CN107380383B - Observation type unmanned remote control submersible - Google Patents
Observation type unmanned remote control submersible Download PDFInfo
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- CN107380383B CN107380383B CN201710685976.0A CN201710685976A CN107380383B CN 107380383 B CN107380383 B CN 107380383B CN 201710685976 A CN201710685976 A CN 201710685976A CN 107380383 B CN107380383 B CN 107380383B
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- module
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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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- 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
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- 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 invention relates to an observation type unmanned remote control submersible, which is characterized in that: the device comprises a frame module, a pressure-resistant electronic cabin module, a motion module, a lighting module and a counterweight module; the pressure-resistant electronic cabin module, the motion module, the lighting module and the counterweight module are all arranged on the frame module, and the outer contour of the frame module is provided with the shell module; the adopted frame module design has a compact and reasonable structure, the pressure-resistant electronic cabin module, the motion module, the lighting module and the counterweight module can be reasonably distributed and installed at the same time, arc-shaped structures are arranged on one side of the front support and one side of the rear support of the basic frame and matched with the connecting buckles to form a pressure-resistant cabin fixing frame, the fixing materials and the installation space of the pressure-resistant cabin are saved, and the space structure is more reasonable; the battery module is separated from the control module by adopting a bulkhead mode, and the power module is provided with a heat dissipation plate, so that the battery can dissipate heat quickly; the pressure-resistant electronic cabin module is reasonable in spatial layout, good in pressure resistance and low in processing cost.
Description
Technical Field
The invention relates to the field of unmanned underwater vehicles, in particular to an observation type unmanned remote control submersible vehicle.
Background
ROV (Remote Operated Vehicle) is an underwater robot used for underwater observation, inspection and construction. The micro ROV is provided with energy sources, is flexible to operate, carries the micro camera and the sensor, can expand the observation range of the manned submersible, and can work in narrow dangerous areas where the manned submersible is inconvenient to enter or cannot enter.
The ROV is mainly driven by means of ROV propellers arranged on two sides and the tail of the ROV, a brushless direct current motor and a control circuit board are arranged inside the ROV propellers, and the control circuit board is used for receiving wireless control instructions of an external intelligent wireless remote controller to control the rotating speed and the rotating direction of the brushless direct current motor.
ROV propellers of the prior art have the following drawbacks:
1. the control circuit board is placed in a cavity defined by the ROV tail cover and the front cover, and can rock in the cavity due to unfixed position in the process of ROV posture change, so that the stability of the control circuit arranged on the control circuit board is influenced;
2. in order to dissipate heat of the control circuit board, a layer of heat dissipation silica gel is brushed on the bottom of the control circuit board in the prior art, but when the ROV works on the seabed for a long time, the heat dissipation performance of the heat dissipation silica gel cannot meet the heat dissipation requirement of the control circuit board;
3. because the casing of the ROV propeller is made of metal, when the control circuit board is short-circuited, electricity is easily transmitted to other parts, such as a direct current motor, through the metal casing, so that the ROV propeller is easily damaged destructively.
Disclosure of Invention
The invention aims to provide an observation type unmanned remote control submersible, which can solve the problems of poor structural stability, unreasonable structural layout and poor heat dissipation performance of a common unmanned remote control submersible.
In order to solve the technical problems, the technical scheme of the invention is as follows: an observation type unmanned remote control submersible is characterized in that: comprises that
The frame module comprises a base frame and a connecting buckle; the base frames are provided with a pair of base frames, the two base frames are symmetrically arranged, the base frames are connected through connecting buckles, and the connecting buckles form a pressure-resistant electronic cabin fixing frame between the pair of base frames; the outer contour of the frame module is provided with a shell module;
the pressure-resistant electronic cabin module is arranged on the pressure-resistant electronic cabin fixing frame; the pressure-resistant electronic cabin module comprises a pressure-resistant cabin shell, and a power supply module, a control module and a camera module are arranged in the pressure-resistant cabin shell;
the motion module comprises a horizontal propeller thruster and a vertical propeller thruster; the horizontal propeller thruster and the vertical propeller thruster are both arranged on a basic frame of the frame module;
a lighting module mounted on the base frame of the frame module;
the counterweight module is mounted on a base frame of the frame module, and is provided with a mounting opening for accommodating the vertical propeller;
the basic frame comprises a front support, a rear support, side supports and connecting rods; the front support and the rear support are parallel to each other, the same side edges of the front support and the rear support are both arc-shaped structures, and connecting buckles are arranged on the side edges in the direction parallel to the front support or the rear support; the connecting rod is perpendicular to the front support and the rear support and connects the front support with one side of the rear support in an arc structure; the side brackets are perpendicular to the front bracket and the rear bracket and connect the front bracket and the rear bracket with opposite side edges of the side edges in the arc structure; a lighting module mounting rack is arranged on the front support in a direction perpendicular to the front support; a horizontal propeller mounting rack extends from the outer side of the rear support in the extending direction of the side support; the side bracket is provided with a vertical propeller mounting hole;
the pressure-resistant cabin shell is of a cylindrical tubular structure, and a front cabin cover and a rear cabin cover are respectively arranged at two ends of the pressure-resistant cabin shell; the pressure-resistant cabin shell is also provided with a partition plate to divide the pressure-resistant cabin shell into a front cabin area and a rear cabin area; the front hatch cover and the rear hatch cover are both provided with a plurality of mounting holes for mounting watertight connectors; the power supply module is arranged in a rear cabin area of the pressure cabin shell; the control module is arranged in a front cabin area of the pressure cabin shell; the camera module is arranged on a front cabin cover of the pressure-resistant cabin shell.
Furthermore, the counterweight module is arranged in a space formed by the front bracket, the rear bracket, the side brackets and the connecting rod in an end-to-end connection mode.
Further, the power module comprises a battery frame, a battery, a heat dissipation plate and a power motor control plate; the battery rack is of a cylindrical frame structure and comprises a pair of parallel supporting plates and a pair of parallel connecting plates, and the supporting plates are connected through the connecting plates vertical to the supporting plates; the heat dissipation plates are arranged along the axial direction of the support plate, and are arranged on the outer contour of the support plate in a delta shape; a cylindrical structure is formed between the outer contour of the heat dissipation plate and the outer contour of the support plate; the power supply motor control board is arranged on the support plate of the battery rack and is parallel to the support plate; the batteries are three and are respectively mounted on the inner wall of the heat dissipation plate.
The invention has the advantages that:
1) The frame module design adopted in the invention has a compact and reasonable structure, the pressure-resistant electronic cabin module, the motion module, the lighting module and the counterweight module can be reasonably distributed and installed at the same time, arc-shaped structures are arranged on one side of the front support and one side of the rear support of the basic frame and matched with the connecting buckle to form a pressure-resistant cabin fixing frame, the fixing material and the installation space of the pressure-resistant cabin are saved, and the space structure is more reasonable.
2) The pressure-resistant cabin shell adopts a cylindrical structure, has good pressure resistance and low processing cost, and can be used from shallow water to deep water; the battery module is separated from the control module by adopting a bulkhead mode, so that the influence of heat generated by the battery on the control module is avoided, and meanwhile, the heat dissipation plate is arranged on the power supply module, so that the quick heat dissipation of the battery is facilitated; the pressure-resistant electronic cabin module disclosed by the invention is reasonable in spatial layout, good in pressure resistance and low in processing cost.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a three-dimensional structure diagram of an observation type unmanned remotely-controlled submersible vehicle according to the present invention.
Fig. 2 is an internal structure view of an observation type unmanned remotely operated vehicle of the present invention.
Fig. 3 is a block diagram of a frame module of an observation type unmanned remotely operated vehicle according to the present invention.
Fig. 4 is a sectional view of a pressure-resistant electronic compartment module of an observation type unmanned remotely operated vehicle of the present invention.
Fig. 5 is a structural view of a battery module of an observation type unmanned remotely operated vehicle according to the present invention.
Detailed description of the preferred embodiments
The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.
An observation type unmanned remotely operated vehicle as shown in FIGS. 1 to 5 comprises
A frame module 1, which comprises a base frame 11 and a connecting buckle 12; the base frames 11 are provided with a pair of base frames 11, the two base frames 11 are symmetrically arranged, the base frames 11 are connected through connecting buckles 12, and the connecting buckles 12 form a pressure-resistant electronic cabin fixing frame between the pair of base frames 11; and a shell module is arranged on the outer contour of the frame module 1.
The pressure-resistant electronic cabin module 2 is mounted on the pressure-resistant electronic cabin fixing frame; the pressure-resistant electronic cabin module 2 comprises a pressure-resistant cabin shell 21, and a power module 22, a control module 23 and a camera module 24 are arranged in the pressure-resistant cabin shell 21.
A motion module 3 comprising a horizontal propeller 31 and a vertical propeller 32; both the horizontal propeller thrusters 31 and the vertical propeller thrusters 32 are arranged on the base frame 11 of the frame module 1.
A lighting module 4, said lighting module 4 being mounted on the base frame 11 of the frame module 1.
And the counterweight module 5 is arranged on the base frame 51 of the frame module 5, and the counterweight module 5 is provided with a mounting port for accommodating the vertical propeller thruster 31.
The base frame 11 includes a front bracket 111, a rear bracket 112, side brackets 113, and a connecting bar 114; the front bracket 111 and the rear bracket 112 are parallel to each other, the same side edges of the front bracket 111 and the rear bracket 112 are both arc-shaped structures, and the connecting buckle 12 is arranged on the side edges in the direction parallel to the front bracket 111 or the rear bracket 112; the connecting rod 114 is perpendicular to the front bracket 111 and the rear bracket 112 and connects one side of the front bracket 111 and one side of the rear bracket 112, which are in an arc structure; the side brackets 113 are perpendicular to the front bracket 111 and the rear bracket 112 and connect the front bracket 111 and the rear bracket 112 with opposite sides of the sides which are in an arc structure; a lighting module mounting rack 115 is arranged on the front bracket 111 in a direction perpendicular to the front bracket 111; a horizontal propeller mounting bracket 116 is extended outside the rear bracket 112 in the extending direction of the side bracket 113; the side bracket 113 is provided with a vertical propeller mounting hole.
The pressure-resistant cabin shell 2 is of a cylindrical tubular structure, and a front cabin cover 211 and a rear cabin cover 212 are respectively arranged at two ends of the pressure-resistant cabin shell 2; the pressure cabin shell 2 is also provided with a partition plate to divide the pressure cabin shell into a front cabin area 213 and a rear cabin area 214; the front hatch 211 and the rear hatch 212 are both provided with a plurality of mounting holes for mounting a watertight connector 215; the power module 22 is arranged in the rear cabin area 214 of the pressure cabin shell 2; the control module 23 is mounted in the front cabin area 213 of the pressure cabin housing 2; the camera module 24 is mounted on a front hatch 211 of the pressure-resistant cabin housing 1.
The weight module 4 is installed in a space formed by connecting the front bracket 111, the rear bracket 112, the side bracket 113, and the connecting rod 114 end to end.
The power module 22 includes a battery holder 221, a battery 222, a heat dissipation plate 223, and a power motor control board 224; the battery rack 221 is a cylindrical frame structure, and includes a pair of support plates 225 parallel to each other and a pair of connecting plates 226 parallel to each other, and the support plates 225 are connected to each other through a plurality of connecting plates 226 perpendicular to the support plates 225; the plurality of heat dissipation plates 223 are arranged along the axial direction of the support plate 225, and the heat dissipation plates 223 are arranged on the outer contour of the support plate 225 in a delta shape; a cylindrical structure is formed between the outer contour of the heat dissipation plate 223 and the outer contour of the support plate 225; the power motor control board 224 is mounted on the support plate 225 of the battery holder 221 and is parallel to the support plate 225; the batteries 222 have three and are respectively mounted on the inner wall of the heat radiating plate 223.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. An observation type unmanned remote-control submersible is characterized in that: comprises that
The frame module comprises a base frame and a connecting buckle; the base frames are provided with a pair of base frames, the two base frames are symmetrically arranged, the base frames are connected through connecting buckles, and the connecting buckles form a pressure-resistant electronic cabin fixing frame between the pair of base frames; the outer contour of the frame module is provided with a shell module;
the pressure-resistant electronic cabin module is arranged on the pressure-resistant electronic cabin fixing frame; the pressure-resistant electronic cabin module comprises a pressure-resistant cabin shell, and a power supply module, a control module and a camera module are arranged in the pressure-resistant cabin shell;
the motion module comprises a horizontal propeller thruster and a vertical propeller thruster; the horizontal propeller thruster and the vertical propeller thruster are both arranged on a basic frame of the frame module;
a lighting module mounted on the base frame of the frame module;
the counterweight module is arranged on a base frame of the frame module, and is provided with an installation opening for accommodating the vertical propeller;
the basic frame comprises a front bracket, a rear bracket, side brackets and connecting rods; the front support and the rear support are parallel to each other, the same side edges of the front support and the rear support are both arc-shaped structures, and connecting buckles are arranged on the side edges in the direction parallel to the front support or the rear support; the connecting rod is perpendicular to the front support and the rear support and connects the front support with one side of the rear support in an arc structure; the side brackets are perpendicular to the front bracket and the rear bracket and connect the front bracket and the rear bracket with opposite side edges of the arc-shaped structure; a lighting module mounting rack is arranged on the front support in a direction perpendicular to the front support; a horizontal propeller mounting rack extends from the outer side of the rear support in the extending direction of the side support; the side bracket is provided with a vertical propeller mounting hole;
the pressure-resistant cabin shell is of a cylindrical tubular structure, and a front cabin cover and a rear cabin cover are respectively arranged at two ends of the pressure-resistant cabin shell; the pressure-resistant cabin shell is also provided with a partition plate to divide the pressure-resistant cabin shell into a front cabin area and a rear cabin area; the front hatch cover and the rear hatch cover are both provided with a plurality of mounting holes for mounting watertight connectors; the power supply module is arranged in a rear cabin area of the pressure cabin shell; the control module is arranged in a front cabin area of the pressure cabin shell; the camera module is arranged on a front cabin cover of the pressure-resistant cabin shell.
2. The unmanned remotely operated vehicle of claim 1, wherein: the counterweight module is arranged in a space formed by the head-to-tail connection of the front bracket, the rear bracket, the side brackets and the connecting rod.
3. The unmanned remotely operated vehicle of claim 1, wherein: the power supply module comprises a battery frame, a battery, a heat dissipation plate and a power supply motor control plate; the battery rack is of a cylindrical frame structure and comprises a pair of parallel supporting plates and a pair of parallel connecting plates, and the supporting plates are connected through the connecting plates vertical to the supporting plates; the heat dissipation plates are provided with a plurality of heat dissipation plates and are arranged along the axial direction of the support plate, and the heat dissipation plates are arranged on the outer contour of the support plate in a delta shape; a cylindrical structure is formed between the outer contour of the heat dissipation plate and the outer contour of the support plate; the power supply motor control board is arranged on the support plate of the battery rack and is parallel to the support plate; the batteries are three and are respectively mounted on the inner wall of the heat dissipation plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685976.0A CN107380383B (en) | 2017-08-11 | 2017-08-11 | Observation type unmanned remote control submersible |
| PCT/CN2017/116871 WO2019029089A1 (en) | 2017-08-11 | 2017-12-18 | Observation type remote operated vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685976.0A CN107380383B (en) | 2017-08-11 | 2017-08-11 | Observation type unmanned remote control submersible |
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| Publication Number | Publication Date |
|---|---|
| CN107380383A CN107380383A (en) | 2017-11-24 |
| CN107380383B true CN107380383B (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710685976.0A Active CN107380383B (en) | 2017-08-11 | 2017-08-11 | Observation type unmanned remote control submersible |
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| Country | Link |
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| CN (1) | CN107380383B (en) |
| WO (1) | WO2019029089A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380383B (en) * | 2017-08-11 | 2023-03-28 | 江苏科技大学 | Observation type unmanned remote control submersible |
| RU2661253C1 (en) * | 2017-12-11 | 2018-07-13 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Underwater vehicle |
| RU2670192C9 (en) * | 2017-12-26 | 2018-11-12 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Underwater apparatus for destruction of potentially dangerous stationary object |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
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| RU2681415C1 (en) * | 2018-05-22 | 2019-03-06 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Compact multi-functional autonomous uninhabited underwater vehicle -carrier vehicle for replaceable actual load |
| CN110001888A (en) * | 2019-04-26 | 2019-07-12 | 上海工程技术大学 | A kind of sea Intelligent lifesaving system |
| CN110550168A (en) * | 2019-08-22 | 2019-12-10 | 南京信息工程大学 | Intelligent counterweight device of underwater robot |
| RU2746094C1 (en) * | 2020-06-04 | 2021-04-06 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия им. Адмирала Флота Советского Союза Н.Г. Кузнецова" | Autonomous unhabitable underwater apparatus |
| RU2751727C1 (en) * | 2020-09-21 | 2021-07-16 | Федеральное государственное бюджетное учреждение науки Институт океанологии им. П.П. Ширшова РАН | Remote-controlled underwater maneuvering vehicle |
| CN113277034B (en) * | 2021-05-18 | 2022-12-30 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN114954858B (en) * | 2022-06-24 | 2023-12-19 | 江苏科技大学 | Underwater petroleum pipeline flaw detection robot |
| CN115246468B (en) * | 2022-07-20 | 2023-06-20 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107380383A (en) | 2017-11-24 |
| WO2019029089A1 (en) | 2019-02-14 |
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