CN115042945A

CN115042945A - Seabed is salvaged and is used observation robot

Info

Publication number: CN115042945A
Application number: CN202210975411.7A
Authority: CN
Inventors: 单宇翥; 邢立丽; 陈洋
Original assignee: Qingdao Pacific Diving&technology Co ltd
Current assignee: Qingdao Pacific Diving&technology Co ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-09-13
Anticipated expiration: 2042-08-15
Also published as: CN115042945B

Abstract

The invention provides an observation robot for seabed fishing, and mainly relates to the field of underwater operation tools. An observation robot for seabed fishing comprises a shell, wherein a transparent cover body is arranged at the front end of the shell, a camera is arranged in the transparent cover body, at least five crawler belts are uniformly arranged on the outer side of the shell in a circumferential manner, crawler wheel groups are arranged in the crawler belts, crawler belts are tensioned on the outer sides of the crawler wheel groups, and only two crawler belts are in contact with the ground; the crawler belt is characterized in that outer meshing teeth are linearly and uniformly arranged on the outer side of the crawler belt, the inner side of the shell is provided with a driving gear in one-to-one correspondence with the crawler belt, the center of the shell is provided with a worm matched with the driving gear, one end of the worm is provided with a worm driving device, and the rear end of the shell is provided with a traction cable. The invention has the beneficial effects that: the invention can adapt to the complex topography of the seabed without overturning danger.

Description

Seabed is salvaged and is used observation robot

Technical Field

The invention mainly relates to the field of underwater operation tools, in particular to an observation robot for seabed fishing.

Background

Goods are sunk into the seabed due to weather factors, human factors and the like every year, accidents that the concrete blocks of the dam are sunk into the seabed due to geological disasters, long-term overhaul and the like are frequent, and the seabed salvage operation is necessary for valuable parts of the accidents. Because the underwater geological environment is complex, before fishing operation, careful investigation needs to be carried out on the underwater situation, and the suggested underwater topography situation is drawn, so that data support is provided for subsequent fishing operation.

Currently, for underwater investigation, a method combining radar detection and underwater robot exploration is mainly used, the radar detection can draw a macroscopic geographical trend in a certain area, and the influence of the underwater robot can help to determine the specific position, state and the like of a deposit.

The current underwater robot adopts paddle drive or floor type structure, and is driven by wheel sets or caterpillar tracks, wherein the robot driven by the paddles suspends a certain distance at the water bottom for observation, and the rotation of the paddles can bring silt, thereby influencing the observation. The underwater floor-type robot can observe more clearly because of the lower speed and no stirring of the paddle. However, the robot needs to face a complex underwater environment, is easy to jam, overturn and the like on the underwater environment, and has poor use effect.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides the observation robot for fishing the seabed, which is provided with crawler supports on the periphery, can adapt to the complex terrain of the seabed and has no overturning danger.

In order to achieve the purpose, the invention is realized by the following technical scheme:

an observation robot for seabed fishing comprises a shell, wherein the shell is in a streamline bullet shape, a transparent cover body is arranged at the front end of the shell, a camera is arranged in the transparent cover body, a waterproof control cavity is arranged at the rear end of the transparent cover body, a control module is arranged in the control cavity, at least five crawler belts are uniformly arranged on the outer side of the shell in a circumferential manner, crawler wheel groups are arranged in the crawler belts, crawler belts are tensioned on the outer sides of the crawler wheel groups, the cross sections of the crawler belts are arc-shaped, and only two crawler belts are in contact with the ground; the utility model discloses a crawler belt, including crawler belt, casing, camera, worm drive device, controller, drive gear, casing center, the track outside is linear evenly to be set up outer interlock tooth, the casing inboard sets up the drive gear with the track one-to-one, casing center sets up the worm with drive gear matched with, worm one end sets up worm drive device, camera, worm drive device all are connected with the controller electricity, the casing rear end sets up traction cable.

An orientation induction sensor is arranged in the shell and electrically connected with the controller.

The orientation induction sensor is an electronic gyroscope sensor.

The orientation induction sensor comprises an induction cavity, a conductive slip ring and a gravity contact, wherein a plurality of conductive circuits are uniformly arranged on the inner wall of the conductive slip ring in a circumferential mode, the gravity contact is rotatably arranged in the induction cavity, the rotating shaft of the gravity contact and the conductive slip ring are concentrically arranged, and the gravity contact is in contact with the inner wall of the conductive slip ring.

Orientation inductive transducer is including response chamber, a plurality of contact pick-up and gravity ball, and is a plurality of contact pick-up is circumference evenly distributed on response intracavity wall, the gravity ball sets up promptly at the response intracavity.

The end of the worm is connected with the shell through a ball head, an angle adjusting motor is arranged in the middle of the shell, an adjusting disc is arranged on a motor shaft of the angle adjusting motor, an electric push rod is arranged on the front side of the adjusting disc in the radius direction, when the electric push rod is in an extending state, the front end of the electric push rod is located at the circle center of the adjusting disc, the front end of the push rod of the electric push rod is connected with the ball head of the front end of the worm, a worm driving device is arranged at the end of the worm, and the worm driving device is connected with the end of the worm through a universal coupling.

The front end of the electric push rod is provided with a spring rod, and the spring rod is arranged between the push rod and the ball head.

The center of the front end of the adjusting disc is provided with a positioning ring, and the front end of the electric push rod is matched with the positioning ring.

The inside interlock tooth that sets up of track, set up the teeth of a cogwheel with interlock tooth matched with in on each wheel outer wall of track wheelset, drive gear cooperatees with the interlock tooth outward.

And a conductive rotary joint is arranged between the tail end of the traction cable and the shell.

Compared with the prior art, the invention has the beneficial effects that:

the outer circumference of the robot shell is uniformly provided with the plurality of crawler belts, and when the robot runs, two crawler belts are required to be simultaneously contacted with the ground. After the robot is turned over, the contact between the crawler and the ground can still be ensured, so that the robot can still normally operate, and the robot is suitable for the complex environment of the seabed. The robot is driven by the crawler to move on the seabed without the arrangement of the blades, the rotating speed of the crawler is slow, and great disturbance to water flow is avoided, so that the turbidity at the bottom of the sea is limited, and the seabed observation can be better carried out.

In order to save the electric quantity consumption and reduce the disturbance to water flow, the robot is only in an operating state with two tracks in contact with the ground, so that underwater detection activity can be better completed.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of a front view state of the present invention;

FIG. 3 is a schematic diagram of the left view state structure of the present invention;

FIG. 4 is a schematic view of the present invention in a partial cross-section taken along the line B-B in FIG. 3;

FIG. 5 is a first perspective structural view of the track drive configuration of the present invention;

FIG. 6 is a second perspective structural view of the track drive configuration of the present invention;

FIG. 7 is a third perspective structural view of the track drive configuration of the present invention;

FIG. 8 is a schematic view of the horizontal configuration of the worm of the present invention;

FIG. 9 is a structural schematic view of the present invention with the worm in a sunken state;

FIG. 10 is an enlarged view of part A of FIG. 2 according to the present invention;

FIG. 11 is a schematic view of one configuration of an orientation sensor of the present invention;

FIG. 12 is a schematic view of another configuration of the orientation sensor of the present invention;

FIG. 13 is a schematic view of the worm of the present invention driving two drive gears simultaneously;

figure 14 is a schematic view of the worm driving a single drive gear of the present invention.

Reference numerals shown in the drawings: 1. a housing; 2. a camera; 3. a crawler belt wheel group; 4. a crawler; 5. a drive gear; 6. a worm; 7. a worm drive; 9. an angle adjustment motor; 11. a transparent cover body; 12. a control chamber; 13. a track groove; 41. external occlusion teeth; 42. inner engaging teeth; 81. an induction cavity; 82. a conductive slip ring; 83. a gravity contact; 84. a contact sensor; 85. a gravity ball; 91. an adjusting disk; 92. an electric push rod; 93. a spring lever; 94. a retaining ring.

Detailed Description

The invention is further described with reference to the accompanying drawings and the specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

Example 1:

the embodiment provides an observation robot for seabed fishing, which comprises a shell 1, wherein the shell 1 is internally supported by a light alloy welding framework, the shell 1 is made of light alloy plates or carbon fiber plates, and the shell 1 and the framework are installed in a sealing and waterproof manner. The shell 1 is in a streamline bullet shape, and the resistance of the observation robot is smaller when the observation robot runs underwater due to the streamline design. Meanwhile, the structure provides a structural foundation for the subsequent installation of the surrounding type crawler.

The front end of the shell 1 is provided with a transparent cover body 11, and the transparent cover body 11 and the shell 1 are installed in a sealing mode. The transparent cover 11 is of a hemispherical structure, and when the top of the housing 1 contacts the ground, the housing 1 can topple over due to unstable gravity center, so that the situation that the head cannot move due to grounding is avoided. The camera 2 is installed in the transparent cover body 11, and the camera 2 is used for observing the underwater environment and providing clear video data support for seabed fishing. The transparent cover body 11 can ensure the stable operation of the camera 2 and prevent the camera 2 from being corroded by seawater. The rear end of the transparent cover body 11 is provided with a waterproof control cavity 12, and the control cavity 12 is separated from the transparent cover body 11 by a partition plate. And a control module is arranged in the control cavity 12 and is used as a control component of each electrical element of the device.

Specifically, at least five track grooves 13 are uniformly formed in the outer side of the casing 1 in a circumferential manner, in this embodiment, the five track grooves 13 are formed as an example, each track groove 13 is internally provided with a track wheel set 3 in a rotating manner, the track wheel set 3 includes tensioning wheels at the front end and the rear end and a plurality of supporting wheels at the middle part, in this embodiment, the two tensioning wheels are respectively located at the two ends of the track 4 to tension the track 4, in this embodiment, only one supporting wheel is used to support the middle part of the track 4, and the supporting wheel is located at the center of a connecting line of the two tensioning wheels. The crawler belt 4 is tensioned at the outer side of the crawler belt wheel set 3, the robot is driven to advance on the seabed through the crawler belt 4, the friction force is stronger, and the trafficability characteristic is better. Specifically, the sections of the crawler belts 4 are arc-shaped, and the sections of the five crawler belts are arc-shaped on the same circumference, so that when the robot is supported by the two crawler belts 4, the contact between the crawler belts 4 and the bottom surface can be ensured. Correspondingly, the side walls of the tension wheel and the supporting wheel are arc-shaped and matched with the inner wall of the crawler 4. The inner side of the crawler 4 is provided with inner meshing teeth 42, the outer wall of each wheel of the crawler wheel set 3 is provided with gear teeth matched with the inner meshing teeth 42, and the tensioning wheel and the supporting wheel are matched with the inner meshing teeth 42 through the gear teeth to support the crawler 4, so that the crawler 4 can be stably driven. More specifically, track 4 adopts the rubber material, because track 4 is the arc, with its tensioning back on curved take-up pulley, can guarantee track 4's stability, prevents that track 4 from loosening.

It is noted that during operation of the robot, there are, and only two, tracks 4 in contact with the ground. Outer meshing teeth 41 are linearly and uniformly arranged on the outer side of the crawler 4, and driving gears 5 corresponding to the crawler 4 one by one are arranged on the inner side of the shell 1. The driving gear 5 is meshed with the external meshing teeth 41 on the outer side of the crawler 4, and the crawler 4 can be driven to rotate through the driving gear 5, so that the robot is driven to run underwater. The plurality of drive gears 5 are all driven by the same drive device. Specifically, the center of the shell 1 is rotatably provided with a worm 6 matched with the driving gear 5, wherein the tail end of the worm 6 is rotatably connected with the shell 1 through a ball head, the tail end of the worm 6 is provided with a worm driving device 7, the worm driving device 7 is a worm motor, and the worm motor is connected with the tail end of the worm 6 through a universal coupling. Specifically, the bottom of the ball head at the tail end of the worm 6 is provided with an extension rod, the extension rod is coaxial with the worm 6, and the extension rod is a part connected with the worm motor. An angle adjusting motor 9 is installed in the middle of the inside of the shell 1, and the angle adjusting motor 9 is a servo motor. An adjusting disc 91 is fixedly connected to a motor shaft of the angle adjusting motor 9, an electric push rod 92 is installed on the front side of the adjusting disc 91 along the radius direction, and the tail end of the electric push rod 92 faces outwards. When the electric push rod 92 is in an extended state, the front end of the electric push rod 92 is located at the center of the adjusting disc 91. The front end of the push rod of the electric push rod 92 is provided with a ball head seat, and the ball head seat is connected with the ball head at the front end of the worm 6. The angle adjusting motor 9 can drive the adjusting disc 91 to rotate in ten equal parts, so that the worm 6 can respectively mesh with five driving gears 5 and move to a position between two adjacent driving gears 5 to mesh with two driving gears 5, and the worm 6 can drive a single driving gear 5 and can also drive two adjacent driving gears 5 simultaneously. Specifically, when the angle adjusting motor 9 is controlled by the control module to drive the adjusting disc 91 to rotate, so that the electric push rod 92 rotates to the single driving gear 5 located at the bottom, the control module controls the electric push rod 92 to retract for a certain distance, so that the worm 6 is meshed with the single driving gear 5 located at the bottom, the worm driving device 7 drives the worm 6 to rotate, and then the single driving gear 5 meshed with the worm drives the single crawler 4 to rotate, so that only one of the two crawlers 4 contacting with the ground of the robot is driven, and the forward rotation or the reverse rotation of the single crawler is driven through the forward rotation or the reverse rotation of the worm driving device 7, so that the left rotation or the right rotation of the robot is realized. When the angle adjusting motor 9 is controlled by the control adjusting disc 91 of the control module to rotate, and the electric push rod 92 is driven to rotate between the two driving gears 5 positioned below, the control module controls the electric push rod 92 to continuously retract for a certain distance, so that the worm 6 is meshed with the two driving gears 5 simultaneously, the two crawler belts 4 are driven to rotate simultaneously by the driving gears 5, and the two crawler belts 4 in contact with the ground are driven to rotate forwards or backwards simultaneously by forward rotation or reverse rotation of the worm driving device 7, so that the robot can advance or retreat.

The electric push rod 92 can complete displacement of two strokes, wherein the first stroke can realize the meshing of the worm 6 and the single driving gear 5, and the second stroke can realize the simultaneous meshing of the worm 6 and the driving gears 5 on two sides. During a specific driving process, the electric push rod 92 can always keep switching between the first stroke and the second stroke without fully extending to make the worm 6 horizontal, and the worm 6 completes meshing and separation with the single driving gear 5 during a slow rotation process.

More specifically, the front end of the electric push rod 92 is provided with a spring rod 93, and the spring rod 93 is arranged between the push rod and the ball head. The spring rod 93 can be used as a buffer, and when the electric push rod 92 pulls the worm 6 to be meshed with the driving gear 5, the spring rod 93 can be used as a buffer part to prevent the worm 6 from being meshed with the driving gear 5 too hard to be locked.

The center of the front end of the adjusting disc 91 is provided with a positioning ring 94, and when the electric push rod 92 extends to the maximum state, the front end of the electric push rod 92 abuts against the positioning ring 94, so that the stroke of the electric push rod 92 is positioned and limited.

And the orientation induction sensor is arranged in the shell 1 and is electrically connected with the controller. In this embodiment, the orientation sensing sensor is an electronic gyroscope sensor. The induction sensor can detect which surface of the robot faces downwards, so that the angle adjusting motor 9 is controlled by the controller to rotate a corresponding angle, the worm 6 is rotated to a position meshed with the two driving gears 5 at the bottom, the electric push rod 92 drives the worm 6 to sink, the driving gears 5 are driven to rotate by the driving of the worm driving device 7, and then the bottom of the driving device is driven to rotate with the crawler 4 in contact with the ground to complete the operation of the robot. When the robot needs to turn, the control module is only used for controlling the electric push rod 92 to move to the first stroke section position, and then the control module drives the angle adjusting motor 9 to rotate, so that the worm 6 is only meshed with one driving gear 5 on the bottom surface, the crawler 4 on the side rotates forwards or backwards, and the left-right turning of the robot is completed.

With the above structural design, only two crawler belts 4 in contact with the ground can be driven, thereby reducing the load of the driving device 7. Through this structural design, still make other three tracks 4 no longer carry out the disturbance to rivers to reduced the influence that submarine silt was brought up to the field of vision by rivers.

Specifically, the rear end of the housing 1 is preferably a spherical end surface, as well as the front end, so as to prevent the robot from stably standing and being stuck after the rear end of the robot lands on the ground. The semi-spherical end surface makes the robot difficult to stand vertically, and the robot is very easy to overturn under the unstable gravity center to reappear the condition that the two crawler belts 4 land on the ground, thereby realizing the driving of the robot. And a traction cable is arranged at the rear end of the shell 1. And a conductive rotary joint is arranged between the tail end of the traction cable and the shell 1. The conductive rotary joint can ensure that the robot is communicated with the cable in a rotating way, even if the robot overturns, the traction cable cannot be distorted, the practicability of the robot is improved, and the service life of the traction cable is prolonged.

Example 2:

in the present embodiment, only the difference in the arrangement toward the inductive sensor is made with respect to embodiment 1. The orientation detection mechanism of a conductor structure is built for the main body by adopting the conductive slip ring 82 in the embodiment, the mechanism comprises a sensing cavity 81, the conductive slip ring 82 and a gravity contact 83, a plurality of conductive circuits are uniformly arranged on the inner wall of the conductive slip ring 82 in a circumferential manner, the number of the conductive circuits is consistent with that of the tracks 4 on the outer side of the shell 1, and the conductive circuits are arranged between every two adjacent tracks 4. The gravity contact 83 is rotatably disposed in the sensing cavity 81, and a rotating shaft of the gravity contact 83 is concentrically disposed with the conductive slip ring 82. The gravity contact 83 is an eccentric structure, and the heavier end of the gravity contact 83 is in contact with the inner wall of the conductive slip ring 82. When the robot overturns, the gravity contact 83 can rotate under the action of gravity to enable the heavier end to face downwards all the time, the conductive circuit which overturns to the bottom is conducted by the gravity contact 83, the electric signal is transmitted to the control module at the moment, the control module can judge which two crawler belts 4 land on the ground, and then the angle adjusting motor 9 is controlled to rotate to enable the worm 6 to rotate to the corresponding position, so that the driving gears 5 of the two crawler belts 4 which are located below are meshed with the worm to drive the worm.

Example 3:

with respect to embodiment 2, another combination structure of the orientation sensing sensor is provided in this embodiment. In this embodiment, the orientation sensing sensor includes a sensing cavity 81, a plurality of contact sensors 84 and a gravity ball 85, and the plurality of contact sensors 84 are circumferentially and uniformly distributed on the inner wall of the sensing cavity 81. The contact sensor 84 is coincident with the crawler 4 outside the housing 1, and the contact sensor 84 is provided between each two adjacent crawlers 4. Gravity ball 85 sets up in response chamber 81, gravity ball 85 is keeping all the time under the action of gravity to be in the lateral wall contact of bottom position with response chamber 81, when the robot overturns, gravity ball 85 is in the lateral wall contact of bottom position with response chamber 81 again under the action of gravity, gravity ball 85 triggers the contact pick-up 84 that just is in the bottom this moment, contact pick-up 84 is with signal of telecommunication transmission to control module, control module can judge which two tracks 4 land on the ground, can and then control angle accommodate motor 9 and rotate and make worm 6 rotate corresponding position, thereby drive gear 5 meshing of two tracks 4 that lie in the below at this moment.

The above embodiments provide several implementation methods of the present device, based on which, when the robot runs, the running steps according to the time sequence are: orientation inductive sensor is keeping detection state throughout, in case the robot takes place the upset, orientation inductive sensor can be with signal transmission to control module. The control module controls the angle adjusting motor 9 to rotate clockwise by a corresponding angle, the adjusting disc 91 is used for driving the electric push rod 92 to rotate, the electric push rod 92 rotates between the two driving gears 5 at the bottom at the moment, then the electric push rod 92 contracts to pull the worm 6 to sink, the worm 6 is meshed with the two driving gears 5 in rotation, the worm driving device 7 drives the worm 6 to rotate, the driving gears 5 are driven to rotate, the two tracks 4 are driven to rotate, and the robot moves forwards or backwards. When the robot needs to turn left or turn right, only a signal needs to be sent to the control module, the control module controls the electric push rod 92 to extend and separate from the meshing with the two driving gears 5, then the control module controls the adjusting motor 9 to rotate for 36 degrees, the electric push rod 92 extends for a certain stroke to enable the worm 6 to be meshed with the driving gear 5 of the left-side crawler belt, the worm driving device 7 is utilized to drive the worm 6 to rotate forwards or backwards, so that the driving gear 5 is driven to rotate forwards or backwards, the left-side crawler belt 4 is driven to move forwards or backwards, and the right or left turning of the robot is achieved.

Claims

1. The utility model provides a seabed is salvaged and is used observation robot, includes casing (1), its characterized in that: the shell (1) is in a streamline bullet shape, a transparent cover body (11) is arranged at the front end of the shell (1), a camera (2) is arranged in the transparent cover body (11), a waterproof control cavity (12) is arranged at the rear end of the transparent cover body (11), a control module is arranged in the control cavity (12), at least five crawler belts (13) are uniformly arranged on the outer side of the shell (1) in a circumferential mode, crawler belt wheels (3) are arranged in the crawler belts (13), crawler belts (4) are tensioned on the outer sides of the crawler belt wheels (3), the cross sections of the crawler belts (4) are arc-shaped, and only two crawler belts (4) are in contact with the ground; outer interlock tooth (41) are evenly set up in the track (4) outside linearity, casing (1) inboard sets up drive gear (5) with track (4) one-to-one, casing (1) center sets up and drive gear (5) matched with worm (6), worm (6) one end sets up worm drive device (7), camera (2), worm drive device (7) all are connected with the controller electricity, casing (1) rear end sets up traction cable.

2. The observation robot for seafloor fishing according to claim 1, wherein: an orientation induction sensor is arranged in the shell (1) and is electrically connected with the controller.

3. The observation robot for fishing on the seabed as claimed in claim 2, wherein: the orientation induction sensor is an electronic gyroscope sensor.

4. The observation robot for seafloor fishing according to claim 2, wherein: the orientation induction sensor comprises an induction cavity (81), a conductive sliding ring (82) and a gravity contact (83), wherein a plurality of conductive circuits are uniformly arranged on the inner wall of the conductive sliding ring (82) in a circumferential mode, the gravity contact (83) is rotatably arranged in the induction cavity (81), the rotating shaft of the gravity contact (83) and the conductive sliding ring (82) are concentrically arranged, and the gravity contact (83) is in contact with the inner wall of the conductive sliding ring (82).

5. The observation robot for seafloor fishing according to claim 2, wherein: orientation inductive transducer is including response chamber (81), a plurality of contact pick up (84) and gravity ball (85), and is a plurality of contact pick up (84) are circumference evenly distributed on response chamber (81) inner wall, gravity ball (85) set up in response chamber (81).

6. The observation robot for seafloor fishing according to claim 1, wherein: the tail end of the worm (6) is connected with the shell (1) through a ball head, an angle adjusting motor (9) is arranged in the middle of the inside of the shell (1), an adjusting disc (91) is arranged on a motor shaft of the angle adjusting motor (9), an electric push rod (92) is arranged on the front side of the adjusting disc (91) in the radius direction, when the electric push rod (92) is in an extending state, the front end of the electric push rod (92) is located at the circle center of the adjusting disc (91), the front end of the push rod of the electric push rod (92) is connected with the ball head at the front end of the worm (6), the worm driving device (7) is arranged at the tail end of the worm (6), and the worm driving device (7) is connected with the tail end of the worm (6) through a universal coupling.

7. The observation robot for seafloor fishing according to claim 6, wherein: the front end of the electric push rod (92) is provided with a spring rod (93), and the spring rod (93) is arranged between the push rod and the ball head.

8. The observation robot for seafloor fishing according to claim 6, wherein: a positioning ring (94) is arranged at the center of the front end of the adjusting disc (91), and the front end of the electric push rod (92) is matched with the positioning ring (94).

9. The observation robot for seafloor fishing according to any one of claims 1 to 8, wherein: interlock tooth (42) in crawler (4) inboard setting, set up on each wheel outer wall of crawler pulley group (3) and interlock tooth (42) matched with teeth of a cogwheel in, drive gear (5) cooperate with outer interlock tooth (41).

10. The observation robot for seafloor fishing according to claim 1, wherein: and a conductive rotary joint is arranged between the tail end of the traction cable and the shell (1).