阅读说明：本技术 水下观察机器人及水上自由吊放设备 (Underwater observation robot and overwater free hoisting equipment ) 是由 陶泽文 刘研峰 张梦涛 杜阳 王亚丽 陶一锐 于 2021-07-20 设计创作，主要内容包括：本发明涉及水下机械设备领域,具体是指一种水下观察机器人及水上自由吊放设备,一种水下观察机器人,包括机架,机架上设有观察设备,观察设备经观察驱动机构与机架连接,观察驱动机构包括支撑架、旋转电机和旋转轴,支撑架上设有夹爪机构和观察俯仰机构,夹爪机构包括夹爪电机、蜗杆、蜗轮、蜗轮轴和夹爪,观察俯仰机构包括俯仰电机、驱动轴、从动轴和安装架,机架上设有线缆锁紧固定机构,一种水上自由吊放设备,包括水上载体,水上载体上设有上述所述的水下观察机器人以及线缆收放机构,线缆收放机构包括卷线盘、卷线架、动力源,本发明结构简单、体积小、灵活性高、观测侦察灵敏、抓取牢固、工作效率高、操作方便、使用成本低。(The invention relates to the field of underwater mechanical equipment, in particular to an underwater observation robot and a water free hoisting device, the underwater observation robot comprises a rack, the rack is provided with an observation device, the observation device is connected with the rack through an observation driving mechanism, the observation driving mechanism comprises a support frame, a rotating motor and a rotating shaft, the support frame is provided with a clamping jaw mechanism and an observation pitching mechanism, the clamping jaw mechanism comprises a clamping jaw motor, a worm wheel shaft and a clamping jaw, the observation pitching mechanism comprises a pitching motor, a driving shaft, a driven shaft and an installation frame, the rack is provided with a cable locking and fixing mechanism, the water free hoisting device comprises a water carrier, the water carrier is provided with the underwater observation robot and a cable hoisting mechanism, the cable hoisting mechanism comprises a winding reel, a winding reel and a power source, and the underwater observation robot and the cable hoisting device are simple in structure, small in size, and convenient to use, The flexibility is high, the observation and reconnaissance are sensitive, the grabbing is firm, the working efficiency is high, the operation is convenient, and the use cost is low.)

1. An underwater observation robot, characterized in that: including frame (1), be equipped with observation equipment (2) on frame (1), be equipped with between observation equipment (2) and frame (1) and observe actuating mechanism (3), observation equipment (2) are connected with frame (1) through observing actuating mechanism (3).

2. An underwater observation robot as recited in claim 1, wherein: observe actuating mechanism (3) including support frame (4), rotating electrical machines (5) and rotation axis (6), frame (1) below is equipped with support frame (4), be equipped with rotating electrical machines (5) on frame (1), be equipped with rotation axis (6) on support frame (4), rotation axis (6) and support frame (4) fixed connection, rotation axis (6) are driven by rotating electrical machines (5), rotating electrical machines (5) are fixed in frame (1), observation equipment (2) are fixed on support frame (4).

3. An underwater observation robot as recited in claim 2, wherein: and a clamping jaw mechanism (7) is arranged on the support frame (4).

4. An underwater observation robot according to claim 3, wherein: clamping jaw mechanism (7) are including clamping jaw motor (8), worm (9), worm wheel (10), worm wheel axle and clamping jaw (11), at least one side in support frame (4) both sides is equipped with link (12), link (12) and support frame (4) fixed connection, be equipped with clamping jaw motor (8) on link (12), clamping jaw motor (8) and link (12) fixed connection are fixed with worm (9) on the output shaft of clamping jaw motor (8), and the output shaft bilateral symmetry of clamping jaw motor (8) is equipped with clamping jaw (11), worm (9) both sides are equipped with worm wheel (10) respectively, worm wheel (10) and worm (9) go up the worm tooth meshing, worm wheel (10) are fixed on the worm wheel axle, the worm wheel axle is fixed on link (12) through the bearing, is fixed on the worm wheel axle to be equipped with clamping jaw (11).

5. An underwater observation robot according to claim 2, 3 or 4, wherein: a rotating angle monitoring mechanism (13) is arranged on the frame (1), the rotating angle monitoring mechanism (13) comprises a connecting gear (14), an output gear (15), a monitoring gear (16) and a rotating angle sensor (17), a connecting gear (14) is fixedly arranged on the rotating shaft (6), the rotating shaft (6) is fixedly connected with the frame (1) through a bearing, one side of the connecting gear (14) is provided with an output gear (15), the other side is provided with a monitoring gear (16), the output gear (15) is fixed on the output shaft of the rotating motor (5), the output gear (15) is in transmission connection with the connecting gear (14), the monitoring gear (16) is fixed on an output shaft of the rotation angle sensor (17), the monitoring gear (16) is in transmission connection with the connecting gear (14), and the rotating angle sensor (17) is fixed on the rack (1).

6. An underwater observation robot according to claim 2, 3 or 4, wherein: be equipped with on support frame (4) and observe every single move mechanism (18), observe every single move mechanism (18) including every single move motor (19), drive shaft (20), driven shaft (21) and mounting bracket (22), support frame (4) lower extreme is equipped with every single move motor (19), every single move motor (19) and support frame (4) fixed connection, every single move motor (19) lower extreme is equipped with mounting bracket (22), every single move motor (19) one end is equipped with drive shaft (20), and the other end is equipped with driven shaft (21), drive shaft (20) are driven by every single move motor (19), drive shaft (20) are through bearing, bearing frame and support frame (4) fixed connection, driven shaft (21) are through bearing, bearing frame and support frame (4) fixed connection, mounting bracket (22) both ends and drive shaft (20) and driven shaft (21) fixed connection, the observation device (2) is arranged on the mounting frame (22).

7. An underwater observation robot as recited in claim 6, wherein: be equipped with pitch angle monitoring mechanism (23) on support frame (4), pitch angle monitoring mechanism (23) include pitch angle sensor (24) and support (25), be equipped with the recess in driven shaft (21), pitch angle sensor (24) are arranged in the recess, the output shaft and driven shaft (21) fixed connection of pitch angle sensor (24), pitch angle sensor (24) are through support (25) and support frame (4) fixed connection.

8. An underwater observation robot according to claim 1, 2, 3, 4 or 7, characterized in that: and a cable locking and fixing mechanism (27) is arranged on the rack (1).

9. An underwater observation robot as recited in claim 8, wherein: the cable locking and fixing mechanism (27) comprises a limiting seat (45), a locking seat (46), a base (47) and a connecting cable, wherein the upper end of the rack (1) is sequentially provided with the base (47), the locking seat (46) and the limiting seat (45) from bottom to top, at least one locking seat (46) is arranged, the lower end of the base (47) is fixedly connected with the rack (1), the upper end of the base (47) is fixedly connected with the locking seat (46), a base cable perforation is arranged in the middle of the base (47), a first locking perforation is arranged in the middle of the locking seat (46), a locking sleeve (49) is arranged on the locking seat (46), the lower end of the locking sleeve (49) is fixedly connected with the locking seat (46), a second locking perforation is arranged in the middle of the locking sleeve (49), the second locking perforation is communicated with the first locking perforation in a matching manner, and the outer diameter of the locking sleeve (49) is gradually increased from top to, locking sleeve (49) outer wall interval is equipped with extrusion card hole (50), be equipped with on locking seat (46) with extrusion card hole (50) matched with extrusion perforation, be equipped with spacing seat (45) on locking sleeve (49), be equipped with spacing hole (51) in the middle of spacing seat (45), the internal diameter of spacing hole (51) is from last to crescent down, the internal diameter of spacing hole (51) upper end cooperatees with the external diameter of locking sleeve (49) upper end, the internal diameter of spacing hole (51) lower extreme cooperatees with the external diameter of locking sleeve (49) lower extreme, it includes cable (48) and bearing layer (52) to connect the cable, cable (48) outer wall is equipped with one deck bearing layer (52) at least, bearing layer (52) are worked out by bearing silk (53), cable (48) upper end and bearing layer (52) fixed connection place frame (1) outside in, cable (48) lower extreme passes spacing hole (51) in proper order, Second locking is perforated, first locking is perforated, the base cable is perforated and is arranged in frame (1) and be connected with observation equipment (2), cable (48) and base (47) sealed fixed connection, every bearing silk (53) is gone up in bearing layer (52) and is passed spacing hole (51), extrusion card hole (50), extrusion perforation in proper order and arrange extrusion perforation in or arrange extrusion perforation below in, spacing seat (45) cover is on lock sleeve (49), and spacing hole (51) are through tapering and lock sleeve (49) joint, spacing seat (45) and lock sleeve (46) fixed connection.

10. An underwater observation robot according to claim 1, 2, 3, 4, 7 or 9, characterized in that: the observation device (2) includes a sonar (29), an illumination lamp (30), and a camera (31).

11. The utility model provides an equipment is put in free lifting on water, includes water carrier (34), be equipped with control box (35) on water carrier (34), be equipped with control system, its characterized in that in control box (35): the underwater observation robot (36) of the claim 1 or 2 or 3 or 4 or 7 or 9 is arranged on the water carrier (34), a cable retracting mechanism (37) is arranged on the water carrier (34), the cable retracting mechanism (37) is fixed on the water carrier (34), the cable retracting mechanism (37) is connected with the underwater observation robot (36), and the observation equipment (2) and the observation driving mechanism (3) are respectively controlled by a control system.

12. The free aquatic lifting apparatus of claim 11, wherein: cable jack (37) include take-up reel (38), spool (39) and power supply (40), be equipped with spool (38) on carrier (34) on water, spool (38) both sides are equipped with spool (39), spool (38) are fixed on the reel, the reel both ends are through bearing and spool (39) fixed connection, spool (39) and power supply (40) fixed connection are worn out to spool one end, spool (39) and carrier (34) fixed connection on water.

13. The free aquatic lifting apparatus of claim 12, wherein: the water carrier (34) is a motorboat or a boat.

Technical Field

The invention relates to the field of underwater mechanical equipment, in particular to an underwater observation robot and an overwater free hoisting device.

Background

The underwater robot becomes important equipment for underwater operation due to the fact that the underwater robot is safe in work, strong in adaptability, wide in operation range, economical and efficient, and is applied to various fields of marine environment investigation, submarine geological exploration, installation and maintenance of marine structures, hydraulic and hydroelectric engineering, scientific investigation and the like, and through retrieval, Chinese patent CN107585273A discloses an underwater fishing robot which is characterized in that: composite optical cable connects composite optical cable end of a thread and host computer of installing on underwater robot, and next machine setting is internal at underwater robot, underwater robot includes gripper, arm, storing basket, track chassis, come-up gasbag and high-pressure gas cylinder, urgent buoy, accords with optical cable end of a thread, rotary platform and camera buckler, rotary platform and gripper are connected to the arm, the storing basket is installed front end on the track chassis, come-up gasbag and high-pressure gas cylinder are installed in the rotary platform bottom, urgent buoy and composite optical cable end of a thread are all installed on the base that supports rotary platform, the not enough of above-mentioned patent: firstly, the underwater robot in the patent is huge in structure and cannot enter certain areas underwater or under the sea; secondly, the underwater robot in the patent has large volume and is not flexible enough and is not sensitive enough to underwater observation and survey; thirdly, for maritime search and rescue or searching work, the existing underwater robot is inconvenient to operate and high in use cost.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides an underwater observation robot and a water free hoisting device which have the advantages of simple structure, small volume, high flexibility, sensitive observation and reconnaissance, firm grabbing, high working efficiency, convenience in operation and low use cost.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

an underwater observation robot, characterized in that: the underwater observation device is characterized by comprising a frame, wherein an observation device is arranged on the frame, an observation driving mechanism is arranged between the observation device and the frame, and the observation device is connected with the frame through the observation driving mechanism so as to be beneficial to exploring, observing and reconnaissance underwater conditions through the observation device.

The observation driving mechanism of the invention comprises a supporting frame, a rotating motor and a rotating shaft,

the frame below is equipped with the support frame, be equipped with the rotating electrical machines in the frame, be equipped with the rotation axis on the support frame, rotation axis and support frame fixed connection, the rotation axis is driven by the rotating electrical machines, the rotating electrical machines is fixed in the frame, observation equipment fixes on the support frame to do benefit to and drive the rotation axis rotation through the rotating electrical machines, and then drive observation equipment on the support frame and rotate, realize multi-angle observation and reconnaissance.

The clamping jaw mechanism is arranged on the support frame, so that an object can be clamped by the clamping jaw mechanism.

The clamping jaw mechanism comprises a clamping jaw motor, a worm wheel shaft and clamping jaws, wherein at least one side of two sides of the supporting frame is provided with a connecting frame, the connecting frame is fixedly connected with the supporting frame, the clamping jaw motor is arranged on the connecting frame, the clamping jaw motor is fixedly connected with the connecting frame, the worm is fixed on an output shaft of the clamping jaw motor, the clamping jaws are symmetrically arranged on two sides of the output shaft of the clamping jaw motor, the worm wheel is respectively arranged on two sides of the worm, the worm wheel is meshed with worm teeth on the worm, the worm wheel is fixed on the worm wheel shaft, the worm wheel shaft is fixed on the connecting frame through a bearing, the clamping jaws are fixedly arranged on the worm wheel shaft, so that the worm is driven to rotate by the clamping jaw motor, and the worm is meshed with the worm wheel to drive the worm wheel to rotate, so that the two clamping jaws are opened or closed.

The invention is characterized in that a rotation angle monitoring mechanism is arranged on the frame, the rotation angle monitoring mechanism comprises a connecting gear, an output gear, a monitoring gear and a rotation angle sensor,

the rotating shaft is fixedly provided with a connecting gear, the rotating shaft is fixedly connected with the frame through a bearing,

connecting gear one side and being equipped with output gear, the opposite side is equipped with the monitoring gear, output gear fixes on the output shaft of rotating electrical machines, and output gear is connected with connecting gear drive, the monitoring gear is fixed on rotation angle sensor's output shaft, the monitoring gear is connected with connecting gear drive, rotation angle sensor fixes in the frame to do benefit to and monitor the rotation angle of rotation axis through rotation angle sensor, and then adjust observation device's angle according to the demand.

The observation pitching mechanism is arranged on the support frame, the observation pitching mechanism comprises a pitching motor, a driving shaft, a driven shaft and an installation frame, the pitching motor is arranged at the lower end of the support frame and is fixedly connected with the support frame, the installation frame is arranged at the lower end of the pitching motor, the driving shaft is arranged at one end of the pitching motor, the driven shaft is arranged at the other end of the pitching motor and is driven by the pitching motor, the driving shaft is fixedly connected with the support frame through a bearing and a bearing seat, the driven shaft is fixedly connected with the support frame through the bearing and the bearing seat, two ends of the installation frame are fixedly connected with the driving shaft and the driven shaft, and the observation equipment is arranged on the installation frame, so that the observation equipment on the installation frame is driven by the pitching motor to perform pitching motion, and the observation angle of the observation equipment is further widened.

The pitching angle monitoring mechanism comprises a pitching angle sensor and a support, a groove is formed in the driven shaft, the pitching angle sensor is arranged in the groove, an output shaft of the pitching angle sensor is fixedly connected with the driven shaft, and the pitching angle sensor is fixedly connected with the support through the support, so that the pitching angle sensor is favorable for monitoring the rotating angle of the pitching motor.

The rack is provided with the cable locking and fixing mechanism, so that an operator can conveniently connect the rack through the cable locking and fixing mechanism, and the rack can be conveniently hung.

The cable locking and fixing mechanism comprises a limiting seat, a locking seat, a base and a connecting cable, wherein the upper end of a rack is sequentially provided with the base, the locking seat and the limiting seat from bottom to top, at least one locking seat is arranged on the locking seat, the lower end of the base is fixedly connected with the rack, the upper end of the base is fixedly connected with the locking seat, a base cable through hole is arranged in the middle of the base, a first locking through hole is arranged in the middle of the locking seat, a locking sleeve is arranged on the locking seat, the lower end of the locking sleeve is fixedly connected with the locking seat, a second locking through hole is arranged in the middle of the locking sleeve, the second locking through hole is matched and communicated with the first locking through hole, the outer diameter of the locking sleeve is gradually increased from top to bottom, extrusion clamping holes are arranged on the outer wall of the locking sleeve at intervals, extrusion through holes matched with the extrusion clamping holes are arranged on the locking seat, and the limiting seat is arranged on the locking sleeve, the middle of the limiting seat is provided with a limiting hole, the inner diameter of the limiting hole is gradually increased from top to bottom, the inner diameter of the upper end of the limiting hole is matched with the outer diameter of the upper end of the locking sleeve, the inner diameter of the lower end of the limiting hole is matched with the outer diameter of the lower end of the locking sleeve, the outer side of the rack is provided with a connecting cable, the connecting cable comprises a cable and a bearing layer, the outer wall of the cable is at least provided with a bearing layer, the bearing layer is woven by bearing wires, the upper end of the cable is fixedly connected with the bearing layer and is arranged on the outer side of the rack, the lower end of the cable sequentially penetrates through the limiting hole, the second locking perforation, the first locking perforation and the base cable perforation and is arranged in the rack to be connected with observation equipment, the cable is fixedly connected with the base in a sealing way, each bearing wire on the bearing layer sequentially penetrates through the limiting hole, the extrusion clamping hole and the extrusion perforation and is arranged in the extrusion perforation or below the extrusion perforation, the limiting seat is sleeved on the locking sleeve, spacing hole is through tapering and lock sleeve joint, spacing seat and locking seat fixed connection to do benefit to the base sealed fixed with the cable, spacing seat, locking seat are fixed through the bearing silk, do not receive the dragging in making the cable use in the frame, the cable is not fragile, long service life.

The base is provided with a cable sealing mechanism, the cable sealing mechanism comprises a leather plug and a nut, a connecting sleeve is arranged in the middle of the base, supporting blocks are respectively arranged on two sides of the base, the lower end of the connecting sleeve is fixedly connected with the base, threads are arranged on the outer wall of the connecting sleeve, a cable hole is arranged in the middle of the connecting sleeve and is matched and communicated with a cable perforation of the base, the lower end of the supporting block is fixedly connected with the base, the upper end of the supporting block is fixedly connected with a locking seat, the two supporting blocks are oppositely buckled with the locking seat and the base to form a connecting cavity, the part of the cable penetrating through the locking seat and arranged in the connecting cavity is provided with the leather plug and the nut, the lower end of the leather plug is radially outwards provided with a boss, the nut is sleeved on the leather plug and the connecting sleeve, the inner wall of the upper end of the nut is provided with a groove, the boss is embedded in the groove, the nut is in threaded connection with the connecting sleeve, so that the leather plug and the cable are tightly attached to realize the sealed and fixed connection of the cable, the sealing and fixing of the cable can be realized through the leather plug and the nut, and meanwhile, water is prevented from entering the rack.

According to the invention, the limiting table is arranged at the upper end of the connecting sleeve in a radial outward direction, the inner wall of the nut is provided with the limiting groove, the nut is in threaded connection with the connecting sleeve, and the limiting table is embedded into the limiting groove, so that the nut is limited by the limiting table and the limiting groove, and the connection stability of the nut and the connecting sleeve is improved.

The rotating shaft is hollow, the rotating shaft is provided with the slip ring, the slip ring is fixed on the rotating shaft, a lead at one end of the slip ring is arranged outside the rack, and a lead at the other end of the slip ring penetrates through the rotating shaft to be connected with the pitching motor, so that signals can be transmitted and electric energy can be supplied through the slip ring.

The observation equipment comprises a sonar, an illuminating lamp and a camera, wherein the sonar, the illuminating lamp and the camera are respectively fixed on the mounting frame, so that the sonar, the illuminating lamp and the camera can be used for observing and reconnaissance of an underwater environment.

The illuminating lamp and the camera are fixedly arranged on the rack, so that an operator can know the environment of the rack in time.

The utility model provides a freely hang equipment of putting on water, includes the water carrier, be equipped with the control box on the water carrier, be equipped with control system, its characterized in that in the control box: the underwater observation robot is characterized in that the underwater observation robot is arranged on the water carrier, a cable retracting mechanism is arranged on the water carrier, the cable retracting mechanism is fixed on the water carrier and connected with the underwater observation robot, the observation equipment and the observation driving mechanism are respectively controlled by a control system, so that the underwater observation robot is carried on the water carrier, the underwater observation robot is moved to a target sea area, and then the underwater observation robot is delivered to the water through the cable retracting mechanism to be explored and observed underwater.

The cable winding and unwinding mechanism comprises a winding roll, a winding frame and a power source, wherein the winding roll is arranged on the water carrier, the winding frame is arranged on two sides of the winding roll, the winding roll is fixed on a winding shaft, two ends of the winding shaft are fixedly connected with the winding frame through bearings, one end of the winding shaft penetrates through the winding frame and is fixedly connected with the power source, the winding frame is fixedly connected with the water carrier, and the upper end of the connecting cable is connected with a control system by winding the winding roll, so that the underwater observation robot can be wound and unwound through the cable winding and unwinding mechanism according to requirements.

The power source is a hand crank or a winding motor, one end of the winding shaft penetrates through the winding frame and is fixedly connected with the hand crank, or one end of the winding shaft penetrates through the winding frame and is driven by the winding motor, so that the winding roll is driven manually or by the motor, and the underwater observation robot can be retracted.

According to the invention, one side of the winding roll is provided with the winding and unwinding frame, the winding and unwinding frame is fixedly connected with the winding roll or the water carrier, the winding and unwinding frame is provided with the support rods at intervals, two ends of each support rod are fixedly connected with the winding and unwinding frame, the two adjacent support rods are respectively provided with the pulley, a limiting cable channel is formed between the two pulleys, the upper end of the connecting cable passes through the limiting cable channel and bypasses the winding roll to be connected with the control system, so that the cable is supported by the winding and unwinding frame, the cable is limited by the pulleys, and the winding and unwinding of the cable are smooth.

The water carrier is a motorboat or a boat, the underwater observation robot is placed on the motorboat or the boat, and the underwater observation robot is carried by the motorboat or the boat to a target sea area needing to be launched.

By adopting the structure, the invention has the advantages of simple structure, small volume, high flexibility, sensitive observation and reconnaissance, firm grabbing, high working efficiency, convenient operation, low use cost and the like.

Drawings

Fig. 1 is a schematic view of the underwater observation robot of the present invention.

Fig. 2 is a front view of the underwater observation robot in the present invention.

Fig. 3 is a side view of the underwater observation robot in the present invention.

Fig. 4 is a sectional view of the drive mechanism of the present invention.

Fig. 5 is a sectional view of the pitching mechanism of the present invention.

Figure 6 is a cross-sectional view of the jaw mechanism of the present invention.

Fig. 7 is an exploded view of the cable locking and securing mechanism of the present invention.

Fig. 8 is a cross-sectional view of the cable lock fixing mechanism of the present invention.

Fig. 9 is an enlarged view of the cable sealing mechanism in the present invention.

Fig. 10 is a schematic structural view of the water free lifting device of the invention.

Fig. 11 is a schematic view showing a state where the underwater observation robot is suspended in the present invention.

Reference numerals: a frame 1, an observation device 2, an observation driving mechanism 3, a support frame 4, a rotating motor 5, a rotating shaft 6, a clamping jaw mechanism 7, a clamping jaw motor 8, a worm 9, a worm wheel 10, a clamping jaw 11, a connecting frame 12, a rotating angle monitoring mechanism 13, a connecting gear 14, an output gear 15, a monitoring gear 16, a rotating angle sensor 17, an observation pitching mechanism 18, a pitching motor 19, a driving shaft 20, a driven shaft 21, a mounting frame 22, a pitching angle monitoring mechanism 23, a pitching angle sensor 24, a support 25, a cable locking and fixing mechanism 27, a sliding ring 28, a sonar 29, an illuminating lamp 30, a camera 31, a frame illuminating lamp 32, a frame camera 33, a water carrier 34, a control box 35, an underwater observation robot 36, a cable retracting mechanism 37, a winding reel 38, a winding frame 39, a power source 40, a hand crank 41, a retracting frame 42, a support rod 43, a pulley 44 and a limiting seat 45, the locking device comprises a locking seat 46, a base 47, a cable 48, a locking sleeve 49, an extrusion clamping hole 50, a limiting hole 51, a bearing layer 52, a bearing wire 53, a cable sealing mechanism 54, a leather plug 55, a nut 56, a connecting sleeve 57, a supporting block 58, a connecting cavity 59, a boss 60, a groove 61, a limiting table 62 and a limiting groove 63.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

An underwater observation robot, characterized in that: including frame 1, be equipped with observation equipment 2 in the frame 1, be equipped with between observation equipment 2 and the frame 1 and observe actuating mechanism 3, observation equipment 2 is connected with frame 1 through observing actuating mechanism 3 to do benefit to and explore through observation equipment and observe and reconnoiter the condition under water.

The observation driving mechanism 3 comprises a support frame 4, a rotating motor 5 and a rotating shaft 6, the support frame 4 is arranged below the frame 1, the rotating motor 5 is arranged on the frame 1, the rotating shaft 6 is arranged on the support frame 4, the rotating shaft 6 is fixedly connected with the support frame 4, the rotating shaft 6 is driven by the rotating motor 5, the rotating motor 5 is fixed on the frame 1, and the observation equipment 2 is fixed on the support frame 4, so that the rotating shaft is driven to rotate by the rotating motor, the observation equipment on the support frame is driven to rotate, and multi-angle observation and reconnaissance are realized.

The clamping jaw mechanism 7 is arranged on the support frame 4, so that an object can be clamped through the clamping jaw mechanism.

The clamping jaw mechanism 7 comprises a clamping jaw motor 8, a worm 9, a worm wheel 10, a worm wheel shaft and clamping jaws 11, wherein at least one side of two sides of the supporting frame 4 is provided with a connecting frame 12, the connecting frame 12 is fixedly connected with the supporting frame 4, the clamping jaw motor 8 is arranged on the connecting frame 12, the clamping jaw motor 8 is fixedly connected with the connecting frame 12, the worm 9 is fixed on an output shaft of the clamping jaw motor 8, the clamping jaws 11 are symmetrically arranged on two sides of the output shaft of the clamping jaw motor 8, the worm wheel 10 is respectively arranged on two sides of the worm 9, the worm wheel 10 is meshed with the worm teeth on the worm 9, the worm wheel 10 is fixed on the worm wheel shaft, the worm wheel shaft is fixed on the connecting frame 12 through a bearing, and the clamping jaws 11 are fixedly arranged on the worm wheel shaft, so that the worm is driven to rotate by the clamping jaw motor, and the worm is meshed with the worm wheel to drive the worm wheel to rotate, and the opening or closing of the two clamping jaws is realized.

The frame 1 of the invention is provided with a rotation angle monitoring mechanism 13, the rotation angle monitoring mechanism 13 comprises a connecting gear 14, an output gear 15, a monitoring gear 16 and a rotation angle sensor 17, a connecting gear 14 is fixedly arranged on the rotating shaft 6, the rotating shaft 6 is fixedly connected with the frame 1 through a bearing, one side of the connecting gear 14 is provided with an output gear 15, the other side is provided with a monitoring gear 16, the output gear 15 is fixed on the output shaft of the rotating motor 5, the output gear 15 is in transmission connection with the connecting gear 14, the monitoring gear 16 is fixed on an output shaft of a rotation angle sensor 17, the monitoring gear 16 is in transmission connection with the connecting gear 14, the rotation angle sensor 17 is fixed on the frame 1, the angle sensor is favorable for monitoring the rotation angle of the rotation shaft, and the angle of the observation equipment is adjusted according to requirements.

The supporting frame 4 is provided with an observation pitching mechanism 18, the observation pitching mechanism 18 comprises a pitching motor 19, a driving shaft 20, a driven shaft 21 and a mounting frame 22, the lower end of the supporting frame 4 is provided with a pitching motor 19, the pitching motor 19 is fixedly connected with the supporting frame 4, the lower end of the pitching motor 19 is provided with a mounting rack 22, one end of the pitching motor 19 is provided with a driving shaft 20, the other end is provided with a driven shaft 21, the driving shaft 20 is driven by the pitching motor 19, the driving shaft 20 is fixedly connected with the supporting frame 4 through a bearing and a bearing seat, the driven shaft 21 is fixedly connected with the support frame 4 through a bearing and a bearing seat, two ends of the mounting frame 22 are fixedly connected with the driving shaft 20 and the driven shaft 21, the observation equipment 2 is arranged on the mounting frame 22, the pitching motor is favorable for driving the observation equipment on the mounting rack to perform pitching motion, and the observation angle of the observation equipment is further widened.

The supporting frame 4 is provided with a pitching angle monitoring mechanism 23, the pitching angle monitoring mechanism 23 comprises a pitching angle sensor 24 and a support 25, a groove is formed in the driven shaft 21, the pitching angle sensor 24 is arranged in the groove, an output shaft of the pitching angle sensor 24 is fixedly connected with the driven shaft 21, and the pitching angle sensor 24 is fixedly connected with the supporting frame 4 through the support 25, so that the pitching angle sensor is favorable for monitoring the rotating angle of a pitching motor.

The rack 1 is provided with the cable locking and fixing mechanism 27, so that an operator can conveniently connect the rack through the cable locking and fixing mechanism, and the rack can be conveniently hung.

The cable locking and fixing mechanism 27 comprises a limiting seat 45, a locking seat 46, a base 47 and a connecting cable, wherein the upper end of a rack 1 is sequentially provided with the base 47, the locking seat 46 and the limiting seat 45 from bottom to top, at least one locking seat 46 is arranged on the locking seat 46, the lower end of the base 47 is fixedly connected with the rack 1, the upper end of the base 47 is fixedly connected with the locking seat 46, a base cable through hole is arranged in the middle of the base 47, a first locking through hole is arranged in the middle of the locking seat 46, a locking sleeve 49 is arranged on the locking seat 46, the lower end of the locking sleeve 49 is fixedly connected with the locking seat 46, a second locking through hole is arranged in the middle of the locking sleeve 49, the second locking through hole is matched and communicated with the first locking through hole, the outer diameter of the locking sleeve 49 is gradually increased from top to bottom, extrusion clamping holes 50 are arranged on the outer wall of the locking sleeve 49 at intervals, and extrusion through holes matched with the extrusion clamping holes 50 are arranged on the locking seat 46, the utility model discloses a spacing locking device, including the locking cover 49, be equipped with spacing seat 45 on the locking cover 49, be equipped with spacing hole 51 in the middle of spacing seat 45, the internal diameter of spacing hole 51 is from last to crescent down, the internal diameter of spacing hole 51 upper end cooperatees with the external diameter of locking cover 49 upper end, the internal diameter of spacing hole 51 lower extreme cooperatees with the external diameter of locking cover 49 lower extreme, the frame 1 outside is equipped with the connecting cable, the connecting cable includes cable 48 and bearing layer, the cable 48 outer wall is equipped with one deck bearing layer 52 at least, bearing layer 52 is worked out by bearing silk 53, the cable 48 upper end is connected in frame 1 outside with bearing layer 52 fixed connection, and the cable 48 lower extreme passes spacing hole 51 in proper order, second locking perforation, first locking perforation, base cable perforation and places in frame 1 and is connected with observation equipment 2, cable 48 and base 47 fixed connection in a sealing, every bearing silk 53 passes spacing hole 51 in proper order on bearing layer 52, and is connected with observation equipment 2, Extrusion card hole 50, extrusion perforation are arranged in the extrusion perforation or are arranged in the extrusion perforation below, spacing seat 45 cover is on lock sleeve 49, and spacing hole 51 is through tapering and lock sleeve 49 joint, spacing seat 45 and lock seat 46 fixed connection to do benefit to the base sealed fixed with the cable, spacing seat, lock seat are fixed through the bearing silk, make not receive in the cable use in the frame to pull, and the cable is not fragile, long service life.

The base 47 of the invention is provided with a cable sealing mechanism 54, the cable sealing mechanism 54 comprises a leather plug 55 and a nut 56, the middle of the base 47 is provided with a connecting sleeve 57, two sides of the base 47 are respectively provided with a supporting block 58, the lower end of the connecting sleeve 57 is fixedly connected with the base 47, the outer wall of the connecting sleeve 57 is provided with threads, the middle of the connecting sleeve 57 is provided with a cable hole, the cable hole is matched and communicated with a base cable perforation, the lower end of the supporting block 58 is fixedly connected with the base 47, the upper end of the supporting block is fixedly connected with the locking seat 46, the two supporting blocks 58 are oppositely buckled with the locking seat 46 and the base 47 to form a connecting cavity 59, the part of the cable 48 passing through the locking seat 46 and arranged in the connecting cavity 59 is provided with the leather plug 55 and the nut 56, the lower end of the leather plug 55 is radially outwards provided with a boss 60, the nut 56, the nut 56 is in threaded connection with the connecting sleeve 57, so that the leather plug 55 is tightly attached to the cable 48 to realize the sealed fixed connection of the cable 48, the sealed fixation of the cable through the leather plug and the nut is facilitated, and meanwhile, water is prevented from entering the rack.

According to the invention, the upper end of the connecting sleeve 57 is radially and outwardly provided with the limiting table 62, the inner wall of the nut 56 is provided with the limiting groove 63, the nut 56 is in threaded connection with the connecting sleeve 57, and the limiting table 62 is embedded into the limiting groove 63, so that the nut is limited by the limiting table and the limiting groove, and the connection stability of the nut and the connecting sleeve is improved.

The rotating shaft 6 is hollow, the rotating shaft 6 is provided with a slip ring 28, the slip ring 28 is fixed on the rotating shaft 6, a lead at one end of the slip ring 28 is arranged outside the rack 1, and a lead at the other end of the slip ring 28 penetrates through the rotating shaft 6 to be connected with the pitching motor 19, so that signal transmission and electric energy supply through the slip ring are facilitated.

The observation equipment 2 comprises a sonar 29, an illuminating lamp 30 and a camera 31, wherein the sonar 29, the illuminating lamp 30 and the camera 31 are respectively fixed on the mounting frame 22, so that the underwater environment can be observed and detected through the sonar, the illuminating lamp and the camera.

The rack 1 is fixedly provided with a rack illuminating lamp 32 and a rack camera 33, so that an operator can know the environment of the rack in time.

The utility model provides a freely hang equipment of putting on water, includes water carrier 34, be equipped with control box 35 on the water carrier 34, be equipped with control system in the control box 35, its characterized in that: the underwater observation robot 36 is arranged on the water carrier 34, the cable retraction mechanism 37 is fixed on the water carrier 34, the cable retraction mechanism 37 is connected with the underwater observation robot 36, the observation device 2 and the observation driving mechanism 3 are respectively controlled by a control system, so that the underwater observation robot is carried by the water carrier, moves to a target sea area, and then is delivered to the water for underwater exploration and observation through the cable retraction mechanism.

The cable retracting mechanism 37 comprises a winding roll 38, a winding frame 39 and a power source 40, wherein the winding roll 38 is arranged on the water carrier 34, the winding frame 39 is arranged on two sides of the winding roll 38, the winding roll 38 is fixed on a winding shaft, two ends of the winding shaft are fixedly connected with the winding frame 39 through bearings, one end of the winding shaft penetrates through the winding frame 39 and is fixedly connected with the power source 40, the winding frame 39 is fixedly connected with the water carrier 34, and the upper end of the connecting cable is connected with a control system by bypassing the winding roll 38, so that the underwater observation robot can be retracted and observed through the cable retracting mechanism according to requirements.

The power source 40 is a hand crank 41 or a winding motor, one end of a winding shaft penetrates through a winding frame 39 and is fixedly connected with the hand crank 41, or one end of the winding shaft penetrates through the winding frame 39 and is driven by the winding motor, so that the winding roll is driven manually or by the motor, and the underwater observation robot can be retracted.

According to the invention, one side of the winding roll 38 is provided with a winding and unwinding frame 42, the winding and unwinding frame 42 is fixedly connected with the winding frame 39 or the water carrier 34, the winding and unwinding frame 42 is provided with support rods 43 at intervals, two ends of each support rod 43 are fixedly connected with the winding and unwinding frame 42, pulleys 44 are respectively arranged on two adjacent support rods 43, a limiting cable channel is formed between the two pulleys 44, the upper end of the connecting cable passes through the limiting cable channel and bypasses the winding roll 38 to be connected with a control system, so that the cable is supported by the winding and unwinding frame, the cable is limited by the pulleys, and the cable is smoothly wound and unwound.

The water carrier 34 is a motorboat or a boat, an underwater observation robot is placed on the motorboat or the boat, and the underwater observation robot is carried by the motorboat or the boat to a target sea area needing to be launched.

As shown in the attached drawings 1-9, which are schematic structural diagrams of the underwater observation robot in the invention, before the underwater observation robot is used, as shown in the attached drawings 10 and 11, the underwater observation robot is arranged on a motorboat or a ship through a connecting cable, the connecting cable comprises a cable and a bearing layer, at least one bearing layer is arranged on the outer side of the cable, as shown in the attached drawings 7-9, two bearing layers are arranged on the outer side of the cable, a first bearing layer is arranged on the outer side of the cable, a second bearing layer is arranged on the outer side of the first bearing layer, the bearing layers are respectively formed by weaving bearing wires, two corresponding locking seats are arranged, the two locking seats are similar in structure and are respectively used for fixing the bearing wires of the first bearing layer and the bearing wires of the second bearing layer, the bearing wires can adopt steel wires, the two locking seats are fixedly connected with a limiting seat through taper clamping and then bolts, namely the bearing wires of the first bearing layer and, the cable and the base are sealed and fixed, so that the cable in the rack is not pulled in the using process, the cable is not easy to damage, a handle and a guide fin can be installed on the rack of the underwater observation robot, the handle is convenient for taking and placing the underwater observation robot, the guide fin is used for guiding the direction of the underwater observation robot, a rotary motor, a clamping jaw motor, a rotary angle sensor, a pitching motor, a sliding ring, a sonar, an illuminating lamp, a camera, a rack illuminating lamp and a rack camera on the underwater observation robot are all connected with a control system through cables and are controlled by the control system, the control system can adopt a PLC control system, the clamping jaw can be divided into a clamping jaw front part and a clamping jaw rear part, the clamping jaw front part and the clamping jaw rear part are in threaded connection, so that the clamping jaw rear part can be replaced according to the requirement of an object to be clamped, the support frame can rotate 360 degrees relative to the rack, the connecting gear and the output gear can be in meshing transmission or in chain link transmission, the connecting gear and the monitoring gear can be in meshing transmission or chain link transmission, the mounting frame can swing back and forth relative to the support frame, the flexibility of the underwater observation robot is improved, the angle range of reconnaissance and scanning of observation equipment is greatly enlarged, when the underwater observation robot is used, the underwater observation robot is placed on a motorboat or a ship and moves to a target sea area, then the winding roll is rotated by a hand crank to throw the underwater observation robot into the sea, an operator controls the underwater observation robot to move underwater through a control system, the underwater observation robot can carry out underwater camera observation and sonar detection, the search and rescue and reconnaissance tasks can be quickly, conveniently and effectively completed, the underwater observation robot can also grab underwater objects through the clamping jaws, the operation is very convenient, and the underwater observation robot has small structure, low use cost and flexible rotation, and can conveniently enter narrow or deeper sea areas.

By adopting the structure, the invention has the advantages of simple structure, small volume, high flexibility, sensitive observation and reconnaissance, firm grabbing, high working efficiency, convenient operation, low use cost and the like.