CN106143841A - A kind of multi-function operation type underwater robot - Google Patents
A kind of multi-function operation type underwater robot Download PDFInfo
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- CN106143841A CN106143841A CN201510161034.3A CN201510161034A CN106143841A CN 106143841 A CN106143841 A CN 106143841A CN 201510161034 A CN201510161034 A CN 201510161034A CN 106143841 A CN106143841 A CN 106143841A
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Abstract
A kind of multi-function operation type underwater robot, including pick device, driving means, shooting and illuminator, sink-float device, running gear and housing, described pick device is placed in case top, and housing corner and afterbody are equipped with driving means；The distribution of described sink-float device is placed in housing corner and both sides；Described shooting and illuminator are fixed on pick device and housing；Described running gear is placed in the bottom of housing.The underwater robot of the present invention, has seabed and is accurately positioned；It is convenient to salvage, and the feature that scope is big can dynamically regulate buoyancy simultaneously, and cross-country power is strong.
Description
Technical field
The present invention designs a kind of underwater robot, specific design one multi-function operation type underwater robot.
Background technology
In China, underwater performance depends primarily on people and simple submersible, the life security of people is caused the biggest threat by complicated, dangerous marine environment, and the exploitation dynamics of marine resources is continued to increase by country, this is necessary for needing a kind of new intelligentized machinery equipment to replace people to go to perform job task under sea, and underwater robot produces with regard to this.Underwater artificially water-bed operation type, main patch ground mode of operation of creeping, abbreviation seabed is dragged for.Undersea mining, salvaging aircraft black box, submarine fishing marine organisms such as Stichopus japonicus, Carnis Rapanae thomasianae, Carnis Haliotidis, shell broadly fall into the object sunk to the bottom of the sea, because the existence of reef, zostera marina etc., can only use the mode feeling salvaging.But existing robot can not well fix, drifted about by ocean current or self counteractive impact of action.
Summary of the invention
The deficiency existed for prior art, the technical problem to be solved is to provide a kind of underwater robot, has seabed and be accurately positioned；It is convenient to salvage, and the feature that scope is big can dynamically regulate buoyancy simultaneously, and cross-country power is strong.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of multi-function operation type underwater robot, including pick device, driving means, shooting and illuminator, sink-float device, running gear and housing, described pick device is placed in case top, and housing corner and afterbody are equipped with driving means；The distribution of described sink-float device is placed in housing corner and both sides；Described shooting and illuminator are fixed on pick device and housing；Described running gear is placed in the bottom of housing.
Further, described pick device include with gather basket with the use of mechanical hand and arrange and the suction strainer case of housing upper, described mechanical hand includes mechanical gripper and the mechanical arm being connected with mechanical gripper, described mechanical arm is hydraulic structure, hydraulic cylinder is pneumatic type or hydrodynamic, and described mechanical gripper can be bucket or hand vice；Described suction strainer case includes filter box body, pulsating pump and suction pipe, case lid, and the space that its pulsating pump is placed in the protruding bottom of filter box body lower part, suction pipe is formed by suction strainer case, case lid is connected in pulsating pump.
Further, described driving means includes 4 the vertical thrust propellers being respectively placed in housing corner and is placed in 2 horizontal propelling screws on rear side of housing.
Further, described sink-float device includes a ballast water pot with compressing gasbag and is arranged at the buoyant mass between vertical thrust propeller；Described compressing gasbag is connected with high-pressure hydraulic pump by electromagnetic valve；Described buoyant mass is respectively placed in the left and right sides of upper body.
Further, described running gear includes a caterpillar crawler body, and described crawler body includes the crawler belt leading truck of a hollow out, is equipped with sliding guide on crawler belt leading truck.
Further, shooting and illuminator include being arranged on mechanical hand matching used photographic head, illuminating lamp and are arranged at matching used multiple photographic head, illuminating lamp on front side of housing.
Further, also include that the master control storehouse being arranged in housing, water intaking valve module, battery compartment, pair control storehouse, outlet valve module, high pressure diving pump.
The underwater robot of the present invention, has seabed and is accurately positioned；It is convenient to salvage, and the feature that scope is big can dynamically regulate buoyancy simultaneously, and cross-country power is strong.
Accompanying drawing explanation
The structural representation of Fig. 1 embodiment of the present invention multi-function operation type underwater robot；
The structural representation of housing upper removed by Fig. 2 embodiment of the present invention multi-function operation type underwater robot；
The structural representation of Fig. 3 embodiment of the present invention multi-function operation type underwater robot driving means crawler body；
The structural representation of Fig. 4 embodiment of the present invention multi-function operation type underwater robot suction strainer case；
The structural representation of Fig. 5 embodiment of the present invention multi-function operation type underwater robot ballast water pot；
Fig. 6 embodiment of the present invention multi-function operation type underwater robot flight climb mode figure；
Fig. 7 embodiment of the present invention multi-function operation type underwater robot flight dish rises state diagram；
State diagram looked up by Fig. 8 embodiment of the present invention multi-function operation type underwater robot；
Fig. 9 embodiment of the present invention multi-function operation type underwater robot is possessed a person and is felt state diagram；
Figure 10 embodiment of the present invention multi-function operation type underwater robot climbing state figure.
Detailed description of the invention
As shown in the figure, a kind of multi-function operation type underwater robot, including pick device 1, driving means 2, shooting and illuminator 3, sink-float device 4, running gear 5 and housing 6, described pick device 1 is placed in housing 6 top, and housing 6 four jiaos and afterbody are equipped with driving means 2；The distribution of described sink-float device 4 is placed in housing 6 four jiaos and both sides；Described shooting and illuminator 3 are fixed on pick device 1 and housing 6；Described running gear 5 is placed in the bottom of housing 1.
Further, described pick device 1 include with gather basket 11 with the use of mechanical hand 12 and arrange and the suction strainer case 13 on housing 6 top, described mechanical hand 12 includes mechanical gripper 121 and the mechanical arm 122 being connected with mechanical gripper 121, described mechanical arm 122 is hydraulic structure, hydraulic cylinder is pneumatic type or hydrodynamic, and described mechanical gripper 121 can be bucket or hand vice；Described suction strainer case 13 includes filter box body 131, pulsating pump 132 and suction pipe 133, suction pipe connecting plate 134, case lid 135, and its pulsating pump 132 is placed in the bottom of filter box body 131 lower lobes, suction pipe 133 is connected in pulsating pump 132 by suction pipe connecting plate 134.
Further, described driving means 2 includes 4 the vertical thrust propellers 21,22,23,24 being respectively placed in housing 6 four jiaos and is placed in the horizontal propelling screws of 2 on rear side of housing 25,26；Described propeller all can be with independent role, and the most positive and negative both direction of propeller rotates and can individually arbitrarily speed governing.
Further, described sink-float device 4 includes a ballast water pot 41 with compressing gasbag 411 and is arranged at the buoyant mass 42 between vertical thrust propeller 21,22,23,24；Described compressing gasbag 411 is connected with water intaking valve module 14, outlet valve module 15 by electromagnetic valve；Described buoyant mass 42 is respectively placed in the left and right sides of upper body 6.This sink-float device 4 can individually control each air content and keep any attitude to control underwater robot, and dynamically adjusts upper and lower buoyancy size according to cargo dead-weight.
Further, described running gear 5 includes a caterpillar crawler body 51, and described crawler body 51 includes the crawler belt leading truck 52 of a hollow out, is equipped with sliding guide 53 on crawler belt leading truck 52.This crawler body 51 increases the road clearance by chain drive structure.Running gear 5 also includes driver 54, driving box shell 55, drives the compositions such as minor sprocket 56, driving chain 57, passive Dalian wheel 58, track wheel shaft 59, Athey wheel 50.
Further, shooting and illuminator 3 include being arranged on mechanical hand 12 matching used photographic head 31, illuminating lamp 32 and are arranged at matching used photographic head 31, illuminating lamp 32 on front side of housing 6.
Further, also including that the master control storehouse 7 being arranged in housing 6, water intaking valve module 8, battery compartment 9, pair control storehouse 10, outlet valve module 11, high pressure diving pump 12, described master control storehouse 7 is equipped with attitude gyroscope.
Underwater robot sets 21,22,23,24 and two greater level propellers 25,26 of four vertical pusher, is capable of six-freedom degree motion under water during state of flight, and three translational motions are i.e. retreated, lifted and sidesway；Three gyrations i.e. turn to, pitching and rolling.Design makes it push up to crawler belt direction by four vertical propeller 21,22,23,24 reverse propulsion, enables crawler belt secure fit on sea bed, any slope or shell.Simultaneously when bigger reef or bigger barrier above occur, can by controlling vertical pusher 21,22,23,24 combination and realizing climbing, vertical lift, rolling carry out obstacle detouring.When horizontal movement, realize mainly by horizontally disposed two big greater level propellers 25,26.
Four vertical pusher 21,22,23,24 are allowed upwards to spray water, form a counteracting force pressing to crawler body 51, crawler belt can be made to be adjacent to seabed or slope reliably, even turn and be adjacent to hull bottom, so drive crawler belt, crawler belt can be allowed the most reliably to drive underwater robot left-right and front-back and turning motion.
Ballast water pot 11 can be according to description of the goods, and the buoyancy of dynamic regulation own (sets compressing gasbag 411) in ballast water pot 41, according to underwater penetration, can come the pressure under suitable water, ballast water with the gas of charge and discharge difference air pressure.In seabed along with the increase of fisher, buoyancy in water can be more and more less, will be painstaking when running into the bigger gradient or barrier, this is to open electromagnetic valve, compressing gasbag 411 will get rid of appropriate ballast water, the weight of compensatory goods, continues to make underwater robot keep neutral buoyancy, so underwater robot can continue to move flexibly, till fully loaded.
Using compressing gasbag 411 to also have two benefits: one is that the compressed gas in compressing gasbag 411 is isolated with ballast water, will not cause aerofluxus not draining phenomenon, whatsoever attitude because of the upset of underwater robot attitude, eliminating is all ballast water.Compare with common water tank, there is no air bag inside it, then during rollover states, open water valve and will discharge lighter compressed gas, and ballast water is stayed in water tank, so cause underwater robot not only can not float, accelerate on the contrary to sink.Two is according to operating depth, can be with the compressed gas of charge and discharge difference air pressure, and in remaining compressing gasbag 411, ballast water exceeds extraneous suitably work water pressure.Air pressure is the lowest, and the motionless extraneous hydraulic pressure in compressing gasbag 411 gas top, ballast water row do not go out, and floating will lose efficacy.The highest cost that can increase of compressing gasbag 411 air pressure, even damages air bag water valve etc..Ballast water tank shell 41, compressing gasbag 411, airbag cover 412, water intaking valve 413, drain valve 414.By controlling compressing gasbag 411, water intaking valve 413, drain valve 414 can control the weight of underwater robot well, and then control cargo dead-weight well.
Simultaneously can as required, the most individually regulation ballast water pot 41 ballast water number, the underwater robot different attitudes in water can be kept.One attitude gyroscope 71 is set in master control storehouse 7, experiences attitudes vibration angle, any setup parameter.As allowed left-front corner tilt, ballast water pot 41 ballast water that can make left-front corner is less, and its excess-three is constant；For another example tail is lifted, nose drop state, whole fuselage in water in vertical state, so can be by more for the first two ballast water pot 11 water-filling, two, rear end ballast water pot 41 water-filling is less, when underwater robot is in water exercise, being regulated under the comprehensive function of buoyancy, propeller thrust and current by ballast water pot 41, underwater robot can make various motion under water.
Using hydraulically driven advantage is to draw materials everywhere, there is not leakage pollution, and pressure medium is water, and structure is open circulation, internal and external pressure balance when not working, and during work, interior external pressure is little, and working region can random shallow sea, deep-sea；And hydraulic transmission must use closed cycle, pressure medium is hydraulic oil, and once leakage can cause water pollution, internal and external pressure balance when not working, and during work, interior external pressure is big, and deep-sea is the most obvious, and deep-sea is to be easy to damage.Abyssopelagic organism is all the expert of hydraulic balance in fact, and they healths are all soft structures, and interior external pressure pressure of cancelling out each other can be zero, and they are with regard to imperceptible pressure.
Mechanical gripper 121 is grabbed and is not limited to diagramatic mode, can be replaced with the several work instrument such as bucket, hand vice.
Mechanical hand 12 is arranged in equipment top, and that can design is longer, does not the most receive space and limit during such rotation process, and the zone of action salvaging collection is larger, and production efficiency is the most much higher.When seabed is in state of flight, rear end can be rotated to and carry advance, reduce upstream face；When at submarine fishing, then rotate and expansion operates.
Suction pipe 133 front end is fixed on mechanical gripper 121, follows mechanical hand 12 and moves and rotate, and the least or soft object can start suction strainer function and gather.Block heavier object can be placed on after being captured by mechanical gripper 121 inside collection basket 11.Gather basket 11 upper cover and carry out opening and closing by Driven by Hydraulic Cylinder.
Underwater robot with pre-structure, use simulation photographic head technology especially, communication mode is by transmission of video quantitative limitation, pixel is low, therefore photographic head designs photographic head as far as possible less, increases the spinfunction of photographic head, to reach the effect of panorama as far as possible, the most only design the most simple eye, obtain panoramic effect by installing rotary apparatus additional.And the lifting of present digital transmission mode, the development of big pixel high-definition digital network technology, use multiple camera lens to carry out picture and be switching to simple thing.General rotation of lens has two kinds: a kind of is camera lens and rotary part to be enclosed in a transparent cover, and it is bigger that this transparent cover does, and compression resistance is the biggest；Another kind is individually to be enclosed in by camera lens in a little hyaline test, and waterproof electric rotating machine drives rotation of lens, and such waterproof sealing partial pressure is transferred on the motor of outside.No matter which kind of structure, the cost that mechanical movement part increases is far longer than the cost that electronic equipment increases, and soft copy volume can compare that mechanical parts does little, reduce the resistance in water and pressure, service life is the most reliable.
Claims (7)
1. a multi-function operation type underwater robot, it is characterised in that: including pick device, driving means, shooting and illuminator, sink-float device, running gear and housing, described pick device is placed in case top, and housing corner and afterbody are equipped with driving means；The distribution of described sink-float device is placed in housing corner and both sides；Described shooting and illuminator are fixed on pick device and housing；Described running gear is placed in the bottom of housing.
Multi-function operation type underwater robot the most according to claim 1, it is characterized in that: described pick device include with gather basket with the use of mechanical hand and arrange and the suction strainer case of housing upper, described mechanical hand includes mechanical gripper and the mechanical arm being connected with mechanical gripper, described mechanical arm is hydraulic structure, hydraulic cylinder is pneumatic type or hydrodynamic, and described mechanical gripper can be bucket or hand vice；Described suction strainer case includes filter box body, pulsating pump and suction pipe, suction pipe connecting plate and case lid, and its pulsating pump is placed in the protruding bottom of filter box body lower part, suction pipe is connected in pulsating pump by suction pipe connecting plate.
Multi-function operation type underwater robot the most according to claim 1, it is characterised in that: described driving means includes 4 the vertical thrust propellers being respectively placed in housing corner and is placed in 2 horizontal propelling screws on rear side of housing.
Multi-function operation type underwater robot the most according to claim 1, it is characterised in that: described sink-float device includes a ballast water pot with compressing gasbag and is arranged at the buoyant mass between vertical thrust propeller；Described compressing gasbag is connected with high-pressure hydraulic pump by electromagnetic valve；Described buoyant mass is respectively placed in the left and right sides of upper body.
Multi-function operation type underwater robot the most according to claim 1, it is characterised in that: described running gear includes a caterpillar crawler body, and described crawler body includes the crawler belt leading truck of a hollow out, is equipped with sliding guide on crawler belt leading truck.
Multi-function operation type underwater robot the most according to claim 1, it is characterised in that: shooting and illuminator include being arranged on mechanical hand matching used photographic head, illuminating lamp and are arranged at matching used multiple photographic head, illuminating lamp on front side of housing.
Multi-function operation type underwater robot the most according to claim 1, it is characterised in that: also include that the master control storehouse being arranged in housing, water intaking valve module, battery compartment, pair control storehouse, outlet valve module, high pressure diving pump.
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| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
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Application publication date: 20161123 |