CN105235842B - A kind of underwater robot - Google Patents
A kind of underwater robot Download PDFInfo
- Publication number
- CN105235842B CN105235842B CN201510748083.7A CN201510748083A CN105235842B CN 105235842 B CN105235842 B CN 105235842B CN 201510748083 A CN201510748083 A CN 201510748083A CN 105235842 B CN105235842 B CN 105235842B
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- Prior art keywords
- robot body
- robot
- storehouse
- underwater
- fixed frame
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Abstract
The invention proposes a kind of underwater robots, it include: robot body, control storehouse is equipped in the robot body, the right and left of the robot body is horizontally disposed with respectively parallel horizontal propeller, it is connected and fixed between the robot body and the horizontal propeller by fixed frame, vertical pusher is also vertically equipped on the fixed frame, the vertical pusher is symmetrically distributed in the two sides of the robot body, to pass through the horizontal propeller and the vertical pusher, the rise and fall of the underwater robot may be implemented, move ahead the complicated athletic performance such as rotation, improve the flexibility and operability run under water.
Description
Technical field
The present invention relates to robot fields, particularly relate to a kind of underwater robot.
Background technique
Currently, the mechanism scheme that underwater robot mainly uses is by horizontal propeller, vertical rudder, anti-water management storehouse, power
Cabin, observation storehouse and power storehouse composition.By vertical during can only being advanced under water using the underwater robot of the organization plan
Rudder changes the direction of motion, hovers in water than robot relatively difficult to achieve and the fuselage posture of special operation, the spirit of sub-aqua sport
Degree living is general, it is necessary to and it needs to go up by power latent or manually hauls out the water surface, it is inconvenient, and flexibility is not high.
Summary of the invention
The present invention proposes a kind of underwater robot, solves the problems, such as to mention among the above, and flexibility is high, operates more steady
It is fixed.
The technical scheme of the present invention is realized as follows: a kind of underwater robot, comprising: robot body, the machine
Control storehouse is equipped in human agent, the right and left of the robot body is horizontally disposed with respectively parallel horizontal propeller, institute
It states and is connected and fixed between robot body and the horizontal propeller by fixed frame, it is also vertical on the fixed frame to be equipped with vertically
Propeller, the vertical pusher are symmetrically distributed in the two sides of the robot body, thus by the horizontal propeller with
The rise and fall of the underwater robot may be implemented in the vertical pusher, and move ahead the complicated athletic performance such as rotation, improve
The flexibility and operability run under water.
Further, the quantity of the vertical pusher is 4, is symmetrically distributed in the two sides of the robot body two-by-two,
Relatively reliable stable performance is provided.
Further, air bag storehouse is additionally provided on the fixed frame, the air bag storehouse is symmetrically distributed in the robot body two
Side controls the air bag storehouse, the raising and lowering for realizing the underwater robot and the hovering in water so as to pass through,
It operates relatively reliable, can reduce energy consumption, and can float rapidly in the insufficient situation of energy.
Further, buoyancy control mechanism is equipped with inside the air bag storehouse, outside is equipped with inlet opening, is able to carry out the tune of buoyancy
It is whole.
Further, it is equipped with center of gravity surge bunker in the robot body, is equipped with center of gravity in the center of gravity surge bunker and adjusts machine
Structure improves the stability of the robot operation.
Further, it is equipped with transparent observation storehouse in front of the robot body, is used for underwater observation.
Further, the fixed frame is equipped with headlamp, and the headlamp is symmetrically distributed in the robot body two sides,
And, illumination when for observing consistent with the observation storehouse direction.
The underwater robot of the invention may be implemented by the horizontal propeller and the vertical pusher
The rise and fall of the underwater robot, move ahead the complicated athletic performance such as rotation, improves the flexibility run under water and can grasp
The property made can be improved the effect of rising and dive, and the stability of operation in combination with the air bag storehouse.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of planar structure schematic diagram of underwater robot one embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of underwater robot, comprising: robot body 1, and control storehouse, control are equipped in robot body 1
Be equipped in storehouse processed and carry out the circuit main board connecting with other component, for each component electrical property control, meanwhile, also with operation
It is connected between the operating system of personnel by signal, the right and left of robot master is horizontally disposed with respectively parallel horizontal propulsion
Device 2 is connected and fixed between robot body 1 and horizontal propeller 2 by fixed frame 3, and also vertical be equipped with vertically pushes away on fixed frame 3
Into device 5, in the present embodiment, the quantity of vertical pusher 5 is 4, is symmetrically distributed in the two sides of robot body 1 two-by-two, provides
Relatively reliable stable performance, so that the rising of underwater robot may be implemented by horizontal propeller 2 and vertical pusher 5
Decline, move ahead the complicated athletic performance such as rotation, improves the flexibility and operability run under water.
Further, air bag storehouse 4 is additionally provided on fixed frame 3, air bag storehouse 4 is symmetrically distributed in 1 two sides of robot body, so as to
To realize the hovering in the raising and lowering and water of underwater robot by control air bag storehouse 4, operation is relatively reliable, can
Energy consumption is reduced, and can be floated rapidly in the insufficient situation of energy.
Further, buoyancy control mechanism is equipped with inside air bag storehouse 4, outside is equipped with inlet opening 6, is able to carry out the tune of buoyancy
It is whole.
Further, it is equipped with center of gravity surge bunker in robot body 1, is equipped with gravity center adjusting mechanism in center of gravity surge bunker, improves
The stability of robot operation.
Further, it is equipped with transparent observation storehouse 8 in front of robot body 1, is used for underwater observation.
Further, fixed frame 3 is equipped with headlamp 7, and headlamp 7 is symmetrically distributed in 1 two sides of robot body, and with observation
8 direction of storehouse is consistent, illumination when for observing.
Other are referring to the prior art.
In use, the design includes mainly by 4, four, air bag storehouse, 5, two submerged level propellers of underwater vertical propeller
2, the robot submerged buoyancy and attitude control system in center of gravity automatic adjustment storehouse and circuit main board composition.The program designs underwater
Buoyancy and attitude control system can allow underwater robot to realize floating, suspension and three kinds of states of dive in water, can be easily
Realize front, back, left, right, up, down, rotated or tilted move mode, the movement for improving underwater robot well is flexible
Floating capacity in property, stability and load-carrying.In addition, this programme design submerged buoyancy and attitude control system can also allow underwater
People under water operation when maintain certain operation posture, reduce the difficulty and power supply energy consumption of underwater operation, under water machine
It is also possible to rely on air bag buoyancy control mechanism to emerge automatically when people's failure or power depletion, improves underwater reliability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of underwater robot characterized by comprising robot body, the robot body is interior to be equipped with control storehouse, institute
The right and left for stating robot body is horizontally disposed with respectively parallel horizontal propeller, the robot body and the level
It is connected and fixed between propeller by fixed frame, vertical pusher, the vertical pusher is also vertically equipped on the fixed frame
The two sides of the robot body are symmetrically distributed in, the quantity of the vertical pusher is 4, is symmetrically distributed in the machine two-by-two
The two sides of device human agent are additionally provided with air bag storehouse on the fixed frame, and the air bag storehouse is symmetrically distributed in the robot body two
Side, the air bag storehouse inside are equipped with buoyancy control mechanism, and outside is equipped with inlet opening, adjusts in the robot body equipped with center of gravity
Storehouse, the center of gravity surge bunker is interior to be equipped with gravity center adjusting mechanism.
2. underwater robot as described in the appended claim 1, it is characterised in that: be equipped with transparent observation in front of the robot body
Storehouse.
3. underwater robot as stated in claim 2, it is characterised in that: the fixed frame is equipped with headlamp.
4. underwater robot as claimed in claim 3, it is characterised in that: the headlamp is symmetrically distributed in the robot master
Body two sides, and it is consistent with the observation storehouse direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510748083.7A CN105235842B (en) | 2015-11-06 | 2015-11-06 | A kind of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510748083.7A CN105235842B (en) | 2015-11-06 | 2015-11-06 | A kind of underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235842A CN105235842A (en) | 2016-01-13 |
| CN105235842B true CN105235842B (en) | 2019-04-16 |
Family
ID=55033758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510748083.7A Expired - Fee Related CN105235842B (en) | 2015-11-06 | 2015-11-06 | A kind of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105235842B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836080A (en) * | 2016-03-22 | 2016-08-10 | 天津深之蓝海洋设备科技有限公司 | Power system for underwater robot and underwater robot |
| CN105929841A (en) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | ROV attitude control method and system |
| CN106347610A (en) * | 2016-11-16 | 2017-01-25 | 深圳潜行创新科技有限公司 | Submersible |
| CN106882350B (en) * | 2017-02-22 | 2018-08-21 | 中国工程物理研究院总体工程研究所 | The integrated inflatable levitating device that partly falls off for deep ocean work |
| CN107472491B (en) * | 2017-08-07 | 2023-06-02 | 西安工业大学 | Propelling component for underwater robot |
| CN108974293A (en) * | 2018-06-04 | 2018-12-11 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| CN110065603A (en) * | 2018-12-25 | 2019-07-30 | 浙江海洋大学 | A kind of solar energy underwater robot |
| CN111745649A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot leveling method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057680A (en) * | 2013-01-25 | 2013-04-24 | 唐山开诚电控设备集团有限公司 | Anti-explosion submersible for mine |
| CN204021234U (en) * | 2014-07-22 | 2014-12-17 | 青岛罗博飞海洋技术有限公司 | A kind of under-water robot and propelling unit thereof |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5774295A (en) * | 1980-10-24 | 1982-05-10 | Mitsubishi Heavy Ind Ltd | Course controller for underwater steaming body |
| JP2628869B2 (en) * | 1987-11-13 | 1997-07-09 | 住友重機械工業株式会社 | Unmanned submersible with swiveling thrusters |
| JP4690080B2 (en) * | 2005-03-08 | 2011-06-01 | 広和株式会社 | Unmanned submersible |
-
2015
- 2015-11-06 CN CN201510748083.7A patent/CN105235842B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057680A (en) * | 2013-01-25 | 2013-04-24 | 唐山开诚电控设备集团有限公司 | Anti-explosion submersible for mine |
| CN204021234U (en) * | 2014-07-22 | 2014-12-17 | 青岛罗博飞海洋技术有限公司 | A kind of under-water robot and propelling unit thereof |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105235842A (en) | 2016-01-13 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190416 Termination date: 20191106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |