CN-122009447-A - Muddy water working condition air isolation cover suitable for magnetic adsorption underwater robot

CN122009447ACN 122009447 ACN122009447 ACN 122009447ACN-122009447-A

Abstract

The invention discloses a muddy water working condition air isolation cover suitable for a magnetic adsorption underwater robot, which comprises an underwater shooting camera, an air isolation cover and a flexible compensation structure, wherein the underwater shooting camera and an acrylic plate observation window are all in sealing connection with the air isolation cover, so that a closed cavity is formed in the cover and an air area is manufactured, external muddy water is isolated to ensure visual detection definition, the flexible compensation structure forms three revolute pairs through a front rotating shaft, a rear rotating shaft, a left rotating shaft, a right rotating shaft and an arm lifting rotating shaft, realizes the multi-degree-of-freedom movement of the air isolation cover when the air isolation cover is turned back and forth, left and right, and upwards and downwards, and is matched with the symmetrical pulling force of a left tension spring, a right tension spring, a front tension spring, a back tension spring and an arm lifting tension spring, so that the air isolation cover flexibly deforms beyond a barrier when the external force is met, and the centering operation posture is restored after the external force disappears, and the periphery of the air isolation cover is provided with a large round corner protection edge to realize smooth obstacle crossing. The invention can be carried on most of the magnetic adsorption underwater robots without additional executive components, and solves the technical problem that the vision camera of the underwater robot under the muddy water area is fuzzy and invalid in shooting.

Inventors

PAN YINGLIN
ZHANG PENGYONG
XIONG MINGYANG
LI XIUXIN
Luo Chuankun
PENG YANQING

Assignees

无锡蓝启智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (10)

1. The utility model provides a muddy water operating mode air isolation cover suitable for magnetic absorption underwater robot, characterized in that, the main structure includes shooting camera under water, air isolation cover and flexible compensation structure, flexible compensation structure includes bar frame, triangular frame, square frame, control extension spring, round angle safe edge, the frame fixed block, the front and back extension spring, the safe edge fixed block, the pivot around, lift the arm, lift arm extension spring, lift arm pivot, the connecting element, ya keli board observation window, observation window seal O type circle, short copper bush, the end cap, camera seal O type circle, long copper bush, extension spring rings and each fastener, shooting camera under water and ya keli board observation window pass through the screw rigid connection with the air isolation cover respectively, and pass through camera seal O type circle and observation window seal O type circle seal respectively, make inside airtight cavity of air isolation cover be formed, make one section air region with muddy water isolation, round angle safe edge passes through the fixed block of safe edge and is fixed to air isolation cover with the screw, square frame passes through the frame fixed block and air isolation cover, front and back and frame fixed block pass through threaded connection, and frame fixed block pass through the copper bush, the rectangular frame seal, and the copper bush is formed with square frame and the rectangular copper bush is formed the rectangular vice versa, the angle is formed with square frame and the rectangular vice frame is formed through the angle of rotation and the rectangular vice is connected with the rectangular vice frame and the rectangular vice frame is formed with the rectangular vice frame and is rotated with the rectangular and the square vice frame corresponds the square frame and the rectangular vice and is formed.
2. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot is characterized in that the air isolation cover forms three revolute pairs through a front rotating shaft, a rear rotating shaft, a left rotating shaft, a right rotating shaft and an arm lifting rotating shaft, three degrees of freedom movements of front-back overturning, left-right overturning and up-down overturning relative to a connecting part are achieved, namely the three revolute pairs enable the air isolation cover to meet an obstacle in the operation process, and the air isolation cover can change the self posture to enable the air isolation cover to pass the obstacle.
3. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the left tension spring, the right tension spring, the front tension spring, the rear tension spring and the arm lifting tension spring respectively apply symmetrical tension to the three revolute pairs, so that the air isolation cover keeps a centered normal working posture when no external force acts, and the three revolute pairs respectively use the symmetrical tension applied by the left tension spring, the right tension spring, the front tension spring, the rear tension spring and the arm lifting tension spring to enable the air isolation cover to be located in the centered normal working posture.
4. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the corner protector is designed in a large-round-angle structure, the corner protector is fixed on the periphery of the air isolation cover through a protector fixing block, and the large-round-angle structure enables the air isolation cover to smoothly pass through the obstacle in the stress direction of the transition obstacle when encountering the obstacle, so that the air isolation cover is protected from being damaged when encountering the obstacle and impacting.
5. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein a tiny gap is reserved between the acrylic plate observation window and the operation adsorption surface of the magnetic adsorption underwater robot, and the acrylic plate observation window and the operation adsorption surface are not contacted with each other.
6. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein an illuminating lamp is integrated in the underwater shooting camera, lamplight irradiates to the operation adsorption surface through an acrylic plate observation window, and reflected light enters an underwater shooting camera lens through the acrylic plate observation window.
7. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the connecting part is of a detachable structure and can be connected and fixed with the commercial magnetic adsorption underwater robot.
8. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the design structure can adapt to a complex adsorption surface due to the high degree of freedom design of three revolute pairs.
9. The muddy water condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the inner closed cavity can ensure that an air area is manufactured in front of the underwater shooting camera under the muddy water area to isolate the underwater muddy water, so that the observation of the adsorption surface is facilitated.
10. The muddy water working condition air isolation cover suitable for the magnetic adsorption underwater robot according to claim 1, wherein the flexible structure formed by symmetrical tension springs aiming at each revolute pair enables the air isolation cover to realize flexible deformation at each revolute pair when the air isolation cover is subjected to external force, and to recover to the original posture after the external force is finished.

Description

Muddy water working condition air isolation cover suitable for magnetic adsorption underwater robot Technical Field The invention relates to a visual detection component for underwater magnetic adsorption robots to operate under muddy water areas, in particular to a muddy water air isolation cover structure with multiple degrees of freedom. Background The magnetic adsorption underwater robot is widely applied to cleaning maintenance or detection operation of equipment such as underwater ships, oil-electricity platforms and the like, is important intelligent equipment in marine equipment, and has larger market and application At present, in the operation process, the problems that a traditional vision camera is fuzzy in shooting pictures even fails in shooting of a muddy water area exist, and the like, so that the condition of an adsorption surface cannot be intuitively detected and observed when a robot works in the muddy water area, and the operability and the feedback of the operation effect of the robot are affected. Therefore, the air isolation cover suitable for the muddy water working condition of the magnetic adsorption underwater robot is designed to meet the operation requirement of the underwater magnetic adsorption robot under the muddy water working condition. Disclosure of Invention The invention provides an air isolation cover suitable for a muddy water working condition of a magnetic adsorption underwater robot, and aims to realize visual detection application of the magnetic adsorption robot to an adsorption surface in a muddy water area and improve the operability of the underwater robot to a special environment. The technical scheme of the invention is as follows: The main structure comprises an underwater shooting camera, an air isolation cover and a flexible compensation structure, wherein the flexible compensation structure comprises a strip-shaped frame, a triangular frame, a square frame, left and right tension springs, round corner protection edges, frame fixing blocks, front and rear tension springs, protection edge fixing blocks, front and rear rotating shafts, left and right rotating shafts, lifting arms, lifting arm tension springs, lifting arm rotating shafts, connecting parts, an acrylic plate observation window, an observation window sealing O-shaped ring, a short copper sleeve, a plug, a camera sealing O-shaped ring, a long copper sleeve, tension spring lifting rings and fasteners, the underwater shooting camera and the acrylic plate observation window are respectively and rigidly connected with the air isolation cover through screws, an internal airtight cavity is formed inside the air isolation cover through the camera sealing O-shaped ring and the observation window sealing O-shaped ring, the round corner protection edges are fixed onto the air isolation cover through the protection edges through screws, the square frame is connected with the air isolation cover through the frame fixing blocks, the front and rear parts are fixedly connected with the frame fixing blocks through threads, the copper sleeve is connected with the frame fixing blocks through the copper sleeve, the front and rear parts are correspondingly connected with the triangular frame through the triangular auxiliary rotating shafts, and the left and rear parts are rotatably connected with the triangular frame through the rectangular auxiliary frames through the left and the copper sleeve and the rectangular auxiliary frames. Preferably, the air isolation cover forms three revolute pairs through a front rotating shaft, a rear rotating shaft, a left rotating shaft, a right rotating shaft and an arm lifting rotating shaft, and three degrees of freedom motions of front-back overturning, left-right overturning and up-down overturning relative to the connecting part are realized, namely the three revolute pairs enable the air isolation cover to meet the obstacle in the operation process so that the air isolation cover can change the self posture and enable the air isolation cover to pass through the obstacle. Preferably, the left and right tension springs, the front and rear tension springs and the arm lifting tension springs respectively apply symmetrical tension to the three revolute pairs, so that the air isolation cover keeps a centered normal operation posture when no external force acts, and the three revolute pairs respectively utilize the symmetrical tension applied by the left and right tension springs, the front and rear tension springs and the arm lifting tension springs to enable the air isolation cover to be located in the centered normal operation posture. Preferably, the fillet guard adopts big fillet structural design, and the fillet guard passes through the guard fixing block to be fixed around the air shield, and big fillet structural design makes the air shield smooth through the barrier in the atress direction of transition barrier when meetting the barrier, and the protection air shield is a