CN109515657A - A kind of prolongable underwater robot - Google Patents
A kind of prolongable underwater robot Download PDFInfo
- Publication number
- CN109515657A CN109515657A CN201811642668.0A CN201811642668A CN109515657A CN 109515657 A CN109515657 A CN 109515657A CN 201811642668 A CN201811642668 A CN 201811642668A CN 109515657 A CN109515657 A CN 109515657A
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- China
- Prior art keywords
- layer
- feature board
- circuit cabin
- prolongable
- buoyancy
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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)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
This application discloses a kind of prolongable underwater robot, including side plate, specific function plate, feature board, vertical pusher and buoyant device.Machine is laid out using layer-stepping, and first layer is vertical pusher and buoyant device, and the second layer is circuit module and horizontal propeller, is mounted on the first energy plate, third layer is the second feature board of executive device.The fenestrate type in side plate middle section is hollow, and the standard installation hole of top is used to carry out vertical pusher the fixation of any position, and the standard installation hole of two sides and lower section is used to fixed function plate or executive device.First feature board of the second layer is used to install horizontal propeller and modularized circuit cabin, and intermediate there are two oval water-guiding holes.Third layer feature board is equipped with strip standard installation hole and is used to install executing agency.The application improves the expansibility of machine, reduce because robot expansibility is small and caused by fund waste, no matter under water field of operation, the teaching field of experimental field or colleges and universities can be used as prototype, and the expansibility of various structures makes robot have bigger development space.
Description
Technical field
This application involves robot field, specially a kind of prolongable underwater robot.
Background technique
Underwater robot (ROV) is that one kind can move under water, have sensory perceptual system, by remote control or autonomous operation side
Formula is replaced or is assisted people to go to complete the intelligent electromechanical device of underwater operation task using manipulator or other tools.Water
Lower bad environments are dangerous, and the diving depth of people is limited, so underwater robot is human knowledge ocean, develops the important work in ocean
Tool.
According to underwater robot analysis of development situation, 1. underwater robot costs of manufacture are high, are directed to different task needs
Different executive devices is completed, and the expansibility of underwater robot is small, is executing dress for different work situation to increase
It is higher to set difficulty.2. the circuit cabin of most underwater robots is laid out using Cylindrical cabin barrel type, not only wasting space, repeatedly
The sealing ring of disassembly rear flange, which can generate old damage phenomenon, leads to the leak of circuit cabin, and executive device needs to add in cabin bucket periphery
Add；This layout makes machines cumbersome, and the reliability in circuit cabin is unable to get prolonged guarantee and is not expanding machine body product
In the case where executive device can not be protected.3. the stability of robot in water can largely influence to make under water
Industry efficiency, the buoyant device of underwater robot are integrated, meetings when completing as needed for task increases or decreases executive device
The gravity and center of gravity for changing underwater robot, can break the steady suspended state of underwater robot in water, so that under water in this way
Robot is whole partially heavy or partially floating, and also resulting in machine is not horizontality under water, reduces underwater operation efficiency.4. by
It is limited in the working environment of underwater robot, keeps underwater robot higher to power requirement, according to simple task equipment people's
The layout of multi-thruster not only becomes the unnecessary design of one kind but also wastes more power.
Summary of the invention
In view of the above-mentioned problems, the technical problem to be solved by the application is to provide a kind of prolongable underwater robot, mesh
Be improve the various structures of underwater robot expansibility so that there is bigger development space in robot.
To realize above-mentioned technical purpose and the technique effect, the application is achieved through the following technical solutions:
A kind of prolongable underwater robot, is laid out, including side plate using layer-stepping, the first feature board, the second feature board, vertically
Propeller and buoyant device, described two side plate opposition are placed in parallel, and surface of side plate is equipped with standard installation hole, and middle part sets up separately
Fenestrate type loophole, top are equipped with optical axis；First layer places buoyant device, is equipped with vertical pusher between the buoyancy setting；The
Two layers are circuit module and horizontal propeller, are mounted on the first feature board, and there are two ellipses among first feature board
Water-guiding hole, the circuit module include governor circuit cabin and execution circuit cabin, the side in the governor circuit cabin and execution circuit cabin
Circuit cabin mounting hole is designed at angle；Third layer is the second feature board of executive device, and second feature board is horizontal positioned, table
Face is equipped with strip standard installation hole, and there are two oval water-guiding hole, two sides to be equipped with feature board standard installation hole for middle section.
Further, the circuit uses modular layout, carries out encapsulating, encapsulating to governor circuit cabin and execution circuit cabin
Material be epoxy resin.
Further, the governor circuit cabin is equipped with female waterproof socket；Execution circuit cabin one end is equipped with female
Waterproof socket, the other end are equipped with extended line and male connector waterproof connector.Big quantity space has not only been saved in design in this way, also ensures electricity
The replaceability in road cabin；Execution part uses bus communication, only needs corresponding module accessing electricity when so that increasing executive device
Road.
Further, the buoyant device includes carbon fiber skin, built-in buoyant mass, is equipped at the top of the carbon fiber skin
Buoyancy plate and cuboid buoyancy plate are held, is that lattice space is laid out inside the carbon fiber skin, inner mesh places buoyancy material
Material.
Further, there is buoyancy plate fixed ring at the coboundary of the buoyant device, pass through optical axis and incited somebody to action with Anti-slip nut
Optical axis both ends are screwed, and have buoyancy plate fixation hole at the lower boundary of buoyant device, and the buoyant device is fixed on aluminum profile,
Facilitate the layout for updating propeller in this way.
It further, is 4 or 2 according to the number of vertical pusher, selection is installed how many buoyant device and each floated
The position of power device: when propeller is 4, the two cuboid buoyancy plates in centre are removed, two end buoyancy plates move on to centre；
When needing to change buoyancy, screw overturning carbon fiber skin is backed out, buoyant mass is added.
The utility model has the advantages that
1. the design of side plate and feature board can increase robot can expanding type, conveniently increase or decrease executive device.
2. hierarchical design makes robot, operating rate is higher under water, reduces the loss of power.
3. replacing circuit cabin, the service life of robot is considerably increased, is reduced because of puzzlement caused by circuit part；
Circuit part uses bus communication, increases the expansibility of circuit.
4. buoyant device allows us arbitrarily to adjust buoyancy and centre of buoyancy, robot is made to be in steady suspension in water
State increases the expansibility of buoyancy.
5. the structure at the top of machine allows robot arbitrarily to change number and the position of buoyant device, and overturns buoyancy
Device；Change the number of vertical pusher, reduces power, increase the expansibility of machine.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the application；
Fig. 2 is the right view of the application；
Fig. 3 is the top view of the application；
Fig. 4 is the schematic diagram in the application governor circuit cabin；
Fig. 5 is the schematic diagram in the application execution circuit cabin；
Fig. 6 is the schematic diagram on the inside of the application buoyancy plate；
Fig. 7 is the schematic diagram of the application feature board；
Fig. 8 is the schematic diagram to explode at the top of the application.
In attached drawing, parts list represented by the reference numerals are as follows:
The end 1- buoyancy plate shell, 2- cuboid buoyancy plate shell, 3- optical axis connecting key, 4- optical axis, 5- Anti-slip nut, 6- buoyancy plate
Fixed ring, 7- aluminum profile, 8- side plate, 9- execution circuit cabin, 10- water-guiding hole, 11- specific function plate, 12- feature board, 13- are vertical
Propeller, 14- horizontal propeller, 15- standard installation hole, 16- buoyancy plate fixation hole, 17- epoxy resin, the installation of 18- circuit cabin
Hole, the waterproof socket of 19- female, 20- governor circuit cabin, 21- extended line, 22- male connector waterproof connector, 23- inner mesh, 24- function
It can plate standard installation hole, 25- strip standard installation hole.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, and
The embodiment being not all of.Based on the embodiment in the application, those of ordinary skill in the art are not making creativeness
Every other embodiment obtained, shall fall in the protection scope of this application under the premise of labour.
In the description of the present application, it is to be understood that term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the application and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore should not be understood as the limitation to the application.
A kind of prolongable underwater robot, is laid out using layer-stepping as shown in Fig. 1 ~ 8, including side plate 8, the first function
Plate 11, the second feature board 12, vertical pusher 13 and buoyant device, two opposition of side plate 8 are placed in parallel, and 8 surface of side plate is set
There is standard installation hole 15, middle section is equipped with window type loophole, and top is equipped with optical axis 4；First layer places buoyant device, the buoyancy
Vertical pusher 13 is equipped between setting；The second layer is circuit module and horizontal propeller 14, is mounted on the first feature board 11,
There are two oval water-guiding hole 10 among first feature board 11, the circuit module includes governor circuit cabin 20 and executes electricity
The edge in road cabin 9, the governor circuit cabin 20 and execution circuit cabin 9 is designed with circuit cabin mounting hole 18；Third layer is to execute
Second feature board 12 of device, second feature board 12 is horizontal positioned, and surface is equipped with strip standard installation hole 25, middle section
There are two oval water-guiding hole 10, two sides are equipped with feature board standard installation hole 24.
The present embodiment has particular application as, and in order to facilitate the installation of executive device, two have 15 side plate 8 of standard installation hole
Vertical to place, the second feature board 12 is horizontal positioned, increases the scalability of machine.Machine is laid out using layer-stepping, first layer
For vertical pusher 13 and buoyant device, the second layer is circuit module and horizontal propeller 14, is mounted on the first feature board 11.
Third layer is the second feature board 12 of executive device, can install executive device according to underwater operation, can also select as needed
The second feature board of multilayer 12 is installed.The fenestrate type in 8 middle section of side plate is hollow, and the standard installation hole 15 of top is used to vertical thrust
The standard installation hole 15 of the fixation of the progress of device 13 any position, two sides and lower section is used to fix the second feature board 12 or execute dress
It sets.Second layer specific function plate 11 is used to install horizontal propeller 14 and modularized circuit cabin, and intermediate there are two oval water guides
Hole 10 reduces the influence of machine water flow under steam.Third layer feature board is equipped with strip standard installation hole 25 and is used to install execution
Mechanism, such as camera, underwater searchlight, mechanical arm etc..Strip standard installation hole 25 has the installation site of executive device
There is diversity.
In order to optimize the layout of robot, the reliability in raising circuit cabin increases the speed and controllability of machine in water,
Give up Cylindrical cabin bucket, circuit part uses modular layout.Since the master control borad of underwater robot is not needed for not
The module that same underwater operation controls executive device come replacing needs to change, so circuit is divided into two parts by us: main
Control circuit cabin 20 and execution circuit cabin 9.Corresponding circuit cabin is devised according to the shape of each section circuit module, module is put into
Encapsulating water-proofing treatment is carried out with epoxy resin 17 behind circuit cabin, there are waterproof connectors in circuit cabin, and design so has not only been saved big
Quantity space also ensures the replaceability in circuit cabin.Execution part uses bus communication, and the one end in execution circuit cabin 9 is equipped with mother
Head waterproof socket 19, the other end are extended line 21 and male connector waterproof connector 22, and such design is so that when increasing executive device only
It needs corresponding module accessing circuit.
In order to more become machine buoyancy in water and hull position, a kind of buoyant device is devised, the device is by two
It is grouped as: carbon fiber skin and built-in buoyant mass.Interior of shell is lattice space layout, be can according to need in corresponding inside
Buoyant material is added in grid 23, has reached the steady suspended state of machine in water.
In order to facilitate the layout for updating propeller, devising one kind can be temporarily changed, the knot of buoyant device easy to disassemble
Structure: optical axis 4 is installed in the top of two side plates 8 of robot, 4 both ends of optical axis have screw thread, have at the coboundary of buoyant device floating
Power plate fixed ring 6, can pass through at optical axis 4 and lower boundary has buoyancy plate fixation hole 16.It is used after buoyant device passes through optical axis 4
Anti-slip nut 5 fixes 4 both ends of optical axis, is fixed with aluminum profile 7 below buoyancy plate, can choose fixed buoyancy at an arbitrary position
Plate.Number according to vertical pusher 13 is 4 or 2, can choose installation how many buoyant device and each buoyancy dress
Screw stationary positioned hole is tightened after determining position in the position set.When propeller is 4, intermediate two cuboids can be floated
Power plate 2 removes, and two end buoyancy plates 1 are moved on to centre；When needing to change buoyancy, screw overturning carbon fiber skin is backed out,
Buoyant mass is added.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this application.
Claims (5)
1. a kind of prolongable underwater robot, including side plate (8), the first feature board (11), the second feature board (12) vertically push away
Into device (13) and buoyant device, it is characterised in that: whole to be laid out using layer-stepping, described two side plate (8) opposition are put in parallel
It sets, side plate (8) surface is equipped with standard installation hole (15), and middle section is equipped with window type loophole, and top is equipped with optical axis (4)；First layer
Buoyant device is placed, is equipped with vertical pusher (13) between the buoyancy setting；The second layer is circuit module and horizontal propeller
(14), it is mounted on the first feature board (11), first feature board (11) is intermediate there are two oval water-guiding hole (10), described
Circuit module includes governor circuit cabin (20) and execution circuit cabin (9), the governor circuit cabin (20) and execution circuit cabin (9)
Edge is designed with circuit cabin mounting hole (18)；Third layer is executive device feature board (12), the second feature board (12) water
Placing flat, surface are equipped with strip standard installation hole (25), and there are two oval water-guiding hole (10), two sides to be equipped with function for middle section
Plate standard installation hole (24).
2. a kind of prolongable underwater robot according to claim 1, it is characterised in that: the circuit uses modularization
Layout carries out encapsulating to governor circuit cabin (20) and execution circuit cabin (9), and the material of encapsulating is epoxy resin (17).
3. a kind of prolongable underwater robot according to claim 2, it is characterised in that: the governor circuit cabin (20)
It is equipped with female waterproof socket (19)；Described execution circuit cabin (9) one end is equipped with female waterproof socket (19), and the other end, which is equipped with, to be prolonged
Long line (21) and male connector waterproof connector (22).
4. a kind of prolongable underwater robot according to claim 1, it is characterised in that: the buoyant device includes carbon
Fiber shell, built-in buoyant mass, the carbon fiber skin top is equipped with end buoyancy plate (1) and cuboid buoyancy plate (2), described
It is that lattice space is laid out inside carbon fiber skin, inner mesh (23) places buoyant material.
5. a kind of prolongable underwater robot according to claim 4, it is characterised in that: the top of the buoyant device
There is buoyancy plate fixed ring (6) at boundary, pass through optical axis (4) and optical axis (4) both ends are screwed with Anti-slip nut (5), buoyancy dress
There is buoyancy plate fixation hole (16) at the lower boundary set, the buoyant device is fixed on aluminum profile (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642668.0A CN109515657A (en) | 2018-12-29 | 2018-12-29 | A kind of prolongable underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811642668.0A CN109515657A (en) | 2018-12-29 | 2018-12-29 | A kind of prolongable underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109515657A true CN109515657A (en) | 2019-03-26 |
Family
ID=65798812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811642668.0A Pending CN109515657A (en) | 2018-12-29 | 2018-12-29 | A kind of prolongable underwater robot |
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|---|---|---|---|---|
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| US20080141923A1 (en) * | 2005-08-23 | 2008-06-19 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
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| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
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| CN207649920U (en) * | 2017-12-31 | 2018-07-24 | 南京工程学院 | A kind of underwater robot experiment porch |
| CN109050842A (en) * | 2018-07-05 | 2018-12-21 | 上海查湃智能科技有限公司 | Modularity underwater robot |
-
2018
- 2018-12-29 CN CN201811642668.0A patent/CN109515657A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH107083A (en) * | 1996-06-21 | 1998-01-13 | Kowa Kk | Underwater monitoring camera with pitching mechanism |
| US20080141923A1 (en) * | 2005-08-23 | 2008-06-19 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| KR100811540B1 (en) * | 2006-11-30 | 2008-03-07 | 대우조선해양 주식회사 | Rov for cleaning and inspection of ship hull |
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| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN207595225U (en) * | 2017-12-15 | 2018-07-10 | 上海颖川佳固信息工程股份有限公司 | A kind of underwater robot for detecting port and pier |
| CN207649920U (en) * | 2017-12-31 | 2018-07-24 | 南京工程学院 | A kind of underwater robot experiment porch |
| CN109050842A (en) * | 2018-07-05 | 2018-12-21 | 上海查湃智能科技有限公司 | Modularity underwater robot |
Non-Patent Citations (1)
| Title |
|---|
| 王志东;窦京;李洋;凌宏杰;曾庆军;睢翔;: "一种模态切换水下机器人设计与模型实验研究", 船舶工程, no. 02, pages 88 - 91 * |
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