A line control quick floating type ship outboard plugging robot

Abstract

The utility model discloses a kind of line control quick plankton type warship outboard plugging robot, including robot main body and remote controller, robot main body includes shell, camera, communication module, flow velocity sensor, underwater plankton mechanism and magnetic force plugging umbrella device, camera shoots the mobile video of robot main body and is transmitted to remote controller by communication module and is shown;Remote controller operator generates moving instruction and plugging instruction according to the mobile video of robot main body, and communication module sends moving instruction to underwater plankton mechanism, and plugging instruction is sent to magnetic force plugging umbrella device;Underwater plankton mechanism realizes robot main body in water up and down float and move forward and backward according to moving instruction, magnetic force plugging umbrella device includes foldable and unfolded magnetic rubber umbrella surface, releases its magnetic rubber umbrella surface according to plugging instruction, so that magnetic rubber umbrella surface unfolds and adheres to warship breach and carries out plugging work;Advantage is that plugging task can be completed quickly, efficiently and safely.

Description

Technical Field

[0001] This utility model relates to robots, and more particularly to a wire-controlled, fast-floating, shipboard leak-sealing robot. Background Technology

[0002] During navigation, ships may suffer damage to their underwater hull bulkheads due to collisions, torpedoes, missile attacks, or other reasons. If leaks are not plugged in time, a large amount of water will enter the hull, threatening the safety of the ship.

[0003] Traditional methods of sealing leaks on the outside of ships mainly rely on a large number of manual laborers using sealing mats or divers going underwater to seal leaks, which is inefficient and risky. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide a wire-controlled, fast-floating shipboard leak-sealing robot that can quickly, efficiently and safely complete leak-sealing tasks.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a wire-controlled, fast-floating shipboard overboard leak-sealing robot, comprising a robot body and a remote controller. The robot body includes a shell, a camera, a communication module, a current sensor, an underwater floating mechanism, and a magnetic leak-sealing umbrella device. The camera, the current sensor, the communication module, the underwater floating mechanism, and the magnetic leak-sealing umbrella device are respectively mounted on the shell. The current sensor, the camera, the underwater floating mechanism, and the magnetic leak-sealing umbrella device are respectively connected to the communication module. The communication module is connected to the remote controller. The camera is used to film the robot. The main body's movement video is transmitted to the remote controller via the communication module for display. The remote controller is used by the operator to generate movement commands and leak-sealing commands based on the robot's movement video. The communication module is used to send movement commands to the underwater floating mechanism and leak-sealing commands to the magnetic leak-sealing umbrella device. The underwater floating mechanism is used to enable the robot to float up and down and move back and forth in the water according to the movement commands. The magnetic leak-sealing umbrella device includes a foldable and unfoldable magnetic rubber umbrella surface, which is used to release its magnetic rubber umbrella surface according to the leak-sealing command, so that the magnetic rubber umbrella surface unfolds and attaches to the breach in the ship to perform leak-sealing work.

[0006] Compared with existing technologies, the advantages of this invention lie in its use of a wire-controlled, fast-floating shipboard leak-sealing robot comprised of a robot body and a remote controller. The robot body consists of a shell, camera, communication module, underwater floating mechanism, and magnetic leak-sealing umbrella device. When underwater hull damage occurs on a ship, the operator uses the remote controller to control the underwater floating mechanism, driving the robot body towards the damaged area. During this movement, the camera captures real-time video of the robot body's movement and transmits it to the remote controller via the communication module. A flow sensor detects the water flow speed in real-time and transmits this data to the remote controller via the communication module. If the water flow speed exceeds a preset reference value, it indicates that the underwater floating mechanism is unable to overcome the water flow's influence and is unsuitable for leak repair. In this case, the operator retrieves the robot body. If the water flow velocity is not higher than the preset reference value, it indicates that the underwater floating mechanism can overcome the influence of the water flow in the current environment and is suitable for leak repair. At this time, the operator navigates according to the received moving video, and generates a movement command in real time by operating the remote control and sends it to the communication module to control the movement direction of the underwater floating mechanism, navigating the robot body to the damaged location. Then, the operator generates a leak-sealing command through the remote control and sends it to the communication module to control the magnetic leak-sealing umbrella device to work, releasing the magnetic rubber umbrella surface. Due to the magnetism and the water pressure near the rupture, the magnetic rubber umbrella surface unfolds after release and adheres to the damaged area of ​​the ship, sealing the rupture and achieving the effect of external leak sealing. Thus, this utility model achieves leak sealing by operating the remote control alone, and can complete the leak sealing task quickly, efficiently and safely.

[0007] Furthermore, the underwater floating mechanism includes two underwater floating module groups; each underwater floating module group includes three underwater floating modules; each underwater floating module includes a motor and a propeller mounted on the output shaft of the motor, and the motor is connected to the communication module; the two underwater floating module groups are symmetrically installed on the left and right sides of the shell; in each underwater floating module group, two underwater floating modules are respectively located at the front and rear of one side of the shell, and are symmetrical front and back. The motors of these two underwater floating modules drive their propellers to rotate forward or backward, providing the robot body with vertical buoyancy thrust; one underwater floating module is located at the middle and rear of one side of the shell. The motors of this one underwater floating module drive their propellers to rotate forward or backward, providing the robot body with forward and backward movement thrust. The movement command is a motor drive command.

[0008] Furthermore, the magnetic leak-stopping umbrella device also includes a driving device, a shaft, an umbrella rib support, an umbrella wing frame, and a damping slider. The damping slider is mounted on the shaft and can move along the shaft under force. The umbrella rib support is hinged to the damping slider, the umbrella wing frame is hinged to the umbrella rib support, and the magnetic rubber umbrella surface is mounted on the umbrella wing frame. The driving device is used to drive the shaft to move relative to the damping slider according to the leak-stopping command, so that the overall structure composed of the damping slider, the umbrella rib support, the umbrella wing frame, and the magnetic rubber umbrella surface is disengaged from the shaft.

[0009] Furthermore, the drive device consists of a drive motor and a gear. The gear is mounted on the output shaft of the drive motor. The drive motor is connected to the communication module. A rack that meshes with the gear is provided on the rear surface of the shaft. The leak-sealing command is a motor drive command.

[0010] Furthermore, the umbrella wing frame material is engineering plastic, and the magnetic rubber canopy is formed by arranging magnetic rubber sheets on the umbrella wing frame.

[0011] Furthermore, the remote control is a wired remote control, which is connected to the communication module via an armored cable. Attached Figure Description

[0012] Figure 1 This is a front view of the wire-controlled, high-speed floating shipboard leak-sealing robot of this utility model. Figure 2 This is a side view of the wire-controlled, high-speed floating shipboard leak-sealing robot of this utility model; Figure 3 This is a diagram showing the folded state of the magnetic rubber umbrella surface of the wire-controlled, fast-floating, shipboard external leak-sealing robot of this utility model. Figure 4 This is a diagram showing the unfolded state of the magnetic rubber umbrella of the wire-controlled, fast-floating shipboard leak-sealing robot of this utility model. Detailed Implementation

[0013] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0014] Example 1: As Figure 1 and Figure 2As shown, a wire-controlled, fast-floating shipboard leak-sealing robot includes a robot body and a remote controller 1. The robot body includes a shell 2, a camera 3, a communication module 4, a current sensor 5, an underwater floating mechanism, and a magnetic leak-sealing umbrella device. The camera 3, current sensor 5, communication module 4, underwater floating mechanism, and magnetic leak-sealing umbrella device are respectively mounted on the shell 2. The current sensor 5, camera 3, underwater floating mechanism, and magnetic leak-sealing umbrella device are respectively connected to the communication module 4. The communication module 4 is connected to the remote controller 1. The camera 3 is used to capture video of the robot body's movement and transmit it via the communication module 1. Module 4 transmits data to remote controller 1 for display; remote controller 1 is used by the operator to generate movement commands and leak-sealing commands based on the movement video of the robot body; communication module 4 sends the movement commands to the underwater floating mechanism and the leak-sealing commands to the magnetic leak-sealing umbrella device; the underwater floating mechanism is used to enable the robot body to float up and down and move back and forth in the water according to the movement commands; the magnetic leak-sealing umbrella device includes a foldable and unfoldable magnetic rubber umbrella surface 14, which is used to release its magnetic rubber umbrella surface 14 according to the leak-sealing command, so that the magnetic rubber umbrella surface 14 unfolds and attaches to the breach in the ship to perform leak-sealing work.

[0015] In this embodiment, when the ship experiences underwater hull bulkhead damage, the operator uses remote control 1 to control the underwater floating mechanism to move the robot body towards the damaged area. During the movement, camera 3 captures real-time video of the robot body's movement and transmits it to remote control 1 via communication module 4. Flow sensor 5 detects the water flow speed in real-time and transmits it to remote control 1 via communication module 4. If the water flow speed is higher than a preset reference value, it indicates that the underwater floating mechanism cannot overcome the water flow's influence in the current environment and is unsuitable for leak repair. In this case, the operator retrieves the robot body. If the water flow speed is not higher than the preset reference value... This indicates that the underwater floating mechanism can overcome the influence of water flow in the current environment and is suitable for leak repair operations. At this time, the operator navigates according to the received moving video and generates a moving command in real time by operating the remote controller 1 and sending it to the communication module 4 to control the movement direction of the underwater floating mechanism and navigate the robot body to the damaged location. Then, the operator generates a leak-sealing command through the remote controller 1 and sends it to the communication module 4 to control the magnetic leak-sealing umbrella device to work and release the magnetic rubber umbrella surface 14. Due to the magnetic properties and the water pressure of the water flow near the rupture, the magnetic rubber umbrella surface 14 unfolds after release and adheres to the damaged area of ​​the ship, sealing the rupture and achieving the effect of external leak sealing.

[0016] Example 2: This example is basically the same as Example 1, except that: In this example, the underwater floating mechanism includes two underwater floating module groups; each underwater floating module group includes three underwater floating modules 6; each underwater floating module 6 includes a motor 7 and a propeller 8 mounted on the output shaft of the motor 7, and the motor 7 is connected to the communication module 4; the two underwater floating module groups are symmetrically installed on the left and right sides of the shell 2; in each underwater floating module group, two underwater floating modules 6 are respectively located at the front and rear of one side of the shell 2, and are symmetrical front and back. The motor 7 in these two underwater floating modules 6 drives the propeller 8 to rotate forward or backward, providing the robot body with up-and-down floating thrust. One underwater floating module 6 is located at the middle and rear of one side of the shell 2. The motor 7 in this one underwater floating module 6 drives the propeller 8 to rotate forward or backward, providing the robot body with forward and backward movement thrust. The movement command is a motor drive command.

[0017] In this embodiment, in the two underwater floating module groups, four underwater floating modules 6 are symmetrically arranged along the front, back, left, and right sides of the shell 2. They can rotate forward and backward to provide vertical thrust, responsible for the robot's buoyancy. Two underwater floating modules 6 are symmetrically installed on the middle and rear parts of the outer wall of the shell 2. They provide forward and backward thrust through rotation, responsible for the robot's forward and backward movement. At the same time, the differential speed of the two underwater floating modules 6 can be used to realize the rotation of the robot in the water, realizing the adjustment of the direction of movement. Thus, by controlling the two underwater floating module groups through the remote controller 1, the position of the robot in the water can be adjusted so that it can approach the damaged area of ​​the ship.

[0018] Example 3: This example is basically the same as Example 1, except that: Figure 3 and Figure 4 As shown, in this embodiment, the magnetic leak-stopping umbrella device further includes a driving device 9, a shaft 10, an umbrella rib support 11, an umbrella wing frame 12, and a damping slider 13. The damping slider 13 is mounted on the shaft 10 and can move along the shaft 10 under force. The umbrella rib support 11 is hinged to the damping slider 13, the umbrella wing frame 12 is hinged to the umbrella rib support 11, and the magnetic rubber umbrella surface 14 is mounted on the umbrella wing frame 12. The driving device 9 is used to drive the shaft 10 to move relative to the damping slider 13 according to the leak-stopping command, so that the overall structure composed of the damping slider 13, the umbrella rib support 11, the umbrella wing frame 12, and the magnetic rubber umbrella surface 14 is disengaged from the shaft 10.

[0019] In this embodiment, the drive device 9 consists of a drive motor and a gear. The gear is mounted on the output shaft of the drive motor. The drive motor is connected to the communication module 4. A rack 16 that meshes with the gear is provided on the rear surface of the shaft 10. The leak-stopping command is a motor drive command.

[0020] In this embodiment, when the robot body is navigated to the location of the ship's damage, the magnetic rubber umbrella surface 14 is positioned directly in front of the damage. The operator issues a leak-sealing command via remote control 1, driving the motor to rotate. Through gears and racks, the shaft 10 moves backward relative to the damping slider 13 until it disengages from the damping slider 13. During this movement, the magnetic rubber umbrella surface 14 unfolds towards the ship due to magnetism and water pressure near the puncture, eventually adhering to the ship's surface and sealing the damage. Afterward, the operator retrieves the remaining parts of the robot body, excluding the damping slider 13, umbrella rib support 11, umbrella wing frame 12, and magnetic rubber umbrella surface 14, thus completing the leak sealing.

[0021] In this embodiment, the parts of the recovered robot body other than the damping slider 13, umbrella rib support 11, umbrella wing frame 12 and magnetic rubber umbrella surface 14 can be reused. After installing a new overall structure of damping slider 13, umbrella rib support 11, umbrella wing frame 12 and magnetic rubber umbrella surface 14, it is possible to seal leaks at other damaged locations.

[0022] In this embodiment, the damping slider 13 slides with a certain resistance on the shaft 10, which can prevent the magnetic rubber umbrella 14 from opening due to the water flow during the movement of the robot body. At the same time, its resistance should not be greater than the magnetic force generated by the magnetic rubber umbrella 14, so as to prevent the magnetic rubber umbrella 14 from not opening completely after being released.

[0023] Example 4: This example is basically the same as Example 3, except that: in this example, the material of the umbrella wing frame 12 is engineering plastic, and the magnetic rubber umbrella surface 14 is formed by magnetic rubber sheets arranged on the umbrella wing frame 12.

[0024] In this embodiment, the magnetic rubber canopy 14 of the leak-stopping umbrella has a certain degree of flexibility to ensure that it can adapt to leaks and ruptures of different shapes and sizes.

[0025] Example 5: This example is basically the same as Example 3, except that: in this example, the remote controller 1 is a wired remote controller 1, which is connected to the communication module 4 through the armored cable 15.

[0026] In practical use, this wire-controlled, high-speed floating shipboard leak-sealing robot allows operators to move and seal leaks simply by observing movement video and issuing basic motor-driven commands. However, because it operates underwater, the electrical components require waterproofing.

[0027] In summary, this utility model of a wire-controlled, fast-floating shipboard leak-sealing robot, through video technology combined with motor operation for manual navigation, can quickly, efficiently, and safely complete leak-sealing tasks, and has broad application prospects.

Claims

1. A wire-controlled, high-speed floating shipboard leak-sealing robot, characterized in that... The system includes a robot body and a remote controller. The robot body comprises a shell, a camera, a communication module, a current sensor, an underwater floating mechanism, and a magnetic leak-stopping umbrella device. The camera, current sensor, communication module, underwater floating mechanism, and magnetic leak-stopping umbrella device are respectively mounted on the shell. The current sensor, camera, underwater floating mechanism, and magnetic leak-stopping umbrella device are respectively connected to the communication module. The communication module is connected to the remote controller. The camera is used to capture video of the robot body's movement and transmits it to the remote controller for display via the communication module. The remote control is used by the operator to generate movement commands and leak-sealing commands based on the movement video of the robot body. The communication module is used to send movement commands to the underwater floating mechanism and leak-sealing commands to the magnetic leak-sealing umbrella device. The underwater floating mechanism is used to enable the robot body to float up and down and move back and forth in the water according to the movement commands. The magnetic leak-sealing umbrella device includes a foldable and unfoldable magnetic rubber umbrella surface, which is used to release its magnetic rubber umbrella surface according to the leak-sealing command, so that the magnetic rubber umbrella surface unfolds and attaches to the breach in the ship to perform leak-sealing work.

2. The wire-controlled, high-speed floating shipboard leak-sealing robot according to claim 1, characterized in that... The underwater floating mechanism includes two underwater floating module groups, each of which includes three underwater floating modules. Each underwater floating module includes a motor and a propeller mounted on the output shaft of the motor. The motor and the communication module are connected. The two underwater floating module groups are symmetrically installed on the left and right sides of the shell. In each underwater floating module group, two underwater floating modules are respectively located at the front and rear of one side of the shell, and are symmetrical. The motors of these two underwater floating modules drive the propellers to rotate forward or backward, providing vertical thrust for the robot body. One underwater floating module is located at the middle and rear of one side of the shell. The motors of this one underwater floating module drive the propellers to rotate forward or backward, providing forward and backward thrust for the robot body. The movement command is a motor drive command.

3. The wire-controlled, high-speed floating shipboard leak-sealing robot according to claim 2, characterized in that... The magnetic leak-stopping umbrella device further includes a driving device, a shaft, an umbrella rib support, an umbrella wing frame, and a damping slider. The damping slider is mounted on the shaft and can move along the shaft under force. The umbrella rib support is hinged to the damping slider, the umbrella wing frame is hinged to the umbrella rib support, and the magnetic rubber umbrella surface is mounted on the umbrella wing frame. The driving device is used to drive the shaft to move relative to the damping slider according to the leak-stopping command, so that the integral structure formed by the damping slider, the umbrella rib support, the umbrella wing frame, and the magnetic rubber umbrella surface is disengaged from the shaft.

4. The wire-controlled, high-speed floating shipboard leak-sealing robot according to claim 3, characterized in that... The drive device consists of a drive motor and gears. The gears are mounted on the output shaft of the drive motor. The drive motor is connected to the communication module. A rack that meshes with the gears is provided on the rear surface of the shaft. The leak-sealing command is a motor drive command.

5. The wire-controlled, high-speed floating shipboard leak-sealing robot according to claim 3, characterized in that... The umbrella wing frame is made of engineering plastic, and the magnetic rubber canopy is formed by magnetic rubber sheets arranged on the umbrella wing frame.

6. The wire-controlled, high-speed floating shipboard leak-sealing robot according to claim 1, characterized in that... The remote control is a wired remote control, which is connected to the communication module via an armored cable.

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