensor's sealing performance. Furthermore, this solution utilizes the front end of the sensor compartment to plug into the wet-plug socket and uses a locking pin mechanism to lock the main housing and the sensor compartment. It can be understood that when the sensor compartment is fully inserted, the sensor compartment and the main housing automatically align and are locked by the locking pin mechanism. Compared to the existing technology's method of using pre-drilled threaded holes or flange faces and relying on flange faces and bolt groups for installation between the sensor compartment and the main body, this solution improves assembly and disassembly efficiency. Furthermore, during insertion, the sensor compartment and the wet-plug socket will press against each other to form an elastic sealing structure, thereby enabling the rapid installation of the main housing and the sensor compartment while ensuring the airtightness of the sensor compartment and the main housing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A partial structural schematic diagram of an embodiment of the underwater robot provided by this utility model.

[0020] Explanation of icon numbers:

[0021] 10. Main housing; 11. Wet plug socket; 20. Sensor compartment.

[0022] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. 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. 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 scope of protection of the present utility model.

[0024] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] Currently, there are two main methods for installing multi-parameter sensors on underwater robots when conducting water quality monitoring tasks. The first method involves pre-drilling threaded holes or flanges on the outer casing and securing the sensors one by one with screws or clamping rings. The second method involves centrally installing the sensors in a detachable sensor compartment, with the compartment sealed and electrically connected to the main body via flanges and bolts. Regardless of the method used, resealing is required after sensor replacement, and this process is typically time-consuming.

[0027] To address the aforementioned issues, this invention proposes an underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly.

[0028] Please see Figure 1 In one embodiment of this utility model, the underwater robot with a quick-change multi-parameter sensor integrated assembly includes a main housing 10, a locking mechanism, and a sensor compartment 20. The sealing end cap of the main housing 10 integrates a wet-plug socket 11. The front end of the sensor compartment 20 is provided with multiple mounting through holes along the circumference, which can accommodate multiple sensors. The front end of the sensor compartment 20 is provided with an elastic sealing structure, and the elastic sealing structure is provided with an elastic hole corresponding to each of the mounting through holes. The front end of the sensor compartment 20 is inserted into the wet-plug socket 11, and the main housing 10 and the sensor compartment 20 are locked by the locking mechanism. The wet-plug socket 11 presses against the elastic sealing structure.

[0029] The technical solution of this utility model is that an elastic hole is provided on the elastic sealing structure corresponding to each of the mounting through holes. When multiple sensors are installed into multiple mounting holes, the elastic hole adapts to the expansion or contraction of the sensors, thereby automatically compensating for the outer diameter tolerances of sensors of different specifications and ensuring sealing reliability at a water depth of 100m. Secondly, because the front end of the sensor chamber 20 has an elastic sealing structure, when the sensor chamber 20 and the wet-plug socket 11 are plugged in, the sensor chamber 20 and the wet-plug socket 11 will press against each other to seal the elastic sealing structure, thereby achieving a seal at the connection surface of the sensor chamber 20 and the wet-plug socket 11, further improving the sealing reliability and the sensor's sealing performance. Furthermore, this solution utilizes the front end of the sensor compartment 20 to connect with the wet-plug socket 11, and uses a locking pin mechanism to lock the main housing 10 and the sensor compartment 20. It can be understood that when the sensor compartment 20 is fully inserted, the sensor compartment 20 and the main housing 10 automatically align and are locked by the locking pin mechanism. Compared to the existing technology's use of pre-drilled threaded holes or flange faces, and the installation of the sensor compartment and the main body relying on flange faces and bolt groups, this solution improves assembly and disassembly efficiency. Moreover, during insertion, the sensor compartment 20 and the wet-plug socket 11 will press against each other to form an elastic sealing structure, thereby achieving rapid installation of the main housing 10 and the sensor compartment 20 while ensuring the airtightness of the sensor compartment 20 and the main housing 10.

[0030] It should be noted that multiple sensors are also known as multi-parameter sensor integrated components.

[0031] Furthermore, the sensor is inserted into the mounting hole.

[0032] Furthermore, the main housing 10 is provided with a dovetail groove, which allows the sensor compartment 20 to slide along the dovetail groove, thereby improving the installation efficiency of the main housing 10 and the sensor compartment 20.

[0033] In one embodiment, the elastic sealing structure includes an elastic sealing ring and a floating pressure plate stacked along the insertion direction of the sensor compartment 20. The floating pressure plate can prevent local overpressure of the elastic sealing ring caused by hard interference. Of course, this solution is not limited to this. In shallow water (<30m) applications, a single sealing ring with a compensation diaphragm can be used to reduce costs.

[0034] Furthermore, a through hole is reserved at the front end of the sensor compartment 20, which, together with the floating pressure plate, ensures that the repeatability error of the sensor end face position is <±0.5mm after each reassembly, thus avoiding wake interference.

[0035] In one embodiment, the elastic sealing ring includes a first sealing ring and a second sealing ring, which are respectively disposed on both sides of the floating pressure plate. It can be understood that the first sealing ring is responsible for the main sealing, while the second sealing ring provides redundant sealing and mud / sand barrier functions. Of course, this solution is not limited to this; in other embodiments, the elastic sealing ring may also include only one sealing ring.

[0036] Optionally, the floating pressure plate is provided with multiple axially extending sliding brackets, and the sensor compartment 20 is provided with sliding channels corresponding to the sliding brackets. The sliding brackets are slidably disposed in the sliding channels. It can be understood that by limiting the movement of the floating pressure plate through the sliding brackets and sliding channels, a buffer can be provided for the radial deviation of the sensor, avoiding local overpressure of the elastic sealing ring caused by hard interference. Experiments show that after 300 cycles at a depth of 0-100m, the sealing ring still shows no signs of failure. Of course, this solution is not limited to this; in other embodiments, the sliding brackets and sliding channels may not be provided.

[0037] Furthermore, in this embodiment, with the end face of the sensor compartment 20 as the reference plane, the movement range of the floating pressure plate is ±0.3mm. It can be understood that the end face of the sensor compartment 20 is provided with a sealing groove, and the elastic sealing structure is partially installed in the sealing groove, which can further improve the sealing performance of the sensor compartment 20 and the main housing 10.

[0038] Optionally, the floating pressure plate is made of polytetrafluoroethylene (PTFE), as PTFE has excellent corrosion resistance, which can improve the service life of the floating pressure plate. Of course, this solution is not limited to this. In other embodiments, the floating pressure plate can also be made of polycarbonate (PC), polyamide (PA), or polyethylene terephthalate (PET).

[0039] Optionally, a locking pin mechanism is provided on each of the radial sides of the wet plug socket 11; this can improve the installation stability of the sensor compartment 20 and the main housing 10.

[0040] It should be noted that in this scheme, radial refers to the radial direction of the main housing 1, circumferential refers to the circumferential direction of the main housing 1, and axial refers to the axial direction of the main housing 10, which is also the insertion direction of the sensor compartment 20.

[0041] The locking mechanism consists of a stainless steel locking pin, a spring, and an external push button. The locking pin is vertically arranged on both sides of the main housing 10 and engages with the semi-circular positioning groove on the sensor compartment 20. During replacement, the operator only needs to press the push buttons on both sides simultaneously. The locking pin retracts against the spring force. After releasing the push buttons, the locking pin pops out under the action of the spring and repositions itself into the groove of the compartment, thus completing the mechanical locking and achieving a quick four-step disassembly and assembly process of "press-pull-insert-lock". The entire process requires no tools and can be completed with bare hands in wet or slippery environments. In other embodiments, the spring locking pin can be replaced with a 90° quick-rotation cam lock or a magnetic-mechanical hybrid lock, while still achieving the purpose of quick disassembly and assembly.

[0042] Insert the sensor into the mounting hole at the front of the sensor compartment 20 and tighten the built-in retaining ring; push it into the main housing 10 along the dovetail slide rail until the locking pin clicks into position; wet plug / socket automatically completes electrical connection; after the robot goes into the water, the main controller obtains sensor data through the bus; the floating pressure plate and sealing ring maintain the seal; it can be understood that the locking pin is only responsible for positioning, the floating pressure plate-first sealing ring-second sealing ring are independently responsible for sealing, and the wet plug / socket 11 / sensor compartment 20 are independently responsible for electrical connection, and the three are independent and uncoupled.

[0043] This solution features three-channel decoupling: mechanical locking, sealing and clamping, and electrical connection.

[0044] When replacement is needed, press the push buttons on both sides to retract the locking pin; use the handle to pull out the sensor compartment 20; insert it into the spare parts compartment until it locks again; the system will automatically recognize the new sensor without restarting.

[0045] In one embodiment, the main housing 10 is integrally formed. This helps to improve the strength and processing efficiency of the main housing.

[0046] In this embodiment, the main housing 10 is made of aluminum. Specifically, the main housing 10 is formed by integral CNC machining of T6-grade aluminum alloy, with 45° dovetail grooves machined on both sides of the bottom surface, allowing it to be directly inserted into the M6 ​​slide rails pre-installed in the robot's keel; the front end of the housing is open. Of course, this solution is not limited to this. In other embodiments, the main housing 10 can be replaced with polyetheretherketone (PEEK) or titanium alloy depending on the corrosive environment.

[0047] Furthermore, the sensor compartment 20 is made of POM (polyoxymethylene) rod material processed into a sleeve-shaped structure. Specifically, the mounting holes are located at the front end of the sensor compartment 20 and are evenly distributed along the circumference. In this embodiment, there are 4 mounting holes, and the type of sensor can be selected according to the task, such as, but not limited to, chlorophyll, dissolved oxygen, pH, turbidity and other sensors.

[0048] Optionally, the outer peripheral surface of the main shell 10 is provided with a plurality of weight-reducing grooves. Specifically, in this embodiment, the weight-reducing grooves extend in the circumferential direction to maintain neutral buoyancy.

[0049] The interface uses a five-pin pluggable underwater wet-plug connector (rated 300V, 10A), with the pin sequence defined as V+, GND, CAN-H, CAN-L, and shared for RS-485A / B. During insertion and removal, the conductive pins are grounded first, then connected to power to prevent transient surges. The rear end of the interface automatically determines whether the connected sensor is RS-485 or CAN via a signal adapter board and completes address allocation within 100ms, achieving true plug-and-play functionality. Employing a "ground-first, power-later" pin sequence and built-in surge suppression, it supports hot-swapping while maintaining IP68 protection.

[0050] The adapter board uses an STM32F4 series MCU, with two onboard isolated RS-485 transceivers and one isolated CAN-FD transceiver. Upon power-up, the main program reads the hardware ID and dynamically configures the baud rate, terminating resistors, and Modbus / CAN parameters; simultaneously, it publishes the online sensor list to the robot's main controller. This board can be upgraded via the SWD interface or replaced with a board of the same size using other MCUs.

[0051] For higher bandwidth, the wet-plug connector can be upgraded to an eight-pin Ethernet-power hybrid interface.

[0052] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly, characterized in that, include: The main housing has a wet-plug socket integrated at its sealed end cap; Locking mechanism; The sensor compartment has multiple mounting through holes arranged circumferentially at its front end, which can accommodate multiple sensors. The front end of the sensor compartment is provided with an elastic sealing structure, and the elastic sealing structure has an elastic hole corresponding to each of the mounting through holes. The front end of the sensor compartment is inserted into the wet plug socket, and the main housing and the sensor compartment are locked by the locking pin mechanism. The wet plug socket presses against the elastic sealing structure.

2. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 1, characterized in that, The elastic sealing structure includes an elastic sealing ring and a floating pressure plate stacked along the insertion direction of the sensor compartment.

3. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 2, characterized in that, The elastic sealing ring includes a first sealing ring and a second sealing ring, which are respectively disposed on both sides of the floating pressure plate.

4. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 2, characterized in that, The floating pressure plate is provided with multiple sliding brackets extending along the axial direction, and the sensor compartment is provided with a sliding channel corresponding to the sliding brackets, and the sliding brackets are slidably disposed in the sliding channel.

5. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 4, characterized in that, With the end face of the sensor compartment as the reference plane, the floating pressure plate can move within a range of ±0.3mm.

6. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 2, characterized in that, The floating pressure plate is made of polytetrafluoroethylene.

7. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 1, characterized in that, The wet plug socket is provided with a locking pin mechanism on each of its radial sides.

8. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 1, characterized in that, The main shell is integrally formed.

9. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in claim 8, characterized in that, The main housing is made of aluminum.

10. The underwater robot with a rapidly replaceable multi-parameter sensor integrated assembly as described in any one of claims 1 to 9, characterized in that, The outer circumferential surface of the main shell is provided with several weight-reducing grooves.

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