CN106882349A - The portable small-sized underwater robot of open-shelf - Google Patents
The portable small-sized underwater robot of open-shelf Download PDFInfo
- Publication number
- CN106882349A CN106882349A CN201710139154.2A CN201710139154A CN106882349A CN 106882349 A CN106882349 A CN 106882349A CN 201710139154 A CN201710139154 A CN 201710139154A CN 106882349 A CN106882349 A CN 106882349A
- Authority
- CN
- China
- Prior art keywords
- open
- underwater robot
- portable small
- electronic compartment
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The present invention provides a kind of portable small-sized underwater robot of open-shelf, including：Support；Electronic compartment, electronic compartment is arranged in support, and interface is provided with the rear portion of electronic compartment；Control board, control board is arranged in electronic compartment, and control board is connected with interface；Propulsive mechanism, propulsive mechanism is arranged in support, and propulsive mechanism is connected with control board；Head, head is arranged in support, and head is connected with electronic compartment.Compared with prior art, the portable small-sized underwater robot of open-shelf of the present invention has advantages below：Electronic compartment is the dry cabin of independent sealing, and 4 propellers do independent dynamic sealing under water, reduce water leakage fault respectively, improve system safety coefficient.Open-shelf structure is carried sensor and underwater operation tool and is more facilitated.Open-shelf structure is easy to process, the reduction of Product processing cost, cycle time.
Description
Technical field
Patent of the present invention is related to a kind of portable small-sized underwater robot of open-shelf, carry sensors and manipulator, can be in water
Lower 300 meters are observed and light work.
Background technology
At present, seabed paving cable, pipe laying, piling, jackstone etc. under water infrastructure project, dam safety check, the safety check of nuclear power station discharge outlet,
The underwater observation and underwater operation that the security protection of aquafarm, artificial marine habitat, harbour and offshore sea waters such as patrols and examines at the multiple fields are still big
Amount relies on diver.Underwater operation environment is not only extremely dangerous, and diver by equipping, weather, environment are limited, it is impossible to even
Continuous operation, efficiency is very low.In addition, in order to diver can safely dive be to designated area and stops observation, judgement, in water
Job platform etc. generally require to shut down, after diver must be waited to depart from work waters floating to the water surface, could open again
Work, both expends man-hour, and a large amount of economic losses are caused again.
The content of the invention
For defect of the prior art, present invention aim at provide one kind adapt to abyssal environment, instead of diver
The portable small-sized underwater robot of open-shelf.
In order to solve the above technical problems, the present invention provides a kind of portable small-sized underwater robot of open-shelf, including：Support；
Electronic compartment, the electronic compartment is arranged in the support, and interface is provided with the rear portion of the electronic compartment；Control board, it is described
Control board is arranged in the electronic compartment, and the control board is connected with the interface；Propulsive mechanism, the pusher
Structure is arranged in the support, and the propulsive mechanism is connected with the control board；Head, the head is arranged on the branch
In frame, the head is connected with the electronic compartment；Wherein described head includes：Housing, is provided with form on the housing；Electronics
Plate, the electron plate is arranged in the housing, and the electron plate is connected with the control board；Clamping device, the folder
Mechanism is held to be connected with the electron plate；Video camera, the video camera is arranged in the clamping device by fixed mechanism；Rudder
Machine, the steering wheel is arranged on the clamping device, and the steering wheel is connected with the fixed mechanism；LED, the LED sets
Put on the clamping device.
Preferably, the clamping device includes：Left clamping plate, the left clamping plate is connected by copper post with the electron plate；It is right
Clamping plate, the right clamping plate and the left clamping plate interval setting, are connected between the right clamping plate and the left clamping plate by connecting rod.
Preferably, the fixed mechanism includes：Rotating turret, the bottom of the rotating turret is connected by rotating shaft with the left clamping plate
Connect, the top of the rotating turret is connected by rotating shaft with the steering wheel；Fixture, the fixture is connected with the rotating turret, described
Video camera is connected in the fixture.
Preferably, the LED is arranged on the clamping device by lamp plate clamping plate.
Preferably, it is provided with handle at the top of the support.
Preferably, it is respectively provided on two sides with reinforcement block in support front portion.
Preferably, protection shell is provided with the bracket, and the protection shell is wrapped in the electronic compartment and the cloud
Platform outside.
Preferably, the propulsive mechanism includes vertical pusher, athwartships propeller and longitudinal thruster；Wherein it is longitudinally propelling
The quantity of device is two, and two longitudinal thrusters are separately positioned on the both sides of the frame bottom.
Compared with prior art, the portable small-sized underwater robot of open-shelf of the present invention has advantages below：
1) electronic compartment is the dry cabin of independent sealing, and 4 propellers do independent dynamic sealing under water, reduce water leakage fault respectively,
Raising system safety coefficient.
2) open-shelf structure is carried sensor and underwater operation tool and is more facilitated.
3) field trim on the spot, dismounting, maintenance is also easier to, and especially the maintenance of propeller, replacement are very convenient, out of office
Outer operation will save the plenty of time, improve operating efficiency.
4) two of the machine rear portion designs of horizontal preflow push device are spaced farther out, it is ensured that under given power and thrust,
The torque of maximum is provided for machine.
5) the same vertical plane of the centre of buoyancy of system and design of centre of gravity in preflow push device, it is ensured that system is moved in a fluid
Stability.
6) open-shelf structure is easy to process, the reduction of Product processing cost, cycle time.
Brief description of the drawings
The detailed description made to non-limiting example with reference to the following drawings by reading, further feature mesh of the invention
And advantage will become more apparent upon.
Fig. 1 is the portable small-sized underwater robot structure schematic diagram one of open-shelf of the present invention；
Fig. 2 is the portable small-sized underwater robot structure schematic diagram two of open-shelf of the present invention；
Fig. 3 is the portable small-sized underwater robot structure schematic diagram three of open-shelf of the present invention；
Fig. 4 is the portable small-sized underwater robot cradle head structure schematic diagram of open-shelf of the present invention.
In figure：
1- support 2- electronic compartment 3- interfaces
4- housing 5- video camera 6- steering wheels
The 7-LED lamp 8- electron plates left clamping plates of 9-
The right clamping plate 11- copper posts 12- connecting rods of 10-
13- rotating turret 14- rotating shaft 15- clamping plates
16- lamp plate clamping plate 17- handle 18- reinforcement blocks
19- protects shell 20- vertical pusher 21- athwartships propellers
22- longitudinal thruster 23- forms
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes can also be made and changed.
As shown in Figure 1 to 4, the present invention provides a kind of portable small-sized underwater robot of open-shelf, including：Opening support
1, electronic compartment 2 and head are arranged in support 1, convenient to process and safeguard.Whole equipment is all by the inner control circuit of electronic compartment 2
Circuit is controlled to be regulated and controled on plate, the output for the data in regulation and control can be realized by the interface 3 at the rear portion of electronic compartment 2.
Propulsive mechanism is, by vertical pusher 20, athwartships propeller 21 and two longitudinal thrusters 22, especially to indulge two
The both sides of the bottom of support 1, increase interval between the two, to ensure in given power and thrust are separately positioned on to propeller 22
Under, the torque of maximum is provided for whole equipment.
As long as head is made up of LED 7 and video camera 5.Video camera 5 is arranged on clamping device by fixed mechanism first
Interior, wherein clamping device includes left clamping plate 9 and right clamping plate 10 arranged in parallel, is connected by connecting rod 12 between the two,
Left clamping plate 9 is also connected by copper post 11 with electron plate 8 simultaneously.
The two ends of the rotating turret 13 of fixed mechanism are connected by rotating shaft 14 with left clamping plate 9 and right clamping plate 10 respectively, rotating turret
13 top is connected by rotating shaft 14 with steering wheel 6.So, just rotating turret 13 can be driven in steering wheel 6, is connected via with rotating turret 13
Fixture 15 drive the video camera 5 to carry out the different demands that are adapted to of angle, the top of right clamping plate 10 by lamp plate clamping plate 16
Fixed LED 7 provides corresponding light source.Video camera 5 carries out shooting work through the form 23 on housing 4.
In addition, being provided with handle 17 at the top of support 1, it is convenient for carrying.Reinforcing is respectively provided on two sides with the front portion of support 1
Block 18, plays the effect of anticollision.Protection shell 19 is wrapped up on the outside of electronic compartment 2 and head, the effect of protection is equally played.
Specific embodiment of the invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make a variety of changes or change, this not shadow
Sound substance of the invention.In the case where not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (8)
1. the portable small-sized underwater robot of a kind of open-shelf, it is characterised in that including：
Support；
Electronic compartment, the electronic compartment is arranged in the support, and interface is provided with the rear portion of the electronic compartment；
Control board, the control board is arranged in the electronic compartment, and the control board is connected with the interface；
Propulsive mechanism, the propulsive mechanism is arranged in the support, and the propulsive mechanism is connected with the control board；
Head, the head is arranged in the support, and the head is connected with the electronic compartment；Wherein
The head includes：
Housing, is provided with form on the housing；
Electron plate, the electron plate is arranged in the housing, and the electron plate is connected with the control board；
Clamping device, the clamping device is connected with the electron plate；
Video camera, the video camera is arranged in the clamping device by fixed mechanism；
Steering wheel, the steering wheel is arranged on the clamping device, and the steering wheel is connected with the fixed mechanism；
LED, the LED is arranged on the clamping device.
2. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that the clamping device bag
Include：
Left clamping plate, the left clamping plate is connected by copper post with the electron plate；
Right clamping plate, the right clamping plate and the left clamping plate interval setting, by connection between the right clamping plate and the left clamping plate
Bar is connected.
3. the portable small-sized underwater robot of open-shelf according to claim 2, it is characterised in that the fixed mechanism bag
Include：
Rotating turret, the bottom of the rotating turret is connected by rotating shaft with the left clamping plate, and the top of the rotating turret is by rotating
Frame is connected with the steering wheel；
Fixture, the fixture is connected with the rotating turret, and the video camera is connected in the fixture.
4. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that the LED passes through lamp
Plate clamping plate is arranged on the clamping device.
5. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that at the top of the support
It is provided with handle.
6. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that anterior in the support
It is respectively provided on two sides with reinforcement block.
7. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that be provided with the bracket
Protection shell, the protection shell is wrapped in the electronic compartment and head outside.
8. the portable small-sized underwater robot of open-shelf according to claim 1, it is characterised in that the propulsive mechanism includes
Vertical pusher, athwartships propeller and longitudinal thruster；Wherein
The quantity of longitudinal thruster is two, and two longitudinal thrusters are separately positioned on the both sides of the frame bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710139154.2A CN106882349A (en) | 2017-03-09 | 2017-03-09 | The portable small-sized underwater robot of open-shelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710139154.2A CN106882349A (en) | 2017-03-09 | 2017-03-09 | The portable small-sized underwater robot of open-shelf |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106882349A true CN106882349A (en) | 2017-06-23 |
Family
ID=59180262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710139154.2A Pending CN106882349A (en) | 2017-03-09 | 2017-03-09 | The portable small-sized underwater robot of open-shelf |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106882349A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554731A (en) * | 2017-10-12 | 2018-01-09 | 上海遨拓深水装备技术开发有限公司 | A kind of ROV appliance stands suitable for underwater complex landform |
| CN108860525A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater robot |
| CN114766393A (en) * | 2022-04-06 | 2022-07-22 | 滨州学院 | Inspection device for deep sea cultivation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5097780A (en) * | 1988-02-03 | 1992-03-24 | Amerada Hess Limited | Subsea vehicle |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN201672917U (en) * | 2010-05-27 | 2010-12-15 | 陕西致深电子科技有限公司 | Underwater optical pan-tilt scanning image observation device |
| CN104097758A (en) * | 2014-08-06 | 2014-10-15 | 哈尔滨工程大学 | Open-frame type underwater robot experiment platform with alterable energy systems |
| CN206644967U (en) * | 2017-03-09 | 2017-11-17 | 德海电子科技（上海）有限公司 | The portable small-sized underwater robot of open-shelf |
-
2017
- 2017-03-09 CN CN201710139154.2A patent/CN106882349A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5097780A (en) * | 1988-02-03 | 1992-03-24 | Amerada Hess Limited | Subsea vehicle |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN201672917U (en) * | 2010-05-27 | 2010-12-15 | 陕西致深电子科技有限公司 | Underwater optical pan-tilt scanning image observation device |
| CN104097758A (en) * | 2014-08-06 | 2014-10-15 | 哈尔滨工程大学 | Open-frame type underwater robot experiment platform with alterable energy systems |
| CN206644967U (en) * | 2017-03-09 | 2017-11-17 | 德海电子科技（上海）有限公司 | The portable small-sized underwater robot of open-shelf |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554731A (en) * | 2017-10-12 | 2018-01-09 | 上海遨拓深水装备技术开发有限公司 | A kind of ROV appliance stands suitable for underwater complex landform |
| CN108860525A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater robot |
| CN114766393A (en) * | 2022-04-06 | 2022-07-22 | 滨州学院 | Inspection device for deep sea cultivation |
| CN114766393B (en) * | 2022-04-06 | 2023-09-26 | 滨州学院 | Inspection device for deep sea cultivation |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170623 |