CN108711815A - A kind of cable floating ball device based on underwater robot - Google Patents
A kind of cable floating ball device based on underwater robot Download PDFInfo
- Publication number
- CN108711815A CN108711815A CN201810525765.5A CN201810525765A CN108711815A CN 108711815 A CN108711815 A CN 108711815A CN 201810525765 A CN201810525765 A CN 201810525765A CN 108711815 A CN108711815 A CN 108711815A
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- China
- Prior art keywords
- cable
- floating ball
- underwater robot
- ball body
- inner float
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/12—Installations of electric cables or lines in or on the ground or water supported on or from floats, e.g. in water
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
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Abstract
A kind of cable floating ball device based on underwater robot, belongs to underwater robot ancillary equipment field.It is made of cable, floating ball body, underwater robot, first bearing, second bearing and inner float ball.Device structure is simple, and function and effect are apparent, can reduce or solve the influence of cable pair underwater robot pose；Cable can be kept vertical state constant under water by floating ball, and robot stationary state cable tensioned state vertical with the holding of underwater robot coupling part under water, can effectively reduce influence of the fluctuation to underwater robot of cable；The ingehious design of inner float ball, pass through the collective effect of inner float ball and inner float ball chamber, fluctuating range can effectively be reduced, reduce fluctuation to transmit downwards, and then influence of the reduction to underwater robot pose, the frequent operation of underwater robot dynamical system can be reduced simultaneously, reduces control system complexity, reduce energy loss etc..
Description
Technical field
The present invention relates to a kind of cable floating ball device based on underwater robot, specifically uses special construction and sets
The underwater floating ball device of meter, floating ball is interior to effectively reduce the influence fluctuated to cable containing inner float ball, and it is auxiliary to belong to underwater robot
Help apparatus field.
Background technology
Due to the exploration that marine resources are abundant and the mankind are to seabed, underwater robot was quickly grown in recent years.But needle
Some ancillary equipments of underwater operation robot are developed slowly, in particular for there is cable underwater robot remains stationary under water
When state, the influence of cable pair underwater robot pose is balanced and offsets without corresponding equipment.It is well known that right
For underwater operation robot, the underwater pose of underwater robot is very important, but the fluctuation of such as seawater and
The disturbance of cable can make a big impact to the pose of underwater robot, and the present invention will solve problems.
Invention content
In view of the above-mentioned deficiencies, the present invention provides a kind of cable floating ball device based on underwater robot.
The present invention is achieved by the following technical solutions：It is a kind of that the pose of cable pair underwater robot is avoided to influence
Method is in vertical shape always when realizing that floating ball body is static under water by the buoyancy of control floating ball body upper end and the weight of lower end
State, the underwater robot under water stationary state when, drawn by the buoyancy of floating ball body and to be connect with underwater robot
Cable remains vertical state, reduces influence of the disturbing phenomenon to underwater robot pose；The floating ball body upper end
Cable is relaxed state, and loose cable is connected with inner float ball, and relaxation cable it is not direct contacted with floating ball body,
Influence of the disturbance of cable slack line to floating ball posture is advantageously reduced in this way.
A kind of cable floating ball device based on underwater robot, is by cable, floating ball body, underwater robot, first axle
Hold, second bearing and inner float ball composition, the cable lower end is connect with underwater robot；Cable passes through floating ball body.
And it is connected with first bearing, second bearing and inner float ball；First bearing is with second bearing at distribution symmetrical above and below, first bearing
With second bearing inner ring and cable by being connected, outer ring passes through mating connection with floating ball body lower end cable channel inner wall；
Inner float ball is located at floating ball body upper end inner float ball intracavitary portion, is matched with cable by the cable line passage penetrated through among inner float ball
It connects, is not directly contacted with inside inner float ball and floating ball body, keep certain distance.
The floating ball body is made of buoyancy end, inner float ball chamber, floating ball cavity, lower plummet end and cable channel,
The buoyancy end is at the cylindrical upper end for being located at floating ball body；Lower plummet end is connected with buoyancy end and positioned at buoyancy end
Lower section；Cable channel is located at the center of floating ball body and extends vertically through entire floating ball body, and the cable channel of inner float ball chamber upper end
Diameter is more than the cable channel of inner float ball chamber lower end；Inner float ball chamber is located at buoyancy end bosom position, is spherical hollow space, on
It is lower to be connected with cable channel；Floating ball cavity is at fan-shaped Borrow inside entire floating ball body buoyancy end, and floating ball cavity is at Circle-Array
Column distribution is inside floating ball body buoyancy end；Floating ball body buoyancy end is made for light waterproof material, and lower plummet end is by preventing
Water material is made, and buoyancy end and lower plummet end weight proportion are reasonable, make to keep when cable lower end is static under water
Vertically.
Spherical shape is formed outside the inner float ball, is to be made by light material, and by the cable channel by central point
Run through.
The usefulness of the invention is that device structure is simple, and function and effect are apparent, can reduce or to solve cable pair underwater
The influence of robot pose；Floating ball upper end is made by light material and cavity area is big, can be generated under water larger
Buoyancy, floating ball lower end are made by the material of certain mass, coordinate the buoyancy of upper end, floating ball can be by cable in water
Lower holding vertical state is constant, and robot stationary state cable is vertical with the holding of underwater robot coupling part taut under water
Tight state can effectively reduce influence of the fluctuation to underwater robot of cable；The cable channel diameters of inner float ball chamber upper end
Cable channel more than inner float ball chamber lower end is to make the cable under the relaxed state of upper end have enough spaces；Floating ball
Cavity is distributed using circular matrix formula, is conducive to floating ball uniform force under water, keeps floating ball vertical state, while energy under water
It reduces floating ball and controls floating because of the shaking of seawater；Inner float ball is placed in inner float ball chamber by the ingehious design of inner float ball, and with
Floating ball keeps a distance,, can by the collective effect of inner float ball and inner float ball chamber when upper end, cable fluctuates in this way
Effectively to reduce fluctuating range, reduces fluctuation and transmit downwards, and then reduce the influence to underwater robot pose, while can reduce
The frequent operation of underwater robot dynamical system reduces control system complexity, reduces energy loss etc..
Description of the drawings
Fig. 1 is the whole installation diagram of the present invention；
Fig. 2 is that floating ball assembles half sectional view；
Fig. 3 is that floating ball assembly explosion attempts；
Fig. 4 is floating ball body sectional view；
Fig. 5 is floating ball body A-A direction views；
In figure, 1, cable, 2, floating ball body, 201, buoyancy end, 202, inner float ball chamber, 203, floating ball cavity, 204, under
Plummet end, 205, cable channel, 3, underwater robot, 4, first bearing, 5, second bearing, 6, inner float ball.
Specific implementation mode
A method of avoid cable 1 from influencing the pose of underwater robot 3, by controlling the floating of 2 upper end of floating ball body
Power and the weight of lower end are realized is in vertical state always when floating ball body 2 is static under water, the underwater robot 3 is under water
When stationary state, the cable 1 being connect with underwater robot 3 is drawn by the buoyancy of floating ball body 2 and remains vertical state,
Reduce influence of the disturbing phenomenon to 3 pose of underwater robot；The cable 1 of 2 upper end of floating ball body is relaxed state, relaxation
Cable 1 be connected with inner float ball 6, and relaxation cable 1 it is not direct contacted with floating ball body 2, advantageously reduce pine in this way
Influence of the disturbance of relaxation cable 1 to 2 pose of floating ball body.
A kind of cable floating ball device based on underwater robot is by cable 1, floating ball body 2, underwater robot 3, first
What bearing 4, second bearing 5 and inner float ball 6 formed, 1 lower end of cable is connect with underwater robot 3；Cable 1 passes through
Floating ball body 2.And it is connected with first bearing 4, second bearing 5 and inner float ball 6；First bearing 4 is with second bearing 5 at symmetrical above and below
Distribution, first bearing 4 and 5 inner ring of second bearing pass through mating connection, outer ring and 2 lower end cable channel of floating ball body with cable 1
205 inner walls pass through mating connection；Inner float ball 6 is located inside 2 upper end inner float ball chamber 202 of floating ball body, by being penetrated through among inner float ball 6
1 channel of cable and cable 1 it is in mating connection, be not directly contacted with inside inner float ball 6 and floating ball body 2, keep certain distance.
The floating ball body 2 is by buoyancy end 201, inner float ball chamber 202, floating ball cavity 203, lower plummet end 204 and cable
What line passage 205 formed, the buoyancy end 201 is at the cylindrical upper end for being located at floating ball body 2；Lower plummet end 204 and floating
Power end 201 is connected and positioned at the lower section at buoyancy end 201；Cable channel 205 is located at the center of floating ball body 2 and extends vertically through whole
A floating ball body 2, and 205 diameter of cable channel of 202 upper end of inner float ball chamber is more than the cable channel 205 of 202 lower end of inner float ball chamber；
Inner float ball chamber 202 is located at 201 bosom position of buoyancy end, is spherical hollow space, is connected up and down with cable channel 205；Floating ball
For cavity 203 at fan-shaped Borrow inside 2 buoyancy end 201 of entire floating ball body, floating ball cavity 203 is distributed in floating ball at circumference array
Inside 2 buoyancy end 201 of body；2 buoyancy end 201 of floating ball body is made for light waterproof material, and lower plummet end 204 is by waterproof
Material is made, and buoyancy end 201 and 204 weight proportions of lower plummet end are reasonable, when keeping 1 lower end of cable static under water
Keep vertical.
It is formed outside the inner float ball 6 spherical, is to be made by light material, and by the cable channel by central point
205 run through.
The device parts are ready to complete, and proceed by assembly work, and inner float ball 6, which is placed on floating ball body 2, first floats
In the inner float ball chamber 202 at power end 201, then first bearing 4 and second bearing 5 are mounted on to the cable at 2 times plummet ends 204 of floating ball body
In channel 205, then by cable 1 by the cable channel 205 of 2 upper end of floating ball body through inside floating ball body 2, and in sequentially passing through
Floating ball 6, second bearing 5 and first bearing 4 are connected up through entire floating ball body 2, and by cable 1 with underwater robot 3
It connects.The device is completed by cable 1 and the assembly of underwater robot 3 at this time, and can together dive beneath the water work with underwater robot 3
Make.
Underwater robot and mounted floating ball device, are put under water by the debugging efforts for then carrying out device first,
Control underwater robot remains static under water, and undisturbed in flow, observes the pose of floating ball body 2, leads to
The buoyancy size of the size at adjustment buoyancy end 201 and the weight adjustment floating ball at lower plummet end 204 is crossed, and then adjusts floating ball body 2
The state of the cable 1 at traction connection underwater robot end can adjust floating by adjusting size and the upper and lower position of inner float ball 6
The position of the cable 1 of 2 or so state of sphere and relaxed state, constantly adjustment is final repeatedly realizes that floating ball body 2 is static under water
Trailing cable line 1 keeps vertical state when state.And then water body is disturbed, observation cable slack line 1 is to floating ball body 2 and underwater
The influence of people, until under state of disturbance, floating ball body 2 still maintains vertical stable state, is finally completed mesh for above-mentioned adjustment again
Mark task reduces influence of the cable 1 to 3 pose of underwater robot.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
It is interior.
Claims (4)
1. a kind of method for avoiding the pose of cable pair underwater robot from influencing, it is characterised in that：By controlling in floating ball body
The buoyancy at end and the weight of lower end are realized is in vertical state always when floating ball body is static under water, the underwater robot exists
When underwater stationary state, the cable being connect with underwater robot is drawn by the buoyancy of floating ball body and remains vertical shape
State reduces influence of the disturbing phenomenon to underwater robot pose；The cable of the floating ball body upper end is relaxed state, relaxation
Cable be connected with inner float ball, and relaxation cable it is not direct contacted with floating ball body, it is electric to advantageously reduce relaxation in this way
Influence of the disturbance of cable to floating ball posture.
2. a kind of cable floating ball device based on underwater robot, be by cable, floating ball body, underwater robot, first bearing,
What second bearing and inner float ball formed, it is characterised in that：The cable lower end is connect with underwater robot；Cable passes through
Floating ball body.And it is connected with first bearing, second bearing and inner float ball；First bearing and second bearing at distribution symmetrical above and below,
First bearing and second bearing inner ring and cable are by being connected, and outer ring is with floating ball body lower end cable channel inner wall by matching
Close connection；Inner float ball is located at floating ball body upper end inner float ball intracavitary portion, the cable line passage by being penetrated through among inner float ball and cable
Line is in mating connection, is not directly contacted with inside inner float ball and floating ball body, keeps certain distance.
3. a kind of cable floating ball device based on underwater robot as claimed in claim 2, which is characterized in that the floating ball
Body is made of buoyancy end, inner float ball chamber, floating ball cavity, lower plummet end and cable channel, and the buoyancy end is at circle
Cylindricality is located at the upper end of floating ball body；Lower plummet end is connected with buoyancy end and positioned at the lower section at buoyancy end；Cable channel is located at
The center of floating ball body and entire floating ball body is extended vertically through, and the cable channel diameters of inner float ball chamber upper end are more than under inner float ball chamber
The cable channel at end；Inner float ball chamber is located at buoyancy end bosom position, is spherical hollow space, is connected up and down with cable channel；
At fan-shaped Borrow inside entire floating ball body buoyancy end, floating ball cavity is distributed in floating ball body at circumference array and floats floating ball cavity
Inside power end；Floating ball body buoyancy end is made for light waterproof material, and lower plummet end is made by waterproof material, and on
Buoyancy end and lower plummet end weight proportion are reasonable, keep vertical when keeping cable lower end static under water.
4. a kind of cable floating ball device based on underwater robot as claimed in claim 2, which is characterized in that described is interior floating
Spherical shape is formed outside ball, is to be made by light material, and by being run through by the cable channel of central point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810525765.5A CN108711815B (en) | 2018-05-28 | 2018-05-28 | Cable floating ball device based on underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810525765.5A CN108711815B (en) | 2018-05-28 | 2018-05-28 | Cable floating ball device based on underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108711815A true CN108711815A (en) | 2018-10-26 |
| CN108711815B CN108711815B (en) | 2023-10-03 |
Family
ID=63869752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810525765.5A Active CN108711815B (en) | 2018-05-28 | 2018-05-28 | Cable floating ball device based on underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108711815B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW450024U (en) * | 2000-11-08 | 2001-08-11 | Lin Guo Yang | Improved structure of float ball |
| CN107211583B (en) * | 2013-01-23 | 2015-04-15 | 西北工业大学 | A kind of platform dynamical balancing method based on double-deck floating body |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN208226531U (en) * | 2018-05-28 | 2018-12-11 | 山东建筑大学 | A kind of cable floating ball device based on underwater robot |
-
2018
- 2018-05-28 CN CN201810525765.5A patent/CN108711815B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW450024U (en) * | 2000-11-08 | 2001-08-11 | Lin Guo Yang | Improved structure of float ball |
| CN107211583B (en) * | 2013-01-23 | 2015-04-15 | 西北工业大学 | A kind of platform dynamical balancing method based on double-deck floating body |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN208226531U (en) * | 2018-05-28 | 2018-12-11 | 山东建筑大学 | A kind of cable floating ball device based on underwater robot |
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| Publication number | Publication date |
|---|---|
| CN108711815B (en) | 2023-10-03 |
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