阅读说明：本技术 一种火药推进的水下吸附机器人 (Gunpowder-propelled underwater adsorption robot ) 是由 弓海霞 谭博文 侯恕萍 孟凡策 常洪林 连弘泰 赵通 于 2021-08-09 设计创作，主要内容包括：本发明提供一种火药推进的水下吸附机器人,包括磁吸附部分和火药推进部分,磁吸附部分主要包括磁吸附机械手爪、蓄能装置、外壳、中心杆、滑动套筒、直线轴承、接近传感器、电池舱等；磁吸附机械手爪主体为带磁吸附单元的连杆机构,包括四根长异形连杆与四根短连杆,每一对长短杆之间和与中心杆、滑动套筒之间都由销连接形成转动副；直线轴承安装在与滑动套筒一体的小平台上并与其一起沿着固定的金属导杆做直线运动；蓄能装置主要由拉簧、反向电磁铁组成,可在通电时实现磁吸附机械手爪的快速张开。本发明体积更小,结构紧凑,设计合理,成本低廉,具有水下探测和吸附的功能,解决了现有水下机器人存在的推进速度小、功能局限性的问题。(The invention provides a gunpowder-propelled underwater adsorption robot, which comprises a magnetic adsorption part and a gunpowder propelling part, wherein the magnetic adsorption part mainly comprises a magnetic adsorption mechanical paw, an energy storage device, a shell, a central rod, a sliding sleeve, a linear bearing, a proximity sensor, a battery cabin and the like; the magnetic adsorption mechanical paw main body is a link mechanism with a magnetic adsorption unit and comprises four long special-shaped connecting rods and four short connecting rods, and a rotating pair is formed by connecting each pair of long and short rods, a central rod and a sliding sleeve through pins; the linear bearing is arranged on the small platform integrated with the sliding sleeve and moves linearly together with the small platform along the fixed metal guide rod; the energy storage device mainly comprises a tension spring and a reverse electromagnet, and can realize the quick opening of the magnetic adsorption mechanical gripper when being electrified. The underwater robot has the advantages of smaller volume, compact structure, reasonable design and low cost, has the functions of underwater detection and adsorption, and solves the problems of low propelling speed and limited functions of the existing underwater robot.)

1. An underwater adsorption robot propelled by gunpowder is characterized in that: the magnetic powder gunpowder powder spraying device comprises a magnetic adsorption module, a power supply module and a gunpowder propelling module which are sequentially arranged, wherein the magnetic adsorption module comprises a central rod with multiple platforms, an upper flange, an upper shell, a long connecting rod, a short connecting rod, a sliding sleeve with a platform, a reverse electromagnet, a tension spring and a magnetic adsorption unit, and the central rod is fixed on the upper flange; a proximity sensor is arranged at the top of the central rod; the upper shell is connected with the central rod; the long connecting rod and the short connecting rod are connected at the intersection point through a pin and are connected with the central rod and the sliding sleeve hole through a pin to form a sliding block-like connecting rod mechanism; one end of a tension spring is fixed on a pull ring on the central rod, and the other end of the tension spring is fixed with the pull ring on the sliding sleeve with the platform; a stainless steel wafer is closely arranged on the lower surface of the sliding sleeve; the linear bearing is arranged in a hole with a platform sliding sleeve and is limited by a limiting block up and down, holes on two sides of the limiting block of the linear bearing are bolt positioning holes, a hole in the middle is a guide rail hole, one end of the guide rail is fixed in a platform inner groove integrated with the central rod, and the other end of the guide rail is fixed in a lower flange groove; the reverse electromagnet is fixed on the upper flange through a positioning hole; the adsorption unit is arranged on each long connecting rod; the power module comprises a middle-layer shell connected with an upper flange, a lower flange connected with the lower part of the middle-layer shell and a waterproof battery bin arranged in the middle-layer shell, wherein the waterproof battery bin comprises a wiring end cover, a container bin and a fixed end cover; the gunpowder propelling module C comprises a gunpowder filling device, a lower-layer shell and a gunpowder propelling device rear cover, wherein an electric ignition needle, a spark plug and a power supply are arranged in the gunpowder filling device, external signals are received, and a nozzle is matched with a hole in the gunpowder propelling device rear cover and is exposed out of the engine room; the lower shell is fixed with the lower flange through a positioning hole; the rear cover of the gunpowder propelling device is fixed with the gunpowder filling device.

2. A gunpowder-propelled underwater adsorption robot as claimed in claim 1, wherein: the long connecting rods are arranged at four equal intervals, and the corresponding short connecting rods are also arranged at four equal intervals.

3. A gunpowder-propelled underwater adsorption robot as claimed in claim 1 or 2, wherein: the magnetic adsorption unit comprises a threaded magnet, a bolt, a nut and a magnetic conduction sheet, outward magnetic poles of adjacent magnets of the threaded magnet are different, a magnetic loop is formed through the magnetic conduction sheet, the reverse electromagnet adsorbs the lower surface of the sliding sleeve with the platform in a non-working state, and the tension spring is lengthened to finish energy storage; when the proximity sensor is close to a metal object, the circuit is switched on, the reverse electromagnet loses magnetism, the tension spring drives the sliding sleeve to move upwards along the linear guide rail through the linear bearing, the short connecting rod drives the long connecting rod to rotate, and the magnetic adsorption unit presses close to the target object to enable the robot to be adsorbed on the surface of the metal object immediately.

4. A gunpowder-propelled underwater adsorption robot as claimed in claim 1 or 2, wherein: four tension springs.

5. A gunpowder-propelled underwater adsorption robot as claimed in claim 3, wherein: the number of the tension springs is four.

6. A gunpowder-propelled underwater adsorption robot as claimed in claim 1 or 5, wherein: a low melting point water repellent coating is provided adjacent the nozzle.

Technical Field

The invention relates to a gunpowder-propelled underwater adsorption robot, in particular to an underwater robot which is propelled by gunpowder and can be adsorbed on a target object, and is suitable for detecting and adsorbing a metal target on a water surface or a shallow water area.

Background

Along with the continuous development of global underwater equipment technology, China has more and more requirements on equipment design in the underwater field, and an underwater robot can effectively assist in carrying out various tasks as a good helper for underwater operation. Current underwater robots are dominated by auxiliary functions, such as providing lighting, carrying tools, etc. With the development of science and technology, people have more and more functional requirements for the underwater robot.

Most of the traditional underwater robots are propelled by propellers, the speed and the duration of the traditional underwater robots depend on the quality of a power supply, and batteries with larger capacity are needed for higher speed and longer voyage time, which means that the robots become larger and heavier; and traditional underwater robot only has some basic camera shooting illumination auxiliary devices, does not have the ability of accomplishing the task alone, and the operation of main part still needs to be accomplished by the manpower.

Disclosure of Invention

The invention aims to provide a gunpowder-propelled underwater adsorption robot which is smaller in size, compact in structure, reasonable in design and low in cost, has underwater detection and adsorption functions and solves the problems of low propelling speed and function limitation of the existing underwater robot.

The purpose of the invention is realized as follows: the magnetic powder gunpowder powder spraying device comprises a magnetic adsorption module, a power supply module and a gunpowder propelling module which are sequentially arranged, wherein the magnetic adsorption module comprises a central rod with multiple platforms, an upper flange, an upper shell, a long connecting rod, a short connecting rod, a sliding sleeve with a platform, a reverse electromagnet, a tension spring and a magnetic adsorption unit, and the central rod is fixed on the upper flange; a proximity sensor is arranged at the top of the central rod; the upper shell is connected with the central rod; the long connecting rod and the short connecting rod are connected at the intersection point through a pin and are connected with the central rod and the sliding sleeve hole through a pin to form a sliding block-like connecting rod mechanism; one end of a tension spring is fixed on a pull ring on the central rod, and the other end of the tension spring is fixed with the pull ring on the sliding sleeve with the platform; a stainless steel wafer is closely arranged on the lower surface of the sliding sleeve; the linear bearing is arranged in a hole with a platform sliding sleeve and is limited by a limiting block up and down, holes on two sides of the limiting block of the linear bearing are bolt positioning holes, a hole in the middle is a guide rail hole, one end of the guide rail is fixed in a platform inner groove integrated with the central rod, and the other end of the guide rail is fixed in a lower flange groove; the reverse electromagnet is fixed on the upper flange through a positioning hole; the adsorption unit is arranged on each long connecting rod; the power module comprises a middle-layer shell connected with an upper flange, a lower flange connected with the lower part of the middle-layer shell and a waterproof battery bin arranged in the middle-layer shell, wherein the waterproof battery bin comprises a wiring end cover, a container bin and a fixed end cover; the gunpowder propelling module C comprises a gunpowder filling device, a lower-layer shell and a gunpowder propelling device rear cover, wherein an electric ignition needle, a spark plug and a power supply are arranged in the gunpowder filling device, external signals are received, and a nozzle is matched with a hole in the gunpowder propelling device rear cover and is exposed out of the engine room; the lower shell is fixed with the lower flange through a positioning hole; the rear cover of the gunpowder propelling device is fixed with the gunpowder filling device.

The invention also includes such structural features:

1. the long connecting rods are arranged at four equal intervals, and the corresponding short connecting rods are also arranged at four equal intervals.

2. The magnetic adsorption unit comprises a threaded magnet, a bolt, a nut and a magnetic conduction sheet, outward magnetic poles of adjacent magnets of the threaded magnet are different, a magnetic loop is formed through the magnetic conduction sheet, the reverse electromagnet adsorbs the lower surface of the sliding sleeve with the platform in a non-working state, and the tension spring is lengthened to finish energy storage; when the proximity sensor is close to a metal object, the circuit is switched on, the reverse electromagnet loses magnetism, the tension spring drives the sliding sleeve to move upwards along the linear guide rail through the linear bearing, the short connecting rod drives the long connecting rod to rotate, and the magnetic adsorption unit presses close to the target object to enable the robot to be adsorbed on the surface of the metal object immediately.

3. Four tension springs.

4. A low melting point water repellent coating is provided adjacent the nozzle.

Compared with the prior art, the invention has the beneficial effects that: 1. the energy storage device comprises four groups of tension springs and a sliding sleeve, wherein one ends of the tension springs are fixed on a platform integrated with the central rod, the other ends of the tension springs are fixed on a platform integrated with the sliding sleeve, and the tension springs are limited by a linear bearing. The linear bearing is installed in the platform integrated with the sliding sleeve and moves up and down through the linear guide rod. 2. The reverse electromagnet is fixed on the middle flange and connected with the proximity sensor, and absorbs the metal part at the bottom of the sliding sleeve in a non-working state so as to finish mechanical energy storage; when the circuit is switched on in a working state, the magnetic force disappears, and the tension spring drives the mechanical arm to open to complete the adsorption action. 3. The subject material of the waterproof battery compartment is glass, a rubber sealing ring is arranged in the glass, the glass is tightly pressed and fixed on the flange through a bolt group, and meanwhile, the waterproof battery compartment plays a role in sealing, waterproofing and fixing.

Drawings

FIG. 1 is a schematic view of a gunpowder propelled underwater adsorption robot;

FIG. 2 is a schematic structural diagram of an adsorption part of an underwater adsorption robot propelled by gunpowder;

FIG. 3 is a schematic view of a magnetic attraction unit;

FIG. 4 is a detail view of a center rod;

FIG. 5 is a schematic view of a linear bearing stop;

FIG. 6 is a schematic view of an upper flange;

FIG. 7 is a schematic view of the lower flange;

FIG. 8 is a schematic view of a sliding sleeve with a platform;

fig. 9 is a schematic view of a waterproof battery compartment;

FIG. 10 is a schematic view of the powder loading device;

figure 11 is a schematic view of the rear cover of the powder propelling device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The invention relates to a gunpowder-propelled underwater adsorption robot which comprises a magnetic adsorption part and a gunpowder propelling part. The magnetic adsorption part mainly comprises a magnetic adsorption mechanical paw, an energy storage device, a shell, a central rod, a sliding sleeve, a linear bearing, a proximity sensor, a battery compartment and the like; the magnetic adsorption mechanical paw main body is a link mechanism with a magnetic adsorption unit and comprises four long special-shaped connecting rods and four short connecting rods, and a rotating pair is formed by connecting each pair of long and short rods with a central rod and a sliding sleeve through pins; the linear bearing is arranged on a small platform integrated with the sliding sleeve and moves linearly together with the small platform along the fixed metal guide rod; the energy storage device mainly comprises a tension spring and a reverse electromagnet, and can realize the quick opening of the magnetic adsorption mechanical gripper when being electrified. The gunpowder propelling part mainly comprises a shell, a gunpowder filling device and an ignition device; the ignition device is an electric high-temperature-resistant ceramic ignition electrode, a sensor and a spark plug are additionally arranged, and ignition propulsion is realized through external signal control. The magnetic adsorption unit mainly comprises a shell, a permanent magnet and a magnetic conduction sheet and is fixed on the long connecting rod.

With reference to fig. 1 to 11, the gunpowder-propelled underwater adsorption robot of the present invention is composed of a magnetic adsorption module a, a power module B, and a gunpowder propulsion module C.

The magnetic adsorption module mainly comprises a center rod 12 with multiple platforms, an upper shell 2, a long connecting rod 3, a short connecting rod 14, a sliding sleeve with platforms (figure 8), a reverse electromagnet 19, a tension spring 20 and a magnetic adsorption unit 22. The central rod 12 is fixed on the upper flange 6 through a positioning hole 35; the proximity sensor 1 is fixed on the top of the central rod 12 through self threads; the upper shell 2 is further fixed with the center rod through a positioning hole 4 and a positioning hole 25; the long connecting rod 3 and the short connecting rod 14 are connected through a pin at the intersection point 15 and are connected with the central rod 13 and the sliding sleeve hole 43 through a pin to form a sliding block-like connecting rod mechanism; one end of the tension spring 20 is fixed on the pull ring 26 on the center rod, and the other end is fixed with the pull ring 46 on the sliding sleeve with the platform; the lower surface of the sliding sleeve is tightly attached with a stainless steel wafer which is fixed through a positioning hole 44; the linear bearing is arranged in a hole 45 with a platform sliding sleeve, is limited by a limiting block 18 from top to bottom and is connected and fixed through a bolt 17; holes 30 on two sides of the linear bearing limiting block are bolt positioning holes, a hole 31 in the middle is a guide rail hole, the diameter of the guide rail hole is larger than the inner diameter of the linear bearing and smaller than the outer diameter of the linear bearing, and the linear bearing can be axially limited; one end of the guide rail 16 is fixed in a platform inner groove 27 integrated with the central rod 12, and the other end is fixed in a lower flange groove 32; the reverse electromagnet is fixed on the upper flange 6 through a positioning hole 34, and a circuit is connected by using a hole 33; the magnetic adsorption unit 22 is composed of a threaded magnet 5, a bolt 21, a nut 23 and a magnetic conductive sheet 24, wherein outward magnetic poles of adjacent magnets of the threaded magnet 5 are different, and a magnetic loop is formed through the magnetic conductive sheet 24, so that the magnetic force is stronger. In a non-working state, the reverse electromagnet 19 adsorbs the lower surface of the sliding sleeve with the platform, and the tension spring is stretched to finish energy storage; when the proximity sensor 1 is close to a metal object, the circuit is switched on, the reverse electromagnet loses magnetism, the tension spring drives the sliding sleeve to move upwards along the linear guide rail 16 through the linear bearing, the short connecting rod drives the long connecting rod to rotate, and the magnetic adsorption unit is close to the target object to enable the robot to be adsorbed on the surface of the metal object immediately.

The power module B consists of an upper flange 6, a middle layer shell 8, a lower flange 9 and a waterproof battery compartment (figure 9). The waterproof battery compartment is integrally divided into three parts, namely a wiring end cover 52, a container compartment 51 and a fixed end cover 50, wherein the wiring end cover, the container compartment and the fixed end cover are made of glass, and rubber sealing layers and waterproof coatings are arranged on the mutual contact surfaces of the three parts and are connected and fixed together through bolts and nuts (47 and 49); three wiring terminals are arranged on the wiring end cover 52 and are used for wiring with the proximity sensor 1 and the reverse electromagnet 19, and glue is filled, sealed and waterproof after wiring is finished; six groups of bolts and nuts on the fixed end cover 51 are connected to fix the waterproof battery compartment on the lower flange 9 through the positioning hole 39; the middle layer shell 8 is connected with the upper flange 6 through a positioning hole 7 and fixed through a bolt; the lower flange 9 is fixed with the middle layer shell 8 through the positioning hole 40.

The powder propelling module C consists of a powder filling device (figure 10), a lower shell 10 and a powder propelling device rear cover 11. The powder filling device is internally provided with an electric ignition needle, a spark plug and a power supply, receives external signals and is provided with a low-melting-point waterproof coating near the nozzle 54; the nozzle 54 cooperates with a hole 57 on the rear cover 11 of the powder propelling device, and is exposed outside the engine room; the lower shell 10 is fixed with the lower flange 9 through a positioning hole 41; the powder injector rear cover 11 is fixed to the powder injector through the positioning hole 55 and fixed to the lower housing 10 through the hole 56. After the fire is launched, secondary propulsion is judged and started according to the situation, after an external signal is received, the electric ignition needle and the spark plug work to generate electric arcs to ignite the built-in gunpowder to melt the waterproof layer, and the propulsion effect is achieved through the nozzle 54.