CN108382548A - One kind repairing sized underwater observation robot based on environmental ecology - Google Patents
One kind repairing sized underwater observation robot based on environmental ecology Download PDFInfo
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- CN108382548A CN108382548A CN201810086977.8A CN201810086977A CN108382548A CN 108382548 A CN108382548 A CN 108382548A CN 201810086977 A CN201810086977 A CN 201810086977A CN 108382548 A CN108382548 A CN 108382548A
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- link
- observation
- sampling apparatus
- synchronizing wheel
- welded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind repairing sized underwater observation robot based on environmental ecology,Its structure includes multi-angle observation and sampling apparatus,First propeller,Backing plate,Second propeller,Handle,Controller,Signal receiver,Transfer wire,Ultrasonic probe,Protective cover,Detection of luminescence lamp,It is there are two backing plate is set altogether and parallel to each other,Backing plate is welded in the lower end of multi-angle observation and sampling apparatus,First propeller is fitted in multi-angle observation and sampling apparatus,Positive lower end,Second propeller is welded in multi-angle observation and the positive right end of sampling apparatus,The present invention is by being equipped with multi-angle observation and sampling apparatus,In the case that environment is more complex under water,Equipment integrally turns to inconvenience,The angle for adjusting high-definition camera is only needed to can be carried out larger range of observation,And the equipment can be sampled independently,It does not need operator and descends water again,It is easy to use,Safety coefficient is high.
Description
Technical field
The present invention is that one kind repairing sized underwater observation robot based on environmental ecology, belongs to observation robot field.
Background technology
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Existing equipment when carrying out underwater observation, can not the underwater situation of multi-angle observation, visual angle is limited, observation
Effect is poor, need collect sample when, can not be sampled, can not thus carry out Data Detection, need operator voluntarily under
Hydromining sample, safety coefficient is low, inconvenient for use.
Invention content
Underwater observation machine is repaired based on environmental ecology in view of the deficienciess of the prior art, it is an object of the present invention to provide one kind
Device people, to solve existing equipment when carrying out underwater observation, can not the underwater situation of multi-angle observation, visual angle is limited,
Observation effect is poor, when needing to collect sample, can not be sampled, can not thus carry out Data Detection, needs operator certainly
The lower hydromining sample of row, safety coefficient is low, problem inconvenient for use.
To achieve the goals above, the present invention is to realize by the following technical solutions：One kind is repaiied based on environmental ecology
Multiple sized underwater observation robot, structure include multi-angle observation with sampling apparatus, the first propeller, backing plate, the second propeller,
Hand, controller, signal receiver, transfer wire, ultrasonic probe, protective cover, detection of luminescence lamp, there are two the backing plate is set altogether
And it is parallel to each other, the backing plate is welded in the lower end of multi-angle observation and sampling apparatus, and first propeller is fitted in polygonal
Degree observation and sampling apparatus, positive lower end, second propeller are welded in multi-angle observation and the positive right side of sampling apparatus
End, the detection of luminescence lamp glue connection are embedded in multi-angle in multi-angle observation and the positive left end of sampling apparatus, the protective cover
The upper end of observation and sampling apparatus left surface, after the ultrasonic probe is fitted in multi-angle observation and sampling apparatus left surface
End, the controller are welded in the center of multi-angle observation and sampling apparatus upper surface, the handle embedded in multi-angle observation and
The right end of sampling apparatus upper surface, the handle and controller are in same level, the signal receiver glue connection in
Controller upper surface it is central and orthogonal, the ultrasonic probe is electrically connected with the controller by transfer wire, described more
Angular observation is driven with sampling apparatus by high-definition camera angle-regulation structure, link pushing structure, outer protect-ing frame structure, motor
Structure, gripper capture structure composition, and the link pushing structure is welded in the upper right side inside outer protect-ing frame structure, the height
The right end of clear camera angle adjustment structure is movably connected on the left end of link pushing structure, the high-definition camera angle tune
The left end of whole structure is mechanically connected to the left upper end inside outer protect-ing frame structure, and the right end of the motor-driven structure is welded in outer guarantor
Protect the right end of lower portion, lower-left end of the gripper crawl structure inside outer protect-ing frame structure.
Further, the high-definition camera angle-regulation structure is by the first limited post, half fluted disc, high-definition camera, work
Lever, rotation fluted disc, the second limited post composition, the high-definition camera are mechanically connected to the left upper end inside outer protect-ing frame structure,
Half fluted disc is welded in the right end of high-definition camera, and the rotation fluted disc is engaged on the right side of half fluted disc, second limit
The left end of column is movably connected on the front of rotation fluted disc, and second limited post is welded in the upper end of outer protect-ing frame structure, and described the
One limited post is set to the lower section of rotation fluted disc, and the right end of the motion bar is flexibly connected with the first fixed link.
Further, the link pushing structure is by the first fixed link, the second fixed link, the first fixed plate, compression bullet
Spring, the first sliding shoe, the first link, the second link, the second sliding shoe, small machine, the first bevel gear, turntable, third
Link, fixed seat, small fixed block, movable plate composition.
Further, the left end of second fixed link is embedded in the right surface of the first fixed link, and second fixed link is passed through
The left surface of the first fixed plate is worn, the compressed spring is nested in the outer ring of the second fixed link, the right end of second fixed link
It is welded in the left surface of movable plate, first sliding shoe is slidably connected to the upper end of movable plate, a left side for first link
End is flexibly connected with the first sliding shoe, and the left end of second link is mechanically connected to the lower end of movable plate, and described second connects
The right end for connecing frame is movably connected on the front of the second sliding shoe, and the second sliding shoe is slidably connected to the left side of small machine, institute
The lower end that the first bevel gear is interference fitted in small machine is stated, first bevel gear is engaged on the positive upper end of turntable, institute
The right end for stating third link is movably connected on the front of turntable, and the left end of the third link is mechanically connected to the second connection
The right end in the stage casing of frame, first link is movably connected on the front of small fixed block, and the small fixed block is welded in fixation
The left end of seat.
Further, the motor-driven structure by the first synchronizing wheel, the first synchronous belt, the second synchronizing wheel, the first tooth plate,
Large straight gear, the second synchronous belt, the first conical gear, driving motor, the second conical gear, first rotating shaft, the second fixed plate,
Three synchronizing wheels, the first spur gear, the second shaft, the second spur gear, the second bevel gear, the 4th synchronizing wheel, third synchronous belt,
Two tooth plates, the 5th synchronizing wheel composition.
Further, first conical gear is interference fitted in the left end of driving motor, and second conical gear is nibbled
It closes in the lower end of the first conical gear, second conical gear is welded in the upper end of first rotating shaft, and the first rotating shaft runs through
The upper surface of second fixed plate, second spur gear are interference fitted in the lower end of first rotating shaft, first spur gear it is upper
The right end clearance fit at end and the second spur gear, first spur gear are nested in the outer ring of the second shaft, second umbrella shape
Gear is interference fitted in the left end of the second shaft, and second bevel gear is engaged on the 4th positive right end of synchronizing wheel, described
4th synchronizing wheel is sequentially connected by the front end of third synchronous belt and third synchronizing wheel, and the third synchronizing wheel is synchronized by second
The front end of band and large straight gear is sequentially connected, and first tooth plate is engaged on the upper end of large straight gear, second synchronizing wheel
Front end and the first tooth plate clearance fit, the top ring of first synchronous belt is around the outer ring for being connected to the second synchronizing wheel, and described the
The stage casing of one synchronous belt is engaged on the lower end of large straight gear, institute around the outer ring for being connected to the first synchronizing wheel, second tooth plate
The 5th synchronizing wheel clearance fit is stated in the lower end of the second tooth plate, first synchronizing wheel is nested in the right end of worm screw.
Further, gripper crawl structure by head rod, the second connecting rod, third connecting rod, sealing ring,
Sleeve, the first connection sheet, lower grabbing claw, loop bar, upper grabbing claw, the second connection sheet, steel pipe, worm screw, the 4th connecting rod, third are solid
Fixed board forms.
Further, the left end of the worm screw is flexibly connected with third fixed plate, the lower end of the head rod and the
The right ends of two connecting rods is mechanically connected, and the left end of second connecting rod is flexibly connected with the lower end of third connecting rod, and described the
The upper end of three connecting rods and the left end of the 4th connecting rod are mechanically connected, and the steel pipe is nested in the left end of outer protect-ing frame structure, described
The right end of loop bar is welded in the left surface of third fixed plate, and the sleeve is nested in the outer ring of loop bar, and the sealing ring is nested in
The outer ring of sleeve, the upper grabbing claw are movably connected on the top of loop bar left end, and the lower grabbing claw is mechanically connected to a loop bar left side
The right end of the lower section at end, second connection sheet is movably connected on the upper left corner of sleeve, the right end machinery of first connection sheet
It is connected to the lower left corner of sleeve.
Further, the material of the protective cover is tempered glass, and high pressure resistant, impact resistance is convenient for underwater use.
Further, the handle can fasten rope, prevent underwater undercurrent from sweeping away equipment, reduce loss.
Advantageous effect
Of the invention a kind of based on environmental ecology reparation sized underwater observation robot, at work, the first propeller is pushed away with second
Into the direction of advance of device control device, detection of luminescence lamp illuminate front road, signal receiver for signal transmission with connect
It receives, controller is used for the processing of signal, and when observing under water, in order to obtain more image documents, operator can adjust height
The observation angle of clear camera opens small machine, after small machine rotation, makes the first bevel gear with rotation, then turntable turns
It is dynamic, make third link with rotation, third link pushes the first link and moved left and right with the second link, third connection
When frame moves right, the upper end of the first link declines, and the upper end of the second link also declines, movable plate is pushed to the left, presses
Contracting spring is extruded, and the second fixed link moves downward, and the first fixed link is pushed to be moved to the left, and then motion bar rotation makes rotary teeth
Disk rotates, and half fluted disc is then driven to rotate, and then adjusts the angle of high-definition camera, when needing to be sampled under water, starts
Driving motor, after driving motor rotation, the first conical gear drives the second circular cone tooth with rotation, then the first conical gear
Wheel, makes first rotating shaft rotate, and then the second spur gear drives the first spur gear that the second shaft is made to rotate, then the second bevel gear
The 4th synchronizing wheel is set to rotate, the 4th synchronizing wheel drives third synchronizing wheel, third synchronizing wheel same by second by third synchronous belt
Step band drives large straight gear, large straight gear to drive the first tooth plate and the second tooth plate that the second synchronizing wheel is made to be rotated with the 5th synchronizing wheel,
Then the first synchronous belt pulls the rotation of the first synchronizing wheel, and worm screw is made to rotate, due to worm screw and head rod clearance fit, so
Worm screw rotation can be such that head rod moves left and right, and then the second connecting rod pushes third connecting rod or so to move with the 4th connecting rod
It is dynamic, then sleeve is pushed to move left and right, the right end of loop bar is welded in the left surface of third fixed plate, and sleeve is nested in the outer of loop bar
Circle, lower grabbing claw is movably connected on the left end of loop bar with upper grabbing claw, when sleeve is moved to the left, drives the first connection sheet and second
Connection sheet makes lower grabbing claw be interlocked with upper grabbing claw, to the sample needed for crawl, if necessary to open lower grabbing claw with it is upper
Grabbing claw moves right sleeve.
It is of the invention a kind of based on environmental ecology reparation sized underwater observation robot, by being equipped with multi-angle observation and sampling cartridge
It sets, in the case that environment is more complex under water, equipment integrally turns to inconvenience, it is only necessary to adjust the angle of high-definition camera
Larger range of observation is carried out, and the equipment can be sampled independently, does not need operator and descend water again, easy to use, peace
Overall coefficient is high.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram for repairing sized underwater observation robot based on environmental ecology of the present invention；
Fig. 2 is the structural schematic diagram of multi-angle observation of the present invention and sampling apparatus；
Fig. 3 is the structural schematic diagram after link pushing structure of the present invention moves downward；
Fig. 4 is that gripper of the present invention captures the structural schematic diagram after structure fastens；
In figure：Multi-angle observation and sampling apparatus -1, the first propeller -2, backing plate -3, the second propeller -4, handle -5,
Controller -6, signal receiver -7, transfer wire -8, ultrasonic probe -9, protective cover -10, detection of luminescence lamp -11, high definition are taken the photograph
As head angle-regulation structure -101, link pushing structure -102, outer protect-ing frame structure -103, motor-driven structure -104, machinery
Pawl captures structure -105, the first limited post -10101, half fluted disc -10102, high-definition camera -10103, motion bar -10104, rotation
Turn fluted disc -10105, the second limited post -10106, the first fixed link -10201, the second fixed link -10202, the first fixed plate -
10203, compressed spring -10204, the first sliding shoe -10205, the first link -10206, the second link -10207, second
Sliding shoe -10208, the first bevel gear -10210, turntable -10211, third link -10212, is fixed small machine -10209
Seat -10213, small fixed block -10214, movable plate -10215, the first synchronizing wheel -10401, the first synchronous belt -10402, second are together
Step wheel the -10403, first tooth plate -10404, large straight gear -10405, the second synchronous belt -10406, the first conical gear -10407,
Driving motor -10408, the second conical gear -10409, first rotating shaft -10410, the second fixed plate -10411, third synchronizing wheel -
10412, the first spur gear -10413, the second shaft -10414, the second spur gear -10415, the second bevel gear -10416,
Four synchronizing wheels -10417, third synchronous belt -10418, the second tooth plate -10419, the 5th synchronizing wheel -10420, head rod -
10501, the second connecting rod -10502, third connecting rod -10503, sealing ring -10504, sleeve -10505, the first connection sheet -
10506, lower grabbing claw -10507, loop bar -10508, upper grabbing claw -10509, the second connection sheet -10510, steel pipe -10511, snail
Bar -10512, the 4th connecting rod -10513, third fixed plate -10514.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
- Fig. 4 is please referred to Fig.1, the present invention provides a kind of based on environmental ecology reparation sized underwater observation robot technical solution：Its
Structure includes multi-angle observation and sampling apparatus 1, the first propeller 2, backing plate 3, the second propeller 4, handle 5, controller 6, letter
Number receiver 7, transfer wire 8, ultrasonic probe 9, protective cover 10, detection of luminescence lamp 11, the backing plate 3 set altogether there are two and mutually
Parallel, the backing plate 3 is welded in the lower end of multi-angle observation and sampling apparatus 1, and first propeller 2 is fitted in multi-angle
Observation and sampling apparatus 1, positive lower end, second propeller 4 are welded in multi-angle observation and the 1 positive right side of sampling apparatus
End, 11 glue connection of detection of luminescence lamp is in multi-angle observation and 1 positive left end of sampling apparatus, and the protective cover 10 is embedded in more
The upper end of angular observation and 1 left surface of sampling apparatus, it is left with sampling apparatus 1 that the ultrasonic probe 9 is fitted in multi-angle observation
The rear end on surface, the controller 6 are welded in the center of multi-angle observation and 1 upper surface of sampling apparatus, and the handle 5 is embedded in more
The right end of angular observation and 1 upper surface of sampling apparatus, the handle 5 are in controller 6 in same level, and the signal connects
7 glue connection of device is received in the central and orthogonal of 6 upper surface of controller, the ultrasonic probe 9 passes through transfer wire 8 and control
Device 6 is electrically connected, and the multi-angle observation is with sampling apparatus 1 by high-definition camera angle-regulation structure 101, link pushing structure
102, outer protect-ing frame structure 103, motor-driven structure 104, gripper crawl structure 105 form, the link pushing structure 102
The right end of the upper right side being welded in inside outer protect-ing frame structure 103, the high-definition camera angle-regulation structure 101 is movably connected on
The left end of the left end of link pushing structure 102, the high-definition camera angle-regulation structure 101 is mechanically connected to outer protecting frame
Left upper end inside frame 103, the right end of the motor-driven structure 104 is welded in the right end inside outer protect-ing frame structure 103, described
Gripper captures lower-left end of the structure 105 inside outer protect-ing frame structure 103, the high-definition camera angle-regulation structure 101
By the first limited post 10101, half fluted disc 10102, high-definition camera 10103, motion bar 10104, rotation fluted disc 10105, second
Limited post 10106 forms, and the high-definition camera 10103 is mechanically connected to the left upper end outer protect-ing frame structure 103 inside, it is described partly
Fluted disc 10102 is welded in the right end of high-definition camera 10103, and the rotation fluted disc 10105 is engaged on the right side of half fluted disc 10102
Side, the left end of second limited post 10106 are movably connected on the front of rotation fluted disc 10105, second limited post 10106
It is welded in the upper end of outer protect-ing frame structure 103, first limited post 10101 is set to the lower section of rotation fluted disc 10105, the activity
The right end of bar 10104 is flexibly connected with the first fixed link 10201, and the link pushing structure 102 is by the first fixed link
10201, the second fixed link 10202, the first fixed plate 10203, compressed spring 10204, the connection of the first sliding shoe 10205, first
Frame 10206, the second link 10207, the second sliding shoe 10208, small machine 10209, the first bevel gear 10210, turntable
10211, third link 10212, fixed seat 10213, small fixed block 10214, movable plate 10215 form, and described second fixes
The left end of bar 10202 is embedded in the right surface of the first fixed link 10201, and second fixed link 10202 runs through the first fixed plate
10203 left surface, the compressed spring 10204 are nested in the outer ring of the second fixed link 10202, second fixed link
10202 right end is welded in the left surface of movable plate 10215, and first sliding shoe 10205 is slidably connected to movable plate 10215
Upper end, the left end of first link 10206 is flexibly connected with the first sliding shoe 10205, second link 10207
Left end be mechanically connected to the lower end of movable plate 10215, the right end of second link 10207 is movably connected on the second sliding
The front of block 10208, the second sliding shoe 10208 are slidably connected to the left side of small machine 10209, first bevel gear
10210 are interference fitted in the lower end of small machine 10209, first bevel gear 10210 be engaged on turntable 10211 it is positive on
End, the right end of the third link 10212 are movably connected on the front of turntable 10211, a left side for the third link 10212
End is mechanically connected to the stage casing of the second link 10207, and the right end of first link 10206 is movably connected on small fixed block
10214 front, the small fixed block 10214 are welded in the left end of fixed seat 10213, and the motor-driven structure 104 is by
One synchronizing wheel 10401, the first synchronous belt 10402, the second synchronizing wheel 10403, the first tooth plate 10404, large straight gear 10405,
Two synchronous belts 10406, the first conical gear 10407, driving motor 10408, the second conical gear 10409, first rotating shaft
10410, the second fixed plate 10411, third synchronizing wheel 10412, the first spur gear 10413, the second shaft 10414, the second straight-tooth
Take turns the 10415, second bevel gear 10416, the 4th synchronizing wheel 10417, third synchronous belt 10418, the second tooth plate the 10419, the 5th
Synchronizing wheel 10420 forms, and first conical gear 10407 is interference fitted in the left end of driving motor 10408, second circle
Bevel gear 10409 is engaged on the lower end of the first conical gear 10407, and second conical gear 10409 is welded in first rotating shaft
10410 upper end, the first rotating shaft 10410 run through the upper surface of the second fixed plate 10411, second spur gear 10415
It is interference fitted in the lower end of first rotating shaft 10410, the right side of the upper end of first spur gear 10413 and the second spur gear 10415
Splaying coordinates, and first spur gear 10413 is nested in the outer ring of the second shaft 10414, second bevel gear 10416
It is interference fitted in the left end of the second shaft 10414, second bevel gear 10416 is engaged on 10417 front of the 4th synchronizing wheel
Right end, the 4th synchronizing wheel 10417 is sequentially connected by the front end of third synchronous belt 10418 and third synchronizing wheel 10412,
The third synchronizing wheel 10412 is sequentially connected by the front end of the second synchronous belt 10406 and large straight gear 10405, and described first
Tooth plate 10404 is engaged on the upper end of large straight gear 10405, between the front end of second synchronizing wheel 10403 and the first tooth plate 10404
Gap coordinates, and the top ring of first synchronous belt 10402 is synchronized around the outer ring for being connected to the second synchronizing wheel 10403, described first
With 10402 stage casing around the outer ring for being connected to the first synchronizing wheel 10401, second tooth plate 10419 is engaged on large straight gear
10405 lower end, 10420 clearance fit of the 5th synchronizing wheel is in the lower end of the second tooth plate 10419, first synchronizing wheel
10401 are nested in the right end of worm screw 10512, and the gripper captures structure 105 by head rod 10501, the second connecting rod
10502, third connecting rod 10503, sealing ring 10504, sleeve 10505, the first connection sheet 10506, lower grabbing claw 10507, set
Bar 10508, upper grabbing claw 10509, the second connection sheet 10510, steel pipe 10511, worm screw 10512, the 4th connecting rod 10513,
Three fixed plates 10514 form, and the left end of the worm screw 10512 is flexibly connected with third fixed plate 10514, the head rod
10501 lower end and the right end of the second connecting rod 10502 are mechanically connected, and left end and the third of second connecting rod 10502 connect
The lower end of extension bar 10503 is flexibly connected, the upper end of the third connecting rod 10503 and the left end machinery of the 4th connecting rod 10513
Connection, the steel pipe 10511 are nested in the left end of outer protect-ing frame structure 103, and the right end of the loop bar 10508 is welded in third and fixes
The left surface of plate 10514, the sleeve 10505 are nested in the outer ring of loop bar 10508, and the sealing ring 10504 is nested in sleeve
10505 outer ring, the upper grabbing claw 10509 are movably connected on the top of 10508 left end of loop bar, the lower grabbing claw 10507
It is mechanically connected to the lower section of 10508 left end of loop bar, the right end of second connection sheet 10510 is movably connected on sleeve 10505
The right end in the upper left corner, first connection sheet 10506 is mechanically connected to the lower left corner of sleeve 10505, the material of the protective cover 10
Matter is tempered glass, high pressure resistant, impact resistance, is convenient for underwater use, the handle 5 that can fasten rope, prevent underwater undercurrent
Equipment is swept away, loss is reduced.
Ultrasonic probe 9 described in this patent is the device for emitting and receiving ultrasonic wave during ultrasound examination, is visited
The performance of head directly affects the characteristic of ultrasonic wave, influences the detection performance of ultrasonic wave.
At work, the direction of advance of 4 control device of the first propeller 2 and the second propeller, detection of luminescence lamp 11 illuminate
The road in front, signal receiver 7 send and receive for signal, and controller 6 is used for the processing of signal, observes under water
When, in order to obtain more image documents, operator can adjust the observation angle of high-definition camera 10103, open small machine
10209, after small machine 10209 rotates, make the first bevel gear 10210 with rotation, then the rotation of turntable 10211, makes third
Link 10212 is with rotation, and third link 10212 pushes the first link 10206 and the second link 10207 or so moves
Dynamic, when third link 10212 moves right, the upper end of the first link 10206 declines, the upper end of the second link 10207
Also decline, movable plate 10215 is pushed to the left, compressed spring 10204 is extruded, and the second fixed link 10202 moves downward, and is pushed
First fixed link 10201 is moved to the left, and the then rotation of motion bar 10104 makes rotation fluted disc 10105 rotate, and then drives half fluted disc
10102 rotations, and then the angle of high-definition camera 10103 is adjusted, when needing to be sampled under water, start driving motor
10408, after driving motor 10408 rotates, the first conical gear 10407 drives with rotation, then the first conical gear 10407
Second conical gear 10409 makes first rotating shaft 10410 rotate, and then the second spur gear 10415 drives the first spur gear 10413
The second shaft 10414 is set to rotate, then the second bevel gear 10416 makes the 4th synchronizing wheel 10417 rotate, the 4th synchronizing wheel
10417 drive third synchronizing wheel 10412 by third synchronous belt 10418, and third synchronizing wheel 10412 passes through the second synchronous belt
10406 drive large straight gears 10405, and large straight gear 10405 drives the first tooth plate 10404 and the second tooth plate 10419 to make second together
Step wheel 10403 and the 5th synchronizing wheel 10420 rotate, and then the first synchronous belt 10402 pulls the rotation of the first synchronizing wheel 10401, makes
Worm screw 10512 rotates, due to worm screw 10512 and 10501 clearance fit of head rod, so worm screw 10512, which rotates, can make the
One connecting rod 10501 moves left and right, and then the second connecting rod 10502 and the 4th connecting rod 10513 push third connecting rod 10503
It moves left and right, then sleeve 10505 is pushed to move left and right, the right end of loop bar 10508 is welded in the left-handed watch of third fixed plate 10514
Face, sleeve 10505 are nested in the outer ring of loop bar 10508, and lower grabbing claw 10507 is movably connected on loop bar with upper grabbing claw 10509
10508 left end when sleeve 10505 is moved to the left, drives the first connection sheet 10506 and the second connection sheet 10510, makes lower crawl
Pawl 10507 is interlocked with upper grabbing claw 10509, to the sample needed for crawl, if necessary to open lower grabbing claw 10507 with it is upper
Grabbing claw 10509 moves right sleeve 10505.
The present invention solves existing equipment when carrying out underwater observation, can not the underwater situation of multi-angle observation, depending on
Angle is limited, and observation effect is poor, when needing to collect sample, can not be sampled, can not thus carry out Data Detection, need to grasp
Author voluntarily descends hydromining sample, and safety coefficient is low, inconvenient for use, and the present invention is combined with each other by above-mentioned component, under water environment
In the case of more complex, equipment integrally turns to inconvenience, it is only necessary to adjust high-definition camera angle can be carried out it is wider
Observation, and the equipment can be sampled independently, do not needed operator and descended water again, easy to use, and safety coefficient is high.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (8)
1. one kind repairing sized underwater observation robot based on environmental ecology, structure includes multi-angle observation and sampling apparatus (1), the
One propeller (2), backing plate (3), the second propeller (4), handle (5), controller (6), signal receiver (7), transfer wire
(8), ultrasonic probe (9), protective cover (10), detection of luminescence lamp (11), it is characterised in that：
There are two the backing plate (3) sets altogether and parallel to each other, the backing plate (3) is welded in multi-angle observation and sampling apparatus (1)
Lower end, first propeller (2) is fitted in multi-angle observation and sampling apparatus (1), positive lower end, and described second promotes
Device (4) is welded in multi-angle observation and sampling apparatus (1) positive right end, and detection of luminescence lamp (11) glue connection is in multi-angle
Observation and sampling apparatus (1) positive left end, the protective cover (10) is embedded in multi-angle observation and sampling apparatus (1) left surface
Upper end, the ultrasonic probe (9) are fitted in the rear end of multi-angle observation and sampling apparatus (1) left surface, the controller (6)
It is welded in the center of multi-angle observation and sampling apparatus (1) upper surface, the handle (5) is embedded in multi-angle observation and sampling apparatus
(1) right end of upper surface, the handle (5) are in controller (6) in same level, and signal receiver (7) glue connects
It is connected to the central and orthogonal of controller (6) upper surface, the ultrasonic probe (9) passes through transfer wire (8) and controller
(6) it is electrically connected；
The multi-angle observation is with sampling apparatus (1) by high-definition camera angle-regulation structure (101), link pushing structure
(102), outer protect-ing frame structure (103), motor-driven structure (104), gripper crawl structure (105) form；
The link pushing structure (102) is welded in the internal upper right side of outer protect-ing frame structure (103), the high-definition camera brilliance
The right end of degree adjustment structure (101) is movably connected on the left end of link pushing structure (102), the high-definition camera angle tune
The left end of whole structure (101) is mechanically connected to the internal left upper end of outer protect-ing frame structure (103), the motor-driven structure (104)
Right end be welded in the internal right end of outer protect-ing frame structure (103), the gripper crawl structure (105) is embedded in outer protect-ing frame structure
(103) internal lower-left end.
2. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The height
Clear camera angle adjustment structure (101) by the first limited post (10101), half fluted disc (10102), high-definition camera (10103),
Motion bar (10104), rotation fluted disc (10105), the second limited post (10106) composition, high-definition camera (10103) machinery
It is connected to the internal left upper end of outer protect-ing frame structure (103), half fluted disc (10102) is welded in high-definition camera (10103)
Right end, the rotation fluted disc (10105) are engaged on the right side of half fluted disc (10102), the left end of second limited post (10106)
It is movably connected on the front of rotation fluted disc (10105), second limited post (10106) is welded in outer protect-ing frame structure (103)
Upper end, first limited post (10101) are set to the lower section of rotation fluted disc (10105).
3. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The company
Frame pushing structure (102) is connect by the first fixed link (10201), the second fixed link (10202), the first fixed plate (10203), compression
Spring (10204), the first sliding shoe (10205), the first link (10206), the second link (10207), the second sliding shoe
(10208), small machine (10209), the first bevel gear (10210), turntable (10211), third link (10212), fixation
Seat (10213), small fixed block (10214), movable plate (10215) composition.
4. according to claim 3 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：Described
The left end of two fixed links (10202) is embedded in the right surface of the first fixed link (10201), and second fixed link (10202) is run through
The left surface of first fixed plate (10203), the compressed spring (10204) are nested in the outer ring of the second fixed link (10202), institute
The right end for stating the second fixed link (10202) is welded in the left surface of movable plate (10215), and first sliding shoe (10205) is sliding
The dynamic upper end for being connected to movable plate (10215), the left end and the first sliding shoe (10205) of first link (10206) are living
The left end of dynamic connection, second link (10207) is mechanically connected to the lower end of movable plate (10215), second connection
The right end of frame (10207) is movably connected on the front of the second sliding shoe (10208), and the second sliding shoe (10208) sliding connects
It is connected to the left side of small machine (10209), first bevel gear (10210) is interference fitted in the lower end of small machine (10209),
First bevel gear (10210) is engaged on turntable (10211) positive upper end, the right side of the third link (10212)
End is movably connected on the front of turntable (10211), and the left end of the third link (10212) is mechanically connected to the second link
(10207) right end in stage casing, first link (10206) is movably connected on the front of small fixed block (10214), described
Small fixed block (10214) is welded in the left end of fixed seat (10213).
5. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The electricity
Machine driving structure (104) is by the first synchronizing wheel (10401), the first synchronous belt (10402), the second synchronizing wheel (10403), the first tooth
Plate (10404), large straight gear (10405), the second synchronous belt (10406), the first conical gear (10407), driving motor
(10408), the second conical gear (10409), first rotating shaft (10410), the second fixed plate (10411), third synchronizing wheel
(10412), the first spur gear (10413), the second shaft (10414), the second spur gear (10415), the second bevel gear
(10416), the 4th synchronizing wheel (10417), third synchronous belt (10418), the second tooth plate (10419), the 5th synchronizing wheel (10420)
Composition.
6. according to claim 5 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：Described
One conical gear (10407) is interference fitted in the left end of driving motor (10408), the second conical gear (10409) engagement
Lower end in the first conical gear (10407), second conical gear (10409) are welded in the upper of first rotating shaft (10410)
End, the first rotating shaft (10410) run through the upper surface of the second fixed plate (10411), the second spur gear (10415) interference
Cooperation is in the lower end of first rotating shaft (10410), upper end and the second spur gear (10415) of first spur gear (10413)
Right end clearance fit, first spur gear (10413) are nested in the outer ring of the second shaft (10414), the second umbrella shape tooth
Wheel (10416) is interference fitted in the left end of the second shaft (10414), and it is same that second bevel gear (10416) is engaged on the 4th
Step wheel (10417) positive right end, the 4th synchronizing wheel (10417) pass through third synchronous belt (10418) and third synchronizing wheel
(10412) front end is sequentially connected, and the third synchronizing wheel (10412) passes through the second synchronous belt (10406) and large straight gear
(10405) front end is sequentially connected, and first tooth plate (10404) is engaged on the upper end of large straight gear (10405), and described second
The front end of synchronizing wheel (10403) and the first tooth plate (10404) clearance fit, the top ring of first synchronous belt (10402) around
It is connected to the outer ring of the second synchronizing wheel (10403), the stage casing of first synchronous belt (10402), which is surround, is connected to the first synchronizing wheel
(10401) outer ring, second tooth plate (10419) are engaged on the lower end of large straight gear (10405), the 5th synchronizing wheel
(10420) lower end of the clearance fit in the second tooth plate (10419).
7. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The machine
Machinery claw captures structure (105) by head rod (10501), the second connecting rod (10502), third connecting rod (10503), sealing
Enclose (10504), sleeve (10505), the first connection sheet (10506), lower grabbing claw (10507), loop bar (10508), upper grabbing claw
(10509), the second connection sheet (10510), steel pipe (10511), worm screw (10512), the 4th connecting rod (10513), third are fixed
Plate (10514) forms.
8. one kind according to claim 7 or 1 is based on environmental ecology and repairs sized underwater observation robot, it is characterised in that：Institute
The left end for stating worm screw (10512) is flexibly connected with third fixed plate (10514), the lower end of the head rod (10501) with
The right end of second connecting rod (10502) is mechanically connected, left end and the third connecting rod of second connecting rod (10502)
(10503) lower end flexible connection, the left end machine of the upper end and the 4th connecting rod (10513) of the third connecting rod (10503)
Tool connects, and the steel pipe (10511) is nested in the left end of outer protect-ing frame structure (103), and the right end of the loop bar (10508) is welded in
The left surface of third fixed plate (10514), the sleeve (10505) are nested in the outer ring of loop bar (10508), the sealing ring
(10504) it is nested in the outer ring of sleeve (10505), the upper grabbing claw (10509) is movably connected on loop bar (10508) left end
Top, the lower grabbing claw (10507) are mechanically connected to the lower section of loop bar (10508) left end, second connection sheet (10510)
Right end be movably connected on the upper left corner of sleeve (10505), the right end of first connection sheet (10506) is mechanically connected to sleeve
(10505) the lower left corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810086977.8A CN108382548A (en) | 2018-01-30 | 2018-01-30 | One kind repairing sized underwater observation robot based on environmental ecology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810086977.8A CN108382548A (en) | 2018-01-30 | 2018-01-30 | One kind repairing sized underwater observation robot based on environmental ecology |
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| Publication Number | Publication Date |
|---|---|
| CN108382548A true CN108382548A (en) | 2018-08-10 |
Family
ID=63074892
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810086977.8A Pending CN108382548A (en) | 2018-01-30 | 2018-01-30 | One kind repairing sized underwater observation robot based on environmental ecology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112557111A (en) * | 2020-12-01 | 2021-03-26 | 昆明理工大学 | Hydrogeology water quality sampling device and use method thereof |
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| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| US20160258235A1 (en) * | 2015-03-03 | 2016-09-08 | Deep Down, Inc. | Apparatus and method for subsea strapping band attachment |
| CN106826888A (en) * | 2017-03-07 | 2017-06-13 | 北京林业大学 | A kind of coordinated type elastic mechanical paw |
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| CN101234665A (en) * | 2008-03-03 | 2008-08-06 | 中国科学院光电技术研究所 | Small-size underwater observation robot |
| CN202120280U (en) * | 2011-06-30 | 2012-01-18 | 汉王科技股份有限公司 | Angle-adjustable face recognition device |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
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