CN112678129A

CN112678129A - Robot suitable for water environment

Info

Publication number: CN112678129A
Application number: CN202011484054.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-04-20

Abstract

The invention provides a robot suitable for a water environment, and belongs to the technical field of ocean engineering. The underwater detection robot solves the technical problems of small underwater detection range, low practicability and the like of the robot. This robot is including the main part module that can go up and down in aqueous, it is equipped with a plurality of leading wheel to insert body of rod one and body of rod two and the upside that is equipped with mutually perpendicular in the main part module, body of rod one upside both ends are equipped with first band pulley and second band pulley respectively and the downside both ends are equipped with plate body one and plate body two respectively, body of rod two upside both ends are equipped with third band pulley and fourth band pulley respectively and the downside both ends are equipped with plate body three and plate body four respectively, first band pulley, the second band pulley, the third band pulley, the cover has the drive belt on fourth band pulley and the leading wheel, first band pulley, the second band pulley, third band pulley and fourth band pulley are connected with first motor respectively, plate body one, plate body two, plate body three and plate body four are connected with the second. The robot can transversely move and lift in water, and has wide detection range and strong practicability.

Description

Robot suitable for water environment

Technical Field

The invention belongs to the technical field of ocean engineering, and relates to a robot suitable for a water environment.

Background

The history of mankind using sea for thousands of years is limited by production conditions and technical level, the early sea development mainly uses simple tools to carry out activities of catching fishes and shrimps, sunning sea salt and marine transportation on the coast and the offshore, the traditional sea development industries such as marine fishery, marine salt industry, marine transportation industry and the like are gradually formed later, the value of sea is more and more valued by mankind along with the development of social economy, and the sea development is generally carried out by using a mobile robot suitable for water environment so as to carry out some remote operations on the underwater or on the water surface.

A Chinese patent (publication number: CN 210660420U; publication date: 2020-06-12) discloses a simple underwater detector which is characterized by comprising a floating body, a waterproof cable and a self-generating detection system arranged on the waterproof cable, wherein one end of the waterproof cable is connected to the floating body, the floating body is provided with a signal transmission device, and the top of the signal transmission device is provided with an antenna; the self-electricity-generating detection system comprises a sealing shell, and a turbine power generation device, an energy storage and control device, a vision detection assembly and a sensor assembly which are arranged on the sealing shell, wherein the turbine power generation device is electrically connected with the energy storage and control device, and the vision detection assembly and the sensor assembly are in signal connection with a signal transmission device through a waterproof cable.

The simple underwater detector disclosed in the patent document can only manually move the floating body to enable the floating body to move in water, so that the exploration range is small and the practicability is not strong.

Disclosure of Invention

The invention provides a robot suitable for water environment aiming at the problems in the prior art, and the technical problems to be solved by the invention are as follows: how to increase the aquatic detection scope, improve the practicality that the robot surveyed in the aquatic.

The purpose of the invention can be realized by the following technical scheme:

a robot suitable for water environment comprises a main body module capable of floating in water; the device is characterized in that a first rod body and a second rod body are movably inserted on the main body module, the first rod body and the second rod body are arranged on a transverse plane at intervals in a cross shape, a first belt wheel and a second belt wheel are respectively arranged at two ends of the upper side of the first rod body, a first plate body and a second plate body are respectively arranged at two ends of the lower side of the first rod body, a third belt wheel and a fourth belt wheel are respectively arranged at two ends of the upper side of the second rod body, a third plate body and a fourth plate body are respectively arranged at two ends of the lower side of the second rod body, a transmission belt is sleeved on the first belt wheel, the second belt wheel, the third belt wheel and the fourth belt wheel, a plurality of guide wheels connected with the outer side of the transmission belt are arranged on the main body module, first motors capable of driving the first belt wheel, the second belt wheel, the third belt wheel and the fourth belt wheel are respectively connected with first motors capable of driving the first plate body, the, and the main body module is also provided with a buoyancy control mechanism for controlling the robot to lift in water.

The working principle is as follows: according to the technical scheme, the robot can lift in water by arranging the floating force control mechanism, the robot can move to the water bottom or float on the water surface, a first plate body and a second plate body on a first rod body of the robot are perpendicular to the second rod body, a third plate body and a fourth plate body on the second rod body are perpendicular to the first rod body, a first belt wheel and a second belt wheel rotate relatively under the driving action of a first motor, a third belt wheel and a fourth belt wheel do not rotate, and at the moment, the second rod body moves forwards along the length direction of the second rod body; the first plate body and the second plate body are perpendicular to the first rod body under the action of the second motor, the third plate body and the fourth plate body are perpendicular to the second rod body, the first belt wheel and the second belt wheel rotate oppositely under the driving action of the first motor, the third belt wheel and the fourth belt wheel still do not rotate, the first rod body can move forwards along the length direction of the second rod body, the first rod body can move forwards along the length direction of the first rod body or the second rod body moves forwards along the length direction of the first rod body in the same way, and the robot can move along the included angle direction of the first rod body and the second rod body.

In foretell robot suitable for water environment, the axial of first band pulley, second band pulley, third band pulley and fourth band pulley is all perpendicular to the body of rod one and the length direction of body of rod two, the upside both ends of body of rod one with the upside both ends of body of rod two all set firmly first motor, the output shaft of first motor is vertical sets up, the lower extreme of first band pulley, second band pulley, third band pulley and fourth band pulley respectively with corresponding output shaft end looks rigid coupling of first motor. The position that first motor set up and the setting of corresponding band pulley make the body of rod one roughly the same with the weight at two upside both ends of the body of rod, provide the guarantee for the stability that the robot removed.

In the robot suitable for the water environment, the number of the guide wheels is four, the four guide wheels are respectively arranged at the upper side of the main body module and positioned at the intersection included angle between the first rod body and the second rod body, the outside of the transmission belt between the first pulley and the third pulley, the outside of the transmission belt between the first pulley and the fourth pulley, the outside of the transmission belt between the second pulley and the third pulley, and the outside of the transmission belt between the third pulley and the fourth pulley are respectively abutted against the outer peripheral side of the corresponding guide pulley, the transmission belt between the first belt wheel and the second belt wheel is respectively positioned at two sides of the first rod body and extends along the length direction of the first rod body, the transmission belt between the third belt wheel and the fourth belt wheel is respectively positioned on two sides of the second rod body and extends along the length direction of the second rod body. The position that sets up four leading wheels and leading wheel setting makes the drive belt be the cross form on the robot, and the drive belt extends along the both sides of body of rod one and body of rod two on the robot, can reduce the resistance that the robot received at the in-process that removes.

In foretell robot that is applicable to water environment, the downside both ends of body of rod one and the downside both ends of body of rod two all set firmly the second motor, the output shaft of second motor sets up vertically down, equal vertical setting of plate body one, plate body two, plate body three and plate body four is corresponding the below of second motor and upside middle part are respectively with corresponding the output shaft of second motor is connected. The first body of rod and two downside both ends of the body of rod all are equipped with second motor and plate body, and the gravity that enables body of rod one and two downside both ends of the body of rod is roughly the same, and the guarantee robot can normally remove when surveying in aqueous.

In the robot suitable for the water environment, telescopic pieces are arranged between the first plate body, the second plate body, the third plate body and the fourth plate body and the corresponding second motor; the telescopic piece is a cylinder, a hydraulic cylinder or an electric push rod, an output shaft of the second motor is connected with the end part of the shell of the telescopic piece, the output shaft of the telescopic piece is vertically arranged downwards, and the middle parts of the upper sides of the first plate body, the second plate body, the third plate body and the fourth plate body are respectively connected with the end parts of the output shafts of the telescopic piece. The distance between the plate body and the corresponding rod body can be adjusted through the telescopic piece, so that the robot can walk on the ground, and the application range of the robot is enlarged.

In the robot suitable for the water environment, the buoyancy control mechanism comprises an air bag and an air pump connected with the air bag, and the air bag is provided with an air outlet and a one-way valve arranged on the air outlet. The buoyancy control mechanism is simple in structure, can accurately control the height of the robot in water, and provides favorable conditions for detection.

Compared with the prior art, the invention has the following advantages:

1. the invention is provided with the buoyancy control mechanism to ensure that the robot can be lifted to the water surface or the water bottom in water and also can float in water, thereby enlarging the detection range of the robot.

2. According to the invention, the transmission belt, the first belt wheel, the second belt wheel, the third belt wheel, the fourth belt wheel and the first motor are arranged to be matched with the first plate body, the second plate body, the third plate body, the fourth plate body and the second motor, so that the robot can move back and forth along the first rod body or the second rod body, and can also move along the included angle direction of the first rod body and the second rod body, thereby not only increasing the detection range of the robot, but also improving the practicability of underwater detection of the robot.

3. The telescopic piece is arranged in the invention, so that the distance between the plate body and the corresponding rod body can be adjusted, the robot can also walk on the ground, and the practicability of robot detection is improved.

Drawings

Fig. 1 is a front view of a robot suitable for use in an aquatic environment.

Fig. 2 is a top view of the present robot adapted for use in an aquatic environment.

Fig. 3 is a first schematic diagram of the movement of the robot suitable for the water environment.

Fig. 4 is a second schematic diagram of the movement of the robot suitable for the water environment.

Fig. 5 is a third schematic diagram of the movement of the robot suitable for the water environment.

Fig. 6 is a fourth schematic diagram of the movement of the robot suitable for use in an aquatic environment.

In the figure, 1, a main body module; 2. a first rod body; 3. a second rod body; 4. a first pulley; 5. a second pulley; 6. a first plate body; 7. a second plate body; 8. a third belt pulley; 9. a fourth pulley; 10. a third plate body; 11. a plate body IV; 12. a transmission belt; 13. a guide wheel; 14. a first motor; 15. a second motor; 16. a telescoping member.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1 and 2, the robot suitable for water environment in this embodiment includes a main body module 1, the main body module 1 can float in water and is provided with a buoyancy control mechanism capable of controlling the robot to ascend and descend in water, the buoyancy control mechanism includes an air bag and an air pump, the air pump is connected to the air bag, the air bag is provided with an air outlet, the air outlet is provided with a one-way valve only capable of giving out air, a first rod body 2 and a second rod body 3 in a cross shape are movably inserted on the main body module 1, the first rod body 2 and the second rod body 3 are respectively located in spaced transverse planes on the main body module 1, the first rod body 2 is located above the second rod body 3, both ends of the upper side of the first rod body 2 and both ends of the upper side of the second rod body 3 are respectively and fixedly provided with a first motor 14, an output shaft of the first motor 14 extends vertically upwards, end portions of output shafts of the two, the end parts of output shafts of two first motors 14 on a second rod body 3 are respectively fixedly provided with a third belt wheel 8 and a fourth belt wheel 9, the first belt wheel 4, the second belt wheel 5, the third belt wheel 8 and the fourth belt wheel 9 are sleeved with a transmission belt 12, the upper side of a main body module 1 is provided with a plurality of guide wheels 13 connected with the outer side of the transmission belt 12, both ends of the lower side of the first rod body 2 and both ends of the lower side of the second rod body 3 are respectively fixedly provided with a second motor 15, an output shaft of the second motor 15 is vertically arranged downwards, the end parts of the output shaft are respectively fixedly provided with a telescopic piece 16, the telescopic piece 16 is an air cylinder, a hydraulic cylinder or an electric push rod, the end parts of the output shaft of the second motor 15 are connected with a shell of the telescopic piece 16, the end parts of the output shaft of the telescopic piece 16 vertically extend downwards, the telescopic pieces 16 at both ends of the lower side of the first rod body 2 are respectively connected with a first plate, the telescopic pieces 16 at the two ends of the lower side of the second rod body 3 are respectively connected with a third vertical plate body 10 and a fourth vertical plate body 11, and the middle parts of the upper sides of the third vertical plate body 10 and the fourth vertical plate body 11 are respectively fixedly connected with the end parts of the output shafts of the corresponding telescopic pieces 16.

Further, as shown in fig. 1 to 6, four guide wheels 13 are provided, four guide wheels 13 are vertically provided on the body module 1, four guide wheels 13 are respectively located at the intersection of the first rod body 2 and the second rod body 3, the transmission belt 12 between the first pulley 4 and the third pulley 8 corresponds to one guide wheel 13, the outer side of the transmission belt 12 at the position is abutted against the outer peripheral side of the corresponding guide wheel 13, the transmission belt 12 between the first pulley 4 and the fourth pulley 9, the transmission belt 12 between the second pulley 5 and the third pulley 8 and the transmission belt 12 between the second pulley 5 and the fourth pulley 9 are respectively abutted against one guide wheel 13, the outer side of the transmission belt 12 between the first pulley 4 and the fourth pulley 9 is abutted against the outer peripheral side of the corresponding guide wheel 13, the outer side of the transmission belt 12 between the second pulley 5 and the third pulley 8 is abutted against the outer peripheral side of the corresponding guide wheel 13, the outside of the driving belt 12 between the second belt wheel 5 and the fourth belt wheel 9 is attached to one side of the periphery of the corresponding guide wheel 13, the driving belt 12 between the first belt wheel 4 and the second belt wheel 5 on the first rod body 2 is arranged on two sides of the first rod body 2 and is arranged along the length direction of the first rod body 2, and the driving belt 12 between the third belt wheel 8 and the fourth belt wheel 9 on the second rod body 3 is arranged on two sides of the second rod body 3 and is arranged along the length direction of the second rod body 3.

The main body module 1 is provided with a buoyancy control mechanism which can enable the robot to lift in water to reach a corresponding detection height, when the robot moves forwards or backwards along the length direction of the rod body II 3, the plate surfaces of the plate body I6 and the plate body II 7 on the rod body I2 can be perpendicular to the rod body II 3, the plate surfaces of the plate body III 10 and the plate body IV 11 on the rod body II 3 are perpendicular to the rod body I2, so that the plate body on the rod body II 3 is subjected to small resistance of water, the plate body on the rod body I2 is subjected to large resistance of water, the first belt pulley 4 and the second belt pulley 5 are controlled to rotate relatively, the third belt pulley 8 and the fourth belt pulley 9 are not rotated, and the rod body II 3 is enabled to move forwards or backwards along the length direction under the action of different resistances of water to the two rod bodies; then the plate surfaces of the first plate body 6 and the second plate body 7 on the first rod body 2 are perpendicular to the first rod body 2, the plate surfaces of the third plate body 10 and the fourth plate body 11 on the second rod body 3 are perpendicular to the second rod body 3, the first belt wheel 4 and the second belt wheel 5 rotate oppositely, the third belt wheel 8 and the fourth belt wheel 9 do not rotate, at this time, because the plate body of the second rod body 3 is subjected to large water resistance and the plate body of the first rod body 2 is subjected to small resistance, the first rod body 2 moves forwards or backwards along the length direction of the second rod body 3, so that the reciprocating motion can realize continuous forward or backward movement, the robot can move towards the included angle direction of the two rod bodies by moving alternately along the length direction of the two rod bodies, the direction of the included angle is determined by the moving steps of the two rod bodies along the length direction, and the telescopic piece 16 arranged between the plate bodies can control the distance between the plate bodies and the opposite rod bodies, so that the, the robot can also walk on the ground, can be controlled by a remote controller, and can also be provided with a manipulator or other devices for facilitating detection.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. A robot adapted for use in a water environment, comprising a body module (1) capable of floating in water; the device is characterized in that a first rod body (2) and a second rod body (3) are movably inserted on a main body module (1), the first rod body (2) and the second rod body (3) are arranged on a transverse plane at intervals in a cross shape, a first belt wheel (4) and a second belt wheel (5) are respectively arranged at two ends of the upper side of the first rod body (2), a first plate body (6) and a second plate body (7) are respectively arranged at two ends of the lower side of the first rod body (2), a third belt wheel (8) and a fourth belt wheel (9) are respectively arranged at two ends of the upper side of the second rod body (3), a third plate body (10) and a fourth plate body (11) are respectively arranged at two ends of the lower side of the second rod body (3), a transmission belt (12) is sleeved on the first belt wheel (4), the second belt wheel (5), the third belt wheel (8) and the fourth belt wheel (9), a plurality of guide wheels (13) connected with the outer side of the main body module (1, the robot comprises a main body module and is characterized in that a first belt wheel (4), a second belt wheel (5), a third belt wheel (8) and a fourth belt wheel (9) are connected with a first motor (14) capable of driving the first belt wheel to rotate, a first plate body (6), a second plate body (7), a third plate body (10) and a fourth plate body (11) are connected with a second motor (15) capable of driving the third plate body to swing, and a buoyancy control mechanism used for controlling the robot to ascend and descend in water is further arranged on the main body module (1).

2. The robot suitable for the water environment according to claim 1, wherein the axial directions of the first belt wheel (4), the second belt wheel (5), the third belt wheel (8) and the fourth belt wheel (9) are perpendicular to the length directions of the first rod body (2) and the second rod body (3), the first motor (14) is fixedly arranged at both ends of the upper side of the first rod body (2) and both ends of the upper side of the second rod body (3), the output shaft of the first motor (14) is vertically arranged upwards, and the lower ends of the first belt wheel (4), the second belt wheel (5), the third belt wheel (8) and the fourth belt wheel (9) are fixedly connected with the output shaft end of the corresponding first motor (14) respectively.

3. The robot suitable for the water environment as claimed in claim 1 or 2, wherein the number of the guide wheels (13) is four, the four guide wheels (13) are respectively arranged on the upper side of the main body module (1) at the included angle of the first rod body (2) and the second rod body (3), the outer side of the transmission belt (12) between the first belt wheel (4) and the third belt wheel (8), the outer side of the transmission belt (12) between the first belt wheel (4) and the fourth belt wheel (9), the outer side of the transmission belt (12) between the second belt wheel (5) and the third belt wheel (8) and the outer side of the transmission belt (12) between the second belt wheel (5) and the fourth belt wheel (9) are respectively attached to one side of the outer periphery of the corresponding guide wheel (13), and the outer sides of the transmission belt (12) between the first belt wheel (4) and the second belt wheel (5) are respectively located on two sides of the first rod body (2) And all extend along the length direction of the rod body I (2), and the transmission belt (12) between the third belt wheel (8) and the fourth belt wheel (9) is respectively positioned at the two sides of the rod body II (3) and all extends along the length direction of the rod body II (3).

4. The robot suitable for the water environment as claimed in claim 1, wherein the second motors (15) are fixedly arranged at both ends of the lower side of the first rod body (2) and both ends of the lower side of the second rod body (3), the output shafts of the second motors (15) are vertically arranged downwards, and the first plate body (6), the second plate body (7), the third plate body (10) and the fourth plate body (11) are vertically arranged below the corresponding second motors (15) and are respectively connected with the output shafts of the corresponding second motors (15) at the middle parts of the upper sides.

5. The robot adapted to water environment according to claim 4, wherein a telescopic member (16) is arranged between the first plate body (6), the second plate body (7), the third plate body (10) and the fourth plate body (11) and the corresponding second motor (15); the telescopic piece (16) is an air cylinder, a hydraulic cylinder or an electric push rod, an output shaft of the second motor (15) is connected with the end part of the shell of the telescopic piece (16), an output shaft of the telescopic piece (16) is vertically arranged downwards, and the middle parts of the upper sides of the first plate body (6), the second plate body (7), the third plate body (10) and the fourth plate body (11) are respectively connected with the end parts of the output shafts of the telescopic piece (16).

6. The robot suitable for the aquatic environment according to claim 1, wherein the buoyancy control mechanism comprises an air bag and an air pump connected with the air bag, and the air bag is provided with an air outlet and a one-way valve arranged on the air outlet.