CN-224211243-U - Underwater robot for shallow water environment observation

CN224211243UCN 224211243 UCN224211243 UCN 224211243UCN-224211243-U

Abstract

The utility model relates to an underwater robot for shallow water environment observation, which comprises a double-layer frame, a driving unit, a battery compartment, a camera shooting compartment and a carrying unit, wherein the carrying unit is arranged at the front end of the double-layer frame, the battery compartment is arranged at the upper layer of the double-layer frame, the driving unit and the camera shooting compartment are arranged at the lower layer of the double-layer frame, a camera is arranged in the camera shooting compartment, a spherical transparent cover is arranged at the front end of the camera shooting compartment, the carrying unit comprises a steering engine, a swing arm, a connecting rod mechanism, a carrying frame and a clamp-type mechanical arm, the steering engine is arranged at the lower layer of the double-layer frame, an output shaft is fixedly connected with the swing arm, two ends of the carrying frame are hinged with the side face of the double-layer frame, the swing arm is hinged with the input end of the connecting rod mechanism, the output end of the connecting rod mechanism is hinged with the middle part of the side face of the carrying frame, and the clamp-type mechanical arm is symmetrically arranged at the left side and right side of the bottom of the carrying frame. The utility model provides an underwater robot capable of lifting sundries, wherein a camera keeps a front view in the process of lifting sundries, and can record the dynamics of swimming creatures.

Inventors

CHEN XIAOJING
YANG ZHIXIAO
SUN XIANGYU
HAN YI
FU SIBO
WANG SHUO
GUO HAORAN
CHANG YIWEN
ZHANG BING
DANG MEIZHU

Assignees

河南牧业经济学院

Dates

Publication Date: 20260508
Application Date: 20250530

Claims (8)

1. The underwater robot for shallow water environment observation comprises a double-layer frame, a driving unit, a battery bin and a camera shooting bin, wherein the battery bin is arranged on the upper layer of the double-layer frame, the driving unit and the camera shooting bin are arranged on the lower layer of the double-layer frame, a camera is arranged in the camera shooting bin, a spherical transparent cover is arranged at the front end of the camera shooting bin.
2. The underwater robot for shallow water environment observation as claimed in claim 1, wherein the double-deck frame comprises an upper deck plate, a lower deck plate and symmetrically arranged side plates, and the ends of the upper deck plate and the lower deck plate are connected with the side plates.
3. The underwater robot for shallow water environment observation according to claim 2, wherein the upper plate is connected with the top end of the side plate, the lower plate is connected with the middle part of the side plate, the battery compartment is arranged on the bottom surface of the upper plate, the driving unit is arranged on the top surface of the lower plate, and the camera compartment is arranged on the bottom surface of the lower plate.
4. The underwater robot for shallow water environment observation as set forth in claim 2, further comprising two illumination lamp barrels symmetrically installed on inner walls of side plates at both sides below the photographing bin.
5. The underwater robot for shallow water environment observation according to claim 2, wherein the driving unit comprises four horizontal driving paddles and two vertical driving paddles distributed around the center circumference of the double-layer frame, the horizontal driving paddles are arranged outwards, and the vertical driving paddles are symmetrically arranged on the inner walls of the side plates.
6. The underwater robot for shallow water environment observation according to claim 2, wherein the steering engine is horizontally arranged close to the inner wall of the side plate, the connecting rod mechanism comprises a middle connecting rod and two ball-head pull rods, the middle point of the middle connecting rod is rotationally connected with the lower plate, one end of each ball-head pull rod is hinged with the swing arm swinging end, the other end of each ball-head pull rod is hinged with one end of the middle connecting rod, one end of each other ball-head connecting rod is hinged with the other end of the middle connecting rod, and the other end of each other ball-head connecting rod is hinged with the middle part of the carrying frame.
7. The underwater robot for shallow water observation as claimed in claim 5, wherein the horizontal driving paddle is installed on the top surface of the lower deck, and the vertical driving paddle is provided under the lower deck.
8. The underwater robot for shallow water environment observation according to claim 1, wherein the clamp type mechanical arm comprises a water-proof cabin, a motor, a reduction gearbox, a worm wheel, an outer connecting rod, an inner connecting rod and a clamp body, wherein the water-proof cabin is connected with the carrying frame, the motor and the reduction gearbox are arranged in the water-proof cabin, an output shaft of the motor is connected with an input shaft of the reduction gearbox, an output shaft of the reduction gearbox is fixedly connected with the worm coaxially, the worm wheel, the outer connecting rod, the inner connecting rod and the clamp body are symmetrically arranged on two sides of the worm, the worm wheel is meshed with the worm, the worm wheel is fixedly connected with the end part of the outer connecting rod and is in rotary connection with the water-proof cabin, the free end of the outer connecting rod is hinged with the clamp body, and two ends of the inner connecting rod are respectively hinged with the clamp body and the water-proof cabin.

Description

Underwater robot for shallow water environment observation Technical Field The utility model relates to the technical field of underwater robots, in particular to an underwater robot for shallow water environment observation. Background An underwater robot is a device that can enter the water to replace a human being to perform underwater operations. Shallow water environment observation is one of underwater operations, and main observation contents include hydrologic element observation, water quality observation, sediment observation and ecological observation. Wherein the objects of ecological observation comprise plankton, benthos and swimming organisms. For plankton, the underwater robot can collect a water sample, and an observer observes plankton in the water sample by using a microscope. For benthos, the underwater robot collects samples, observers classify and identify the benthos, and for swimming life, the underwater robot performs tracking shooting. And the observer observes the video shot by the underwater robot. When the underwater robot tracks and shoots a small swimming creature, the swimming creature is easy to be frightened. For the instinct of living things, swimming living things can quickly hide behind sundries, and photographing is not facilitated. The debris comprises but is not limited to stones and garbage, an underwater robot for shallow water quality monitoring is provided with a manipulator, the manipulator moves with the underwater robot, the orientation of the underwater robot can be changed when the debris is moved, shooting of the underwater robot is difficult to ensure to always face the position of a swimming organism, and the swimming organism is likely to escape from the position after the underwater robot moves the debris, but the underwater robot cannot continue tracking. The existing underwater robot for shallow water environment observation is very difficult to perform swimming biological observation. Disclosure of utility model The utility model aims to solve the problems and provides an underwater robot for shallow water environment observation. The underwater robot for shallow water environment observation comprises a double-layer frame, a driving unit, a battery bin and a camera bin, wherein the battery bin is arranged on the upper layer of the double-layer frame and supplies energy to other functional parts of the underwater robot, such as the driving unit and the camera bin, the driving unit and the camera bin are arranged on the lower layer of the double-layer frame, the driving unit drives the underwater robot to perform underwater displacement, the camera bin is used for shooting underwater conditions, a camera is arranged in the camera bin, a spherical transparent cover is arranged at the front end of the camera bin, the camera can shoot the view in front of the camera bin at the maximum view to detect underwater topography, the underwater robot further comprises a carrying unit arranged at the front end of the double-layer frame, the carrying unit comprises a steering engine, a swing arm, a connecting rod mechanism, a carrying frame and a clamp type mechanical arm, an output shaft is fixedly connected with the swing arm, the steering engine output torque drives the carrying frame to swing, the two ends of the carrying frame are hinged with the side surfaces of the double-layer frame, the carrying frame can swing up and down, the carrying frame is hinged with the input end of the connecting rod mechanism, the output torque of the connecting rod mechanism is hinged with the middle part of the carrying frame, the carrying frame is hinged with the side surface of the carrying frame, the carrying frame can drive the carrying frame to swing arm and the clamp the carrying frame can be lifted up and can clamp sundries in the right side of the moving frame, and can clamp the sundries in the moving frame in the front of the moving frame. Preferably, the double-layer rack comprises an upper layer plate, a lower layer plate and symmetrically arranged side plates, wherein the end parts of the upper layer plate and the lower layer plate are connected with the side plates to form a simple double-layer rack structure so as to bear the driving unit, the battery bin and the camera bin. Further, the upper layer plate is connected with the top end of the side plate; the lower layer plate is connected with the middle part of the side plate, the battery bin is arranged on the bottom surface of the upper layer plate, the driving unit is arranged on the top surface of the lower layer plate, the camera shooting bin is arranged on the bottom surface of the lower layer plate, the battery bin, the driving unit and the camera shooting bin are arranged in the double-layer frame, wherein the driving unit is positioned in the middle part of the double-layer frame, so that the whole movement of the underwater robot is more stable, and the camera in the camera shooting bin can shoot the wat