CN106477010A - Underwater robot - Google Patents
Underwater robot Download PDFInfo
- Publication number
- CN106477010A CN106477010A CN201611129238.XA CN201611129238A CN106477010A CN 106477010 A CN106477010 A CN 106477010A CN 201611129238 A CN201611129238 A CN 201611129238A CN 106477010 A CN106477010 A CN 106477010A
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- China
- Prior art keywords
- underwater robot
- support
- mechanical hand
- control chamber
- robot
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- 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.)
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater robot, the top of described underwater robot is provided with handle, at the top of described underwater robot, pressure floating block is set, described pressure floating block is supported by support, Forward-looking Sonar is set in the dead ahead of pressure floating block, the lower section of Forward-looking Sonar is provided with video camera, described underwater robot is provided with six propellers, first illuminating lamp and the second illuminating lamp are arranged on described underwater robot, described underwater robot is provided with position finder；Described underwater robot passes through cable connection control chamber, setting high capacity computers inside described underwater robot；It is provided with touch screen, setting switch, panel and control rocking bar, are provided with computer in described control chamber on described control chamber on described control chamber.The present invention is a kind of technical grade undersea detection and operation water robot, and structure is simple, and reasonable in design, product function is powerful, compact conformation, stable, possesses good submerged manoeuvering performance.
Description
Technical field
The present invention relates to a kind of underwater robot.
Background technology
At present because underwater robot is with a wide range of applications, the research of underwater robot is paid much attention in countries in the world
And achieve significant progress.With the development of science and technology and life, underwater performance gets more and more, but is by danger during underwater performance
Danger and immeasurability are too big, and for different in the case of need different underwater robots to operate, to producing, life, section
Grind and engage in archaeological studies and cause very big puzzlement, cost is also very big.Therefore need a kind of unrestricted choice several functions badly, save into
Originally, multi-functional underwater robot easy to use.
Content of the invention
Based on above the deficiencies in the prior art, technical problem solved by the invention is to provide a kind of water easy to use
Lower robot, this underwater robot can unrestricted choice several functions as needed, cost-effective, easy to use.
In order to solve above-mentioned technical problem, the present invention provides a kind of underwater robot, including：
Constitute the support of robot body, before and after support, both sides isometry position is respectively provided with the propulsion of two horizontal directions
Device；The each propeller that a vertical direction is set in the top of support and bottom；
It is provided with video camera on front side of support, above it, be provided with Forward-looking Sonar；
Frame upper is provided with the pressure floating block for configuring buoyancy.
As the preferred implementation of technique scheme, underwater robot provided in an embodiment of the present invention further includes
Following technical characteristic part or all of：
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot also includes：If
It is placed in the illuminating lamp towards video camera photography direction on support.
As the improvement of technique scheme, in one embodiment of the invention, described illuminating lamp is symmetrically to set
Two putting.
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot also includes：If
It is placed in the handle of cradle top.
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot also includes：If
It is placed in the position finder in support.
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot passes through cable
Connect control chamber；
It is provided with touch screen, setting switch, panel and control rocking bar, described on described control chamber on described control chamber
It is provided with computer in control chamber.
As the improvement of technique scheme, in one embodiment of the invention, described position finder be GPS location instrument or
Person's Big Dipper position finder.
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot is provided with
Scanning sonar.
As the improvement of technique scheme, in one embodiment of the invention, described underwater robot is provided with
No less than an interface；
Setting mechanical hand, metal calibrator, radiation detector, precipitate sampler, three-dimensional sonar, height on described interface
At least one in degree meter, audigage, depth detector and sub-bottom profiler.
As the improvement of technique scheme, in one embodiment of the invention, described mechanical hand is single armed list
The double pawl swinging mechanical hand of the double pawl swing type mechanical hand of pawl swinging mechanical hand, single armed, single armed, double-manipulator, both arms are toward reestablishing diplomatic relations
One of fork type mechanical hand, both arms face clamping formula mechanical hand.
Compared with prior art, technical scheme has the advantages that：The present invention is a kind of technical grade water
Lower detect and operation water robot, structure is simple, and reasonable in design, product function is powerful, compact conformation, stable, possesses
Good submerged manoeuvering performance.Can be widely applied to reservoir, dam, the survey of bridge water bottom go-on-go, engage in archaeological studies under water, search under water
Rescue, marine organisms are observed, Offshore Oil gas field exploration and the field such as pipeline investigation, water quality monitoring.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below in conjunction with preferred embodiment, describe in detail as follows.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, the accompanying drawing of embodiment simply will be situated between below
Continue.
Fig. 1 is the underwater robot structure schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the control chamber structural representation of the underwater robot of the preferred embodiment of the present invention.
Specific embodiment
The following detailed description of the specific embodiment of the present invention, its as the part of this specification, by embodiment Lai
The principle of the present invention is described, other aspects of the present invention, feature and its advantage will become apparent from by this detailed description.
A kind of underwater robot, including：
Constitute the support 5 of robot body, before and after support 5, both sides isometry position is respectively provided with pushing away of two horizontal directions
Enter device；The each propeller that a vertical direction is set in the top of support 5 and bottom；
It is provided with video camera 10 on front side of support 5, above it, be provided with Forward-looking Sonar 15；
Support 5 top is provided with the pressure floating block 3 for configuring buoyancy.
Described underwater robot also includes：It is arranged at the illuminating lamp towards video camera 10 photography direction on support 5.
Described illuminating lamp is symmetrically arranged two.
Described underwater robot also includes：It is arranged at the handle 1 at support 5 top.
Described underwater robot also includes：It is arranged at the position finder 14 in support 5.
Described underwater robot connects control chamber 16 by cable 6；
It is provided with touch screen 17, setting switch 18, panel 19 and control on described control chamber 16 on described control chamber 16
Rocking bar 20 processed, is provided with computer in described control chamber 16.
Described position finder 14 is GPS location instrument or Big Dipper position finder.
It is provided with scanning sonar on described underwater robot.
It is provided with described underwater robot no less than an interface；
Setting mechanical hand, metal calibrator, radiation detector, precipitate sampler, three-dimensional sonar, height on described interface
At least one in degree meter, audigage, depth detector and sub-bottom profiler.
Described mechanical hand is single armed monodactyle swinging mechanical hand, the double pawl swing type mechanical hand of single armed, the double pawl swinging of single armed
One of mechanical hand, double-manipulator, both arms reciprocating cross formula mechanical hand, both arms face clamping formula mechanical hand
As shown in Figure 1-2, be preferred embodiment of the present invention underwater robot structural representation, underwater of the present invention
People, the top of described underwater robot is provided with handle 1, and this handle 1 can assist laying and returning of underwater robot of the present invention
Receive.Pressure floating block 3 is set at the top of described underwater robot, the first propeller 2 is set at the top of pressure floating block 3, described
Pressure floating block 3 is supported by support 5, arranges Forward-looking Sonar 15 in the dead ahead of pressure floating block 3, sets in the lower section of Forward-looking Sonar 15
It is equipped with video camera 10, the bottom of described underwater robot is provided with the second propeller 9, in front of the left side of described underwater robot
It is provided with triple screw 12, the left side rear of described underwater robot is provided with the 4th propeller 13, in described machine under water
It is provided with the 5th propeller 7 in front of the right side of device people, the right side rear of described underwater robot is provided with the 6th propeller 4,
The left side of described underwater robot is provided with the first illuminating lamp 11, the right side of described underwater robot is provided with the second illumination
Lamp 8, is provided with position finder 14 on described underwater robot；Described underwater robot connects control chamber 16 by cable 6, described
Setting high capacity computers inside underwater robot；It is provided with touch screen 17, on described control chamber 16 on described control chamber 16
Setting switch 18, panel 19 and control rocking bar 20, are provided with computer in described control chamber 16.It is provided with control chamber 16
Computer, built-in monitoring software under water, can complete the control of underwater robot, automatic fixing depth, automatic course, target following,
The function of path trace, position holding and robot interior condition monitoring.Described panel 19 and control rocking bar 20 are using spirit
It is convenient to live, it is possible to provide powerful underwater exercise controls and video record function.
Six propellers of the underwater robot setting of the present invention, wherein four propeller vector cloth in the horizontal direction
Put, two propellers are vertically arranged, it is possible to achieve the advance of the underwater robot of the present invention, retrogressing, steering, traversing, float,
Dive is so that the underwater robot of the present invention has powerful and flexible motor capacity.
Described support 5 is made using high-strength corrosion-resisting plastics.Using high-strength durable plastic skeleton as body supports
Structure and part stent, have decay resistance in the seawater.Frame structure, each part is separate, is conveniently replaceable and safeguards.
Described first illuminating lamp 11 and the second illuminating lamp 8 are LED or Halogen light.
Described first illuminating lamp 11 and the brightness scalable of the second illuminating lamp 8.
Described position finder 14 is GPS location instrument or Big Dipper position finder.
It is provided with scanning sonar on described underwater robot.
It is provided with described underwater robot no less than an interface.
Setting mechanical hand, metal calibrator, radiation detector, precipitate sampler, three-dimensional sonar, height on described interface
At least one in degree meter, audigage, depth detector and sub-bottom profiler.
Described mechanical hand is single armed monodactyle swinging mechanical hand, the double pawl swing type mechanical hand of single armed, the double pawl swinging of single armed
One of mechanical hand, double-manipulator, both arms reciprocating cross formula mechanical hand, both arms face clamping formula mechanical hand.
System is had when more need, computer can be upgraded, and can select to install different
Mechanical hand, sampler, can also install other equipment needed therebies such as multi-angle camera.
The present invention is a kind of technical grade undersea detection and operation water robot, and structure is simple, reasonable in design, product function
Powerful, compact conformation, stable, possess good submerged manoeuvering performance.Can be widely applied to reservoir, dam, bridge water
Bottom go-on-go is surveyed, under water archaeology, search and rescue under water, marine organisms observation, Offshore Oil gas field exploration and pipeline investigation, water quality monitoring etc.
Field.
The above is the preferred embodiment of the present invention, certainly can not limit the right model of the present invention with this
Enclose it is noted that for those skilled in the art, under the premise without departing from the principles of the invention, also may be used
To make some improvement and to change, these improve and variation is also considered as protection scope of the present invention.
Claims (10)
1. a kind of underwater robot is it is characterised in that include：
Constitute the support (5) of robot body, before and after support (5), both sides isometry position is respectively provided with pushing away of two horizontal directions
Enter device；The each propeller that a vertical direction is set in the top of support (5) and bottom；
It is provided with video camera (10) on front side of support (5), above it, be provided with Forward-looking Sonar (15)；
Support (5) top is provided with the pressure floating block (3) for configuring buoyancy.
2. underwater robot as claimed in claim 1 is it is characterised in that also include：It is arranged at the direction shooting on support (5)
The illuminating lamp of machine (10) photography direction.
3. underwater robot as claimed in claim 2 it is characterised in that：Described illuminating lamp is symmetrically arranged two.
4. underwater robot as claimed in claim 1 is it is characterised in that also include：It is arranged at the handle at support (5) top
(1).
5. underwater robot as claimed in claim 1 is it is characterised in that also include：It is arranged at the position finder in support (5)
(14).
6. underwater robot as claimed in claim 1 connects control it is characterised in that described underwater robot passes through cable (6)
Case (16) processed；
It is provided with touch screen (17), in upper setting switch (18) of described control chamber (16), panel on described control chamber (16)
(19) and control rocking bar (20), be provided with computer in described control chamber (16).
7. underwater robot as claimed in claim 5 it is characterised in that：Described position finder (14) is GPS location instrument or north
Bucket position finder.
8. underwater robot as claimed in claim 1 it is characterised in that：It is provided with scanning sonar on described underwater robot.
9. underwater robot as claimed in claim 1 it is characterised in that：It is provided with described underwater robot no less than one
Interface；
Setting mechanical hand, metal calibrator, radiation detector, precipitate sampler, three-dimensional sonar, highly on described interface
At least one in meter, audigage, depth detector and sub-bottom profiler.
10. underwater robot as claimed in claim 9 it is characterised in that：Described mechanical hand is single armed monodactyle rotary machinery
The double pawl swinging mechanical hand of the double pawl swing type mechanical hand of handss, single armed, single armed, double-manipulator, both arms reciprocating cross formula mechanical hand, double
One of arm face clamping formula mechanical hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129238.XA CN106477010A (en) | 2016-12-09 | 2016-12-09 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129238.XA CN106477010A (en) | 2016-12-09 | 2016-12-09 | Underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106477010A true CN106477010A (en) | 2017-03-08 |
Family
ID=58274823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611129238.XA Pending CN106477010A (en) | 2016-12-09 | 2016-12-09 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106477010A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956760A (en) * | 2017-03-29 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN107571978A (en) * | 2017-10-02 | 2018-01-12 | 孙鹏程 | A kind of underwater escape robot |
| CN108037763A (en) * | 2017-12-15 | 2018-05-15 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot control device |
| CN108769631A (en) * | 2018-08-15 | 2018-11-06 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot, which is used, is convenient for fixed video camera waterproof cover |
| CN110081936A (en) * | 2019-05-24 | 2019-08-02 | 博纳德（天津）港口工程有限公司 | A kind of device detected automatically for the underwater multi-parameter of diaphram wall |
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| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956760A (en) * | 2017-03-29 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN106956760B (en) * | 2017-03-29 | 2019-06-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device of cable control of AUV is recycled under High-efficient Water |
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| CN107571978B (en) * | 2017-10-02 | 2019-07-02 | 上海宇鹤自动化科技有限公司 | A kind of underwater escape robot |
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| CN108769631A (en) * | 2018-08-15 | 2018-11-06 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot, which is used, is convenient for fixed video camera waterproof cover |
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| CN110081936A (en) * | 2019-05-24 | 2019-08-02 | 博纳德（天津）港口工程有限公司 | A kind of device detected automatically for the underwater multi-parameter of diaphram wall |
| CN110081936B (en) * | 2019-05-24 | 2024-06-11 | 博纳德（天津）港口工程有限公司 | Device for automatically detecting underwater multiple parameters of underground continuous wall |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170308 |
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| RJ01 | Rejection of invention patent application after publication |