CN203601547U - Underwater robot - Google Patents
Underwater robot Download PDFInfo
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- CN203601547U CN203601547U CN201320482873.1U CN201320482873U CN203601547U CN 203601547 U CN203601547 U CN 203601547U CN 201320482873 U CN201320482873 U CN 201320482873U CN 203601547 U CN203601547 U CN 203601547U
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Abstract
The utility model provides an underwater robot. The underwater robot comprises a robot framework, a left propeller thruster, a right propeller thruster, a front propeller thruster, a back propeller thruster, a vertical propeller thruster and a floating body, wherein the left propeller thruster and the right propeller thruster are arranged on the left side and the right side of the robot framework; the front propeller thruster and the back propeller thruster are arranged on the front side and the back side of the robot framework; the vertical propeller thruster is arranged in the middle of the robot framework; the floating body is arranged on the top end of the robot framework; a main control cabin, a gyroscope sensor and a robot holder are arranged in a cavity which is formed by the robot framework and the floating body; the robot holder is connected with a camera; a searchlight is arranged in a position, near the camera, of the robot framework; the main control cabin is connected with the left propeller thruster, the right propeller thruster, the front propeller thruster, the back propeller thruster, the vertical propeller thruster and the robot holder and connected to an overwater control console through a cable. The underwater robot has the beneficial effects of achieving sealed and water-proof effects, being stable in operation underwater, and being especially applicable to underwater monitoring, underwater operation and the like.
Description
Technical field
The utility model belongs to under-water operation apparatus field, especially relates to a kind of under-water robot.
Background technology
Along with country strengthens the exploitation dynamics to marine resources, originally under-water operation is to be mainly fixed against people and simple diving outfit, complicated and dangerous environments such as subsea forms sizable threat to people's life security, 50 meters of diver's dives have just been difficult to this under-water operation task below, this just must depend on a kind of new intelligentized machinery and equipment and replace people to go to carry out seabed operation task, and under-water robot just arises at the historic moment.Bear the work such as underwater engineering, search and rescue salvaging under water, archaeology scientific research, the investigation of municipal pipeline fire protection pipeline, water conservancy, public security, aquaculture, marine life observation, investigation and evidence collection, Ocean Oil And Gas Pipeline investigation, energy exploration, Water Pollution Monitoring.
Seeing with regard to current domestic robot market, is mainly artificially main with external machine, and under domestic water, Robotics far lags behind abroad, and the price of the external robot of import is quite high, up to a million easily, general in time unable purchase of user.Many reasons such as external robot is owing to being subject to the restriction of various taboo pin rules, and external product can not customize separately, the production cycle is long, operating language is limited and after-sales service is inconvenient can not get popularizing as for under-water robot at home.The industry that much relates to under-water operation is all larger to the demand of intelligent equipment, develop a price suitable, be suitable for civilian large-scale intelligent under-water robot and just become a kind of urgent requirement.
Summary of the invention
The under-water robot that problem to be solved in the utility model is to provide a kind of water-tight, dives under water and operate steadily more deeply, under water, is especially applicable to carrying out underwater monitoring, under-water operation etc.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: under-water robot, comprises robot frame; Be arranged at the left-and-right spiral oar propelling unit of the described robot frame left and right sides; Be arranged at the front and back propeller of both sides, described robot frame front and back; Be arranged at the vertical spin oar propelling unit of described robot frame midway location; Be arranged at the buoyancy aid on the top of described robot frame; In the cavity that described robot frame and described buoyancy aid form, be provided with main control cabin, gyro sensor and robot The Cloud Terrace; Described robot The Cloud Terrace is connected with camera; Position near camera in described robot frame is provided with search lamp; Described main control cabin connects respectively left-and-right spiral oar propelling unit, front and back propeller, vertical spin oar propelling unit and robot The Cloud Terrace and is connected with control desk waterborne by cable.The underwater pressure resistance of robot in structures shape the invention of frame-type is strong.
Further, on described buoyancy aid, offer intermediate throughholes, described vertical spin oar propelling unit communicates with described intermediate throughholes.
Further, described buoyancy aid one side is provided with the U-shaped groove of placing described camera.
Further, described sensor comprises gyro sensor, cooling-water temperature sensor, depth transducer, sonar probe, radar sensor and optical pickocff.When designing, robot body is reserved with the plug-and-pull port of plug and play, and can be according to more emat sensor kind of need of work.
Further, reserved mechanical knee-joint mouth on described main control cabin.
Further, described robot frame rear side is a side relative with the face that described camera is installed.
Advantage and the good effect that the utlity model has are: owing to adopting technique scheme, propeller provides power for under-water robot, and it produces thrust by driven by motor blade rotary.Because it is controlled flexibly, reaction fast, has therefore obtained good application on robot under water.The utility model utilizes two left-and-right spiral oar propelling units, left and right translation and the turning of control, and when two of left and right screw propeller is during with same rotational speed rotating in same direction, robot can be realized along straight line and move to left or move to right; And two of left and right left-and-right spiral oar propelling unit with same rotational speed press different directions rotate time, can realize original place rotate, while rotation with differential, robot can be realized any semidiameter turn; Front and back propeller can advance or retreat by control; The easily sink-float of control of vertical spin oar propelling unit.Robot is provided with gyrosensor and makes underwater operation more steady.Cooling-water temperature sensor, depth transducer, sonar probe, radar sensor and optical pickocff are realized under-water operation and measuring ability under water.It is large that the robot of the invention has volume, the large and water-tight of submerged depth, the feature that operates steadily under water, and submerged depth can reach 300～1000 meters.
Accompanying drawing explanation
Fig. 1 is the structural representation of under-water robot.
In figure:
1, buoyancy aid 2, front and back propeller 3, main control cabin
4, left-and-right spiral oar propelling unit 5, robot frame 6, robot The Cloud Terrace
7, search lamp 8, camera 9, vertical spin oar advance
Device
The specific embodiment
As shown in Figure 1, the utility model provides a kind of under-water robot, comprises robot frame 5; Be arranged at the left-and-right spiral oar propelling unit 4 of described robot frame 5 left and right sides; Be arranged at the front and back propeller 2 of described robot frame 5 rear sides, wherein, front and back propeller 2 has two; Be arranged at the vertical spin oar propelling unit 9 of described robot frame 5 midways location; Be arranged at the buoyancy aid 1 on the top of described robot frame 5; In the cavity that described robot frame 5 and described buoyancy aid 1 form, be provided with main control cabin 3, sensor and robot The Cloud Terrace 6; Described robot The Cloud Terrace 6 is connected with camera 8; Position near camera 8 in described robot frame 5 is provided with search lamp 7; Described main control cabin 3 connects respectively left-and-right spiral oar propelling unit 4, front and back propeller 2, vertical spin oar propelling unit 9 and robot The Cloud Terrace 6 and is connected with control desk waterborne by cable.On buoyancy aid 1, offer intermediate throughholes, described vertical spin oar propelling unit 9 communicates with described intermediate throughholes.Buoyancy aid 1 one sides are provided with the U-shaped groove of placing described camera 8.Sensor comprises gyro sensor, cooling-water temperature sensor, depth transducer, sonar probe, radar sensor and optical pickocff.Reserved mechanical knee-joint mouth on main control cabin 3.Robot frame 5 rear sides are sides relative with the face that described camera 8 is installed.
The working process of this example: propeller 2 is for under-water robot provides power, and it produces thrust by driven by motor blade rotary.Because it is controlled flexibly, reaction fast, has therefore obtained good application on robot under water.The utility model utilizes two left-and-right spiral oar propelling units 4, left and right translation and the turning of control, and when two of left and right screw propeller is during with same rotational speed rotating in same direction, robot can be realized along straight line and move to left or move to right; And two of left and right left-and-right spiral oar propelling unit 4 with same rotational speed press different directions rotate time, can realize original place rotate, while rotation with differential, robot can be realized any semidiameter turn; Front and back propeller 2 can advance or retreat by control; The easily sink-float of control of vertical spin oar propelling unit 9.Robot is provided with gyrosensor and makes underwater operation more steady.Cooling-water temperature sensor, depth transducer, sonar probe, radar sensor and optical pickocff are realized under-water operation and measuring ability under water.When robot body designs, be reserved with the plug-and-pull port of plug and play, make robot as a carrier can be as required more emat sensor, motor or multi-spindle machining hand.As be replaced with water quality sensor and can detect composition and the concentration of various toxic substances in discolored water, and control desk generated data form on the water, increase optical imaging system and can record seabed video, increase multi-spindle machining hand and can carry out operation under sea, the increase instrument of fishing for can cultivate fishes for etc.
Above an embodiment of the present utility model is had been described in detail, but described content is only preferred embodiment of the present utility model, can not be considered to for limiting practical range of the present utility model.All equalization variation and improvement etc. of doing according to the utility model application range, within all should still belonging to patent covering scope of the present utility model.
Claims (6)
1. under-water robot, is characterized in that: comprise robot frame (5);
Be arranged at the left-and-right spiral oar propelling unit (4) of described robot frame (5) left and right sides;
Be arranged at the front and back propeller (2) of described robot frame (5) rear side;
Be arranged at the vertical spin oar propelling unit (9) of described robot frame (5) midway location;
Be arranged at the buoyancy aid (1) on the top of described robot frame (5);
In the cavity that described robot frame (5) and described buoyancy aid (1) form, be provided with main control cabin (3), sensor and robot The Cloud Terrace (6); Described robot The Cloud Terrace (6) is connected with camera (8); Be provided with search lamp (7) in the upper position near camera (8) of described robot frame (5); Described main control cabin (3) connects respectively left-and-right spiral oar propelling unit (4), front and back propeller (2), vertical spin oar propelling unit (9) and robot The Cloud Terrace (6) and is connected with control desk waterborne by cable.
2. under-water robot according to claim 1, is characterized in that: described buoyancy aid offers intermediate throughholes on (1), and described vertical spin oar propelling unit (9) communicates with described intermediate throughholes.
3. under-water robot according to claim 1 and 2, is characterized in that: described buoyancy aid (1) one side is provided with the U-shaped groove of placing described camera (8).
4. under-water robot according to claim 1 and 2, is characterized in that: described sensor comprises gyro sensor, cooling-water temperature sensor, depth transducer, sonar probe, radar sensor and optical pickocff.
5. under-water robot according to claim 1 and 2, is characterized in that: the upper reserved mechanical knee-joint mouth of described main control cabin (3).
6. under-water robot according to claim 1 and 2, is characterized in that: described robot frame (5) rear side is a side relative with the face that described camera (8) is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320482873.1U CN203601547U (en) | 2013-08-07 | 2013-08-07 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320482873.1U CN203601547U (en) | 2013-08-07 | 2013-08-07 | Underwater robot |
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| CN203601547U true CN203601547U (en) | 2014-05-21 |
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| CN201320482873.1U Expired - Fee Related CN203601547U (en) | 2013-08-07 | 2013-08-07 | Underwater robot |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN104199458A (en) * | 2014-08-15 | 2014-12-10 | 浙江大学 | Underwater operation robot |
| CN104260836A (en) * | 2014-10-11 | 2015-01-07 | 东南大学 | Water area surveillance robot for collecting water area information and control method thereof |
| CN104477359A (en) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multi-degree-of-freedom vectored thrust layout method |
| CN104492752A (en) * | 2014-12-01 | 2015-04-08 | 河海大学常州校区 | Controllable underwater ultrasonic cleaner and operating method |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104793265A (en) * | 2015-04-23 | 2015-07-22 | 中国科学院武汉岩土力学研究所 | Fine detection device and method of horizontal rock-salt cavity |
| CN105083518A (en) * | 2015-08-14 | 2015-11-25 | 苏州金业船用机械厂 | Propelling device for electrically-controlled boat |
| CN105197209A (en) * | 2015-10-16 | 2015-12-30 | 上海路远电气科技有限公司 | Underwater robot |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN105564616A (en) * | 2016-01-13 | 2016-05-11 | 山东省科学院海洋仪器仪表研究所 | Underwater monitoring robot |
| CN105711779A (en) * | 2016-03-16 | 2016-06-29 | 河海大学常州校区 | Underwater flushing robot with eight propellers |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
| CN105759007A (en) * | 2016-04-20 | 2016-07-13 | 欧志洪 | Hydraulic data collecting robot with storage unit |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN104369842B (en) * | 2014-08-12 | 2017-04-12 | 浙江大学 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
| CN106585930A (en) * | 2016-12-09 | 2017-04-26 | 上海遨拓深水装备技术开发有限公司 | Cabled underwater robot configuration method for three-dimensional image sonar |
| CN108263582A (en) * | 2017-12-30 | 2018-07-10 | 江苏密斯欧智能科技有限公司 | A kind of underwater robot control device and method |
| CN108298047A (en) * | 2017-12-27 | 2018-07-20 | 天津深之蓝海洋设备科技有限公司 | The outlet structure of the holder of submersible |
| CN108466684A (en) * | 2018-03-27 | 2018-08-31 | 江西理工大学 | A kind of novel seabed robot |
| CN109562816A (en) * | 2017-08-09 | 2019-04-02 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
| CN109845708A (en) * | 2019-02-28 | 2019-06-07 | 闽南理工学院 | It is a kind of can panoramic shooting fish finding device |
| CN110469746A (en) * | 2019-08-27 | 2019-11-19 | 南通理工学院 | A kind of submarine pipeline apparatus for work |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
| CN114426087A (en) * | 2022-01-05 | 2022-05-03 | 哈尔滨工程大学 | Diving is with clapping underwater robot |
-
2013
- 2013-08-07 CN CN201320482873.1U patent/CN203601547U/en not_active Expired - Fee Related
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN104369842B (en) * | 2014-08-12 | 2017-04-12 | 浙江大学 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
| CN104199458A (en) * | 2014-08-15 | 2014-12-10 | 浙江大学 | Underwater operation robot |
| CN104260836A (en) * | 2014-10-11 | 2015-01-07 | 东南大学 | Water area surveillance robot for collecting water area information and control method thereof |
| CN104477359A (en) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multi-degree-of-freedom vectored thrust layout method |
| CN104477359B (en) * | 2014-10-27 | 2016-08-24 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multiple degrees of freedom vector propulsion layout method |
| CN104492752A (en) * | 2014-12-01 | 2015-04-08 | 河海大学常州校区 | Controllable underwater ultrasonic cleaner and operating method |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104793265A (en) * | 2015-04-23 | 2015-07-22 | 中国科学院武汉岩土力学研究所 | Fine detection device and method of horizontal rock-salt cavity |
| CN106428479B (en) * | 2015-08-06 | 2018-05-25 | 欧舶智能科技（上海）有限公司 | A kind of unmanned remote controlled underwater robot and its control method |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN105083518A (en) * | 2015-08-14 | 2015-11-25 | 苏州金业船用机械厂 | Propelling device for electrically-controlled boat |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN105197209A (en) * | 2015-10-16 | 2015-12-30 | 上海路远电气科技有限公司 | Underwater robot |
| CN105564616A (en) * | 2016-01-13 | 2016-05-11 | 山东省科学院海洋仪器仪表研究所 | Underwater monitoring robot |
| CN105564616B (en) * | 2016-01-13 | 2018-03-13 | 山东省科学院海洋仪器仪表研究所 | A kind of underwater monitoring robot |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
| CN105711777B (en) * | 2016-01-26 | 2018-05-15 | 河北工业大学 | A kind of microminiature modularization AUV |
| CN105711779A (en) * | 2016-03-16 | 2016-06-29 | 河海大学常州校区 | Underwater flushing robot with eight propellers |
| CN105759007A (en) * | 2016-04-20 | 2016-07-13 | 欧志洪 | Hydraulic data collecting robot with storage unit |
| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106101571A (en) * | 2016-08-10 | 2016-11-09 | 长沙矿山研究院有限责任公司 | A kind of deep-sea pull-type camera system |
| CN106101571B (en) * | 2016-08-10 | 2021-11-30 | 长沙矿山研究院有限责任公司 | Deep sea drag type camera system |
| CN106585930A (en) * | 2016-12-09 | 2017-04-26 | 上海遨拓深水装备技术开发有限公司 | Cabled underwater robot configuration method for three-dimensional image sonar |
| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN109562816A (en) * | 2017-08-09 | 2019-04-02 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
| CN109562816B (en) * | 2017-08-09 | 2021-01-29 | 深圳微孚智能信息科技有限公司 | Underwater navigation robot |
| CN108298047A (en) * | 2017-12-27 | 2018-07-20 | 天津深之蓝海洋设备科技有限公司 | The outlet structure of the holder of submersible |
| CN108263582A (en) * | 2017-12-30 | 2018-07-10 | 江苏密斯欧智能科技有限公司 | A kind of underwater robot control device and method |
| CN108466684A (en) * | 2018-03-27 | 2018-08-31 | 江西理工大学 | A kind of novel seabed robot |
| CN109845708A (en) * | 2019-02-28 | 2019-06-07 | 闽南理工学院 | It is a kind of can panoramic shooting fish finding device |
| CN110469746A (en) * | 2019-08-27 | 2019-11-19 | 南通理工学院 | A kind of submarine pipeline apparatus for work |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
| CN114426087A (en) * | 2022-01-05 | 2022-05-03 | 哈尔滨工程大学 | Diving is with clapping underwater robot |
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