CN111186501B - Seabed operation robot - Google Patents
Seabed operation robot Download PDFInfo
- Publication number
- CN111186501B CN111186501B CN202010020921.XA CN202010020921A CN111186501B CN 111186501 B CN111186501 B CN 111186501B CN 202010020921 A CN202010020921 A CN 202010020921A CN 111186501 B CN111186501 B CN 111186501B
- Authority
- CN
- China
- Prior art keywords
- power device
- mechanical
- movable
- advancing
- arm
- Prior art date
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Abstract
The invention discloses a seabed working robot which comprises a main rack, wherein a suspension lifting assembly and an information collecting assembly are arranged on the main rack. The main frame is also provided with a traveling power assembly, the traveling power assembly comprises a fixed base arranged under the main frame, and a mechanical power device and a traveling device are arranged in the fixed base. The mechanical power device comprises mechanical arms which are arranged on the side walls of two sides of the fixed base in a bilateral symmetry mode, and the mechanical arms can move at multiple angles. The advancing device comprises two advancing fixing pieces which are respectively arranged on the mechanical arms on two sides of the fixed base, the two advancing fixing pieces are arranged through a detachable structure, at least one movable wheel is arranged on the advancing fixing pieces, and the movable wheels are uniformly distributed in a vertical plane. The invention has stronger submarine exploration capability and can adapt to complex submarine environment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a seabed working robot.
Background
Underwater robots can generally be divided into two main categories: one is a cabled underwater robot and the other is a cableless underwater robot. Further, according to the purpose of use, there are underwater investigation robots (observation, measurement, collection of test materials, etc.), underwater work robots (underwater welding, underwater construction, underwater cutting, underwater cleaning, etc.), and there are seabed robots and underwater robots according to the place of action.
The underwater robot is born from the 20 th 50 th generation till now, under the condition of rapid development of scientific, economic and other aspects of China, the underwater robot technology is better and better, the functions of the manufactured underwater robot are more and more, the application places are more and more, and the underwater robot can not only carry out underwater operation detection in a highly dangerous water area, but also replace manual work to carry out underwater operation detection in a shallow water area. The more common underwater robots used in shallow water areas include sewer cleaning robots, water quality monitoring robots and the like.
However, as human beings have been studied on deep sea, human beings are increasingly aware of the abundance of deep sea resources, and therefore, facilities for deep sea exploration are becoming more important, and unlike shallow water regions, deep sea is not only cold but also high in water pressure, and the demand for facilities is high. In order to go deep into the deep sea for research and save manpower and material resources, human beings begin to build a deep sea space station similar to a space station on the deep sea bottom, the deep sea space station is monitored and managed by a land system, and underwater robots of the deep sea space station are operated to perform exploration, detection, maintenance and other work. The deep sea environment is complex and changeable, an underwater robot is often required to be close to the sea bottom before a platform is built, the surface layer of the sea bottom is usually unstable strata such as silt, silt and the like, and the interference of plants such as algae and the like can be generated around the seabed.
Disclosure of Invention
The invention aims to provide a seabed working robot which is strong in exploration capacity and suitable for complex environment.
The invention discloses a technical scheme of a seabed working robot, which comprises the following steps:
the utility model provides a seabed work robot, includes the main frame, install suspension lifting unit and information acquisition subassembly on the main frame.
The main frame is further provided with a traveling power assembly, the traveling power assembly comprises a fixed base arranged below the main frame, and a mechanical power device and a traveling device are arranged in the fixed base. The mechanical power device comprises mechanical arms which are arranged on the side walls of two sides of the fixed base in a bilateral symmetry mode, and the mechanical arms can move at multiple angles.
The moving device comprises two moving fixing pieces which are respectively arranged on the mechanical arms on two sides of the fixed base, the two moving fixing pieces are arranged through a detachable structure, at least one moving wheel is arranged on the moving fixing pieces, and the moving wheels are uniformly distributed in a vertical plane.
As a preferred scheme, the movable wheel is installed on the traveling fixed part through a wheel seat, the movable wheel is installed in a groove of the wheel seat, a movable rod is arranged in the groove of the wheel seat, the other end of the movable rod is provided with a movable part and extends into the movable wheel, and the movable wheel can rotate freely in the groove of the wheel.
Preferably, the tail part of the wheel seat is mounted on the traveling fixed part through a screw, and an elastic damping assembly is arranged between the wheel seat and the traveling fixed part.
As a preferred scheme, the fixed part of marcing is the multichannel siphunculus, the multichannel siphunculus is equipped with six interfaces, and two of them interfaces set up along the horizontal direction, and four other interfaces are used for fixing the movable wheel distributes along vertical direction.
Preferably, the mechanical power device comprises a mechanical base fixed on the main frame, the mechanical base is internally provided with a power device, and the mechanical base is provided with a telescopic rotating arm.
Preferably, the power device is arranged in the telescopic rotating arm, the telescopic rotating arm is driven by the power device in the mechanical base to rotate, and the telescopic rotating arm can be driven by the built-in power device to extend and retract.
Preferably, the mechanical power device further comprises a heavy arm mounted at the other end of the telescopic rotating arm, the heavy arm is fixed at the other end of the rotary telescopic arm through a rotating part, a power device is arranged in the heavy arm, and the power device is arranged in the heavy arm and is used for driving the travel fixing part to rotate.
Preferably, a telescopic rod is further arranged in the heavy arm, and the telescopic rod is driven by the power device arranged in the heavy arm and can extend from the traveling fixing piece on one side to the traveling fixing piece on the other side.
The invention provides a seabed working robot, which is provided with a suspension lifting assembly usually carried by the seabed working robot and a power assembly, wherein the power assembly comprises a fixed base for installation, two mechanical arms are arranged between the fixed bases, and a travelling fixing part is arranged at the other end of each mechanical arm, so that the mechanical arms can drive the travelling fixing part to rotate at multiple angles, and a movable wheel can be swung to different angles. The invention can adjust the configured movable wheels at multiple angles by arranging the advancing power assembly, and when the robot needs to work on the terrain with soft geology such as silt, the two advancing fixing pieces can be assembled by the mechanical arm. The movable wheels on the advancing fixing piece are all in the vertical direction to form a great circle, and compared with the common movable wheels, the movable wheels are more convenient to move. When the pipeline needs to be assembled, detected, maintained and the like, the two advancing fixing pieces can be disassembled, the great circles formed by the movable wheels on the two advancing fixing pieces are slightly inclined through the mechanical arm, the pipeline can be clamped, the device can slide on the pipeline, and deep sea resource and energy are saved.
Drawings
Fig. 1 is a schematic structural view of a seabed working robot of the present invention.
Fig. 2 is a schematic structural view of a stationary base of the subsea operation robot of the present invention.
Fig. 3 is a schematic structural view of a traveling power assembly of the subsea operation robot of the present invention.
Fig. 4 is a schematic structural view of a traveling apparatus of a seabed working robot according to the present invention.
Fig. 5 is a schematic structural view of a movable wheel of the seabed working robot according to the present invention.
Detailed Description
The invention will be further elucidated and described with reference to the embodiments and drawings of the specification:
referring to fig. 1, 2, 3 and 4, a subsea operation robot includes a main frame 10, and a levitation lifting assembly 20 and an information collecting assembly 30 are mounted on the main frame 10.
The main frame 10 is further provided with a traveling power assembly 40, the traveling power assembly 40 comprises a fixed base 50 arranged under the main frame, and a mechanical power device 60 and a traveling device 70 are arranged in the fixed base 50. The mechanical power device 60 comprises mechanical arms which are arranged on the side walls of the two sides of the fixed base in a bilateral symmetry mode, and the mechanical arms can move at multiple angles.
The travelling device 70 comprises two travelling fixed pieces 72 which are respectively arranged on the mechanical arms at two sides of the fixed base, the two travelling fixed pieces are arranged through a detachable structure, at least one movable wheel 74 is arranged on the travelling fixed pieces, and the movable wheels are uniformly distributed in a vertical plane.
Referring to fig. 5, the movable wheel 74 is mounted on the traveling fixed member through a wheel seat, the movable wheel is mounted in a groove of the wheel seat, a movable rod is disposed in the groove of the wheel seat, a movable member is disposed at the other end of the movable rod and extends into the movable wheel, and the movable wheel can rotate freely in the groove of the wheel.
The tail part of the wheel seat is installed on the advancing fixing part through a screw rod, and an elastic damping component is arranged between the wheel seat and the advancing fixing part.
It should be noted that, according to needs, a rotating motor can be arranged at each interface position of the traveling fixed part, and the screw rod at the tail part of the wheel seat is arranged on the output shaft of the rotating motor, so that the movable wheel can be controlled by the rotating motor to rotate, the movable range of the movable wheel is increased, and the capability of the movable wheel to adapt to the terrain is improved by matching with the angle adjustment of the manipulator.
The fixed part 72 of marcing is the multichannel siphunculus, the multichannel siphunculus is equipped with six interfaces, and two of them interfaces set up along the horizontal direction, and four other interfaces are used for fixing the movable pulley distributes along vertical direction.
The mechanical power device 60 comprises a mechanical base 61 fixed on the main frame, a power device is arranged in the mechanical base, and a telescopic rotating arm 62 is arranged on the mechanical base.
The power device is arranged in the telescopic rotating arm 62, the telescopic rotating arm 62 is driven by the power device in the mechanical base to rotate, and the telescopic rotating arm 62 can be driven by the built-in power device to extend and retract.
The mechanical power device 60 further comprises a heavy arm 63 mounted at the other end of the telescopic rotating arm 62, the heavy arm 63 is fixed at the other end of the rotary telescopic arm 62 through a rotating member 64, a power device is arranged in the heavy arm 63, and the power device is arranged in the heavy arm 63 and is used for driving the travel fixing member 72 to rotate.
The heavy arm 63 is also internally provided with a telescopic rod 65 which is driven by the built-in power device of the heavy arm and can extend from the advancing fixing piece on one side to the advancing fixing piece on the other side.
Specifically, the suspension lifting device comprises turbines which are arranged on the front portion, the rear portion and the upper portion and the lower portion of the main frame, the turbines rotate to generate backward pressure for pushing the equipment to move, and four turbines are arranged for moving up, down, left and right. The information collecting assembly is arranged in the middle of the main frame and comprises a camera, an audio collector and the like, and the information collecting assembly can record and store the conditions in deep sea or transmit the conditions to land through communication equipment. Still install at least one seal pot on the main frame, install precision equipment such as controller in the seal pot, inside precision equipment all is connected with automation equipment such as external manipulator through the circuit pipeline that sets up.
The invention provides a seabed working robot, which is provided with a suspension lifting assembly usually carried by the seabed working robot and a power assembly, wherein the power assembly comprises a fixed base for installation, two mechanical arms are arranged between the fixed bases, and a travelling fixing part is arranged at the other end of each mechanical arm, so that the mechanical arms can drive the travelling fixing part to rotate at multiple angles, and a movable wheel can be swung to different angles. The invention can adjust the configured movable wheels at multiple angles by arranging the advancing power assembly, and when the robot needs to work on the terrain with soft geology such as silt, the two advancing fixing pieces can be assembled by the mechanical arm. The movable wheels on the advancing fixing piece are all in the vertical direction to form a great circle, and compared with the common movable wheels, the movable wheels are more convenient to move. When the pipeline needs to be assembled, detected, maintained and the like, the two advancing fixing pieces can be disassembled, the great circles formed by the movable wheels on the two advancing fixing pieces are slightly inclined through the mechanical arm, the pipeline can be clamped, the device can slide on the pipeline, and deep sea resource and energy are saved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (8)
1. The utility model provides a seabed work robot, includes the main frame, install suspension lifting unit and information acquisition subassembly on the main frame, its characterized in that:
the main frame is also provided with a travelling power assembly, the travelling power assembly comprises a fixed base arranged below the main frame, and a mechanical power device and a travelling device are arranged in the fixed base;
the mechanical power device comprises mechanical arms which are arranged on the side walls of the two sides of the fixed base and are bilaterally symmetrical, and the mechanical arms can move at multiple angles;
the moving device comprises two moving fixing pieces which are respectively arranged on the mechanical arms on two sides of the fixed base, the two moving fixing pieces are arranged through a detachable structure, at least one moving wheel is arranged on the moving fixing pieces, and the moving wheels are uniformly distributed in a vertical plane.
2. A subsea operation robot as claimed in claim 1, characterized in that: the movable wheel is installed on the advancing fixing piece through a wheel seat, the movable wheel is installed in a groove of the wheel seat, a movable rod is arranged in the groove of the wheel seat, the other end of the movable rod is provided with a movable part and extends into the movable wheel, and the movable wheel can rotate freely in the groove of the wheel seat.
3. A subsea operation robot as claimed in claim 2, characterized in that: the tail part of the wheel seat is installed on the advancing fixing part through a screw rod, and an elastic damping component is arranged between the wheel seat and the advancing fixing part.
4. A subsea operation robot as claimed in claim 1, characterized in that: the fixed part of marcing is the multichannel siphunculus, the multichannel siphunculus is equipped with six interfaces, and two of them interfaces set up along the horizontal direction, and four other interfaces are used for fixing the movable pulley distributes along vertical direction.
5. A subsea operation robot as claimed in claim 1, characterized in that: the mechanical power device comprises a mechanical base fixed on the main frame, a power device is arranged in the mechanical base, and a telescopic rotating arm is arranged on the mechanical base.
6. A subsea operation robot according to claim 5, characterized in that: the power device is arranged in the telescopic rotating arm, the telescopic rotating arm is driven by the power device in the mechanical base to rotate, and the telescopic rotating arm can be driven by the built-in power device to stretch.
7. A subsea operation robot according to claim 6, characterized in that: the mechanical power device further comprises a heavy arm arranged at the other end of the telescopic rotating arm, the heavy arm is fixed at the other end of the telescopic rotating arm through a rotating part, a power device is arranged in the heavy arm, and the power device arranged in the heavy arm is used for driving the advancing fixing part to rotate.
8. A subsea operation robot as claimed in claim 7, characterized in that: the heavy arm is internally provided with a telescopic rod, and the telescopic rod is driven by a power device arranged in the heavy arm and can extend from the advancing fixing piece on one side to the advancing fixing piece on the other side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010020921.XA CN111186501B (en) | 2020-01-08 | 2020-01-08 | Seabed operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010020921.XA CN111186501B (en) | 2020-01-08 | 2020-01-08 | Seabed operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111186501A CN111186501A (en) | 2020-05-22 |
| CN111186501B true CN111186501B (en) | 2020-12-29 |
Family
ID=70704720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010020921.XA Active CN111186501B (en) | 2020-01-08 | 2020-01-08 | Seabed operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111186501B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110062248A (en) * | 2009-12-03 | 2011-06-10 | 대우조선해양 주식회사 | Rov for ships using radio control |
| CN204393121U (en) * | 2014-11-26 | 2015-06-17 | 獐子岛集团股份有限公司 | A kind of precious marine product Cai Bu robot |
| CN106428484A (en) * | 2016-11-28 | 2017-02-22 | 东北石油大学 | Self-adaption multi-legged ROV (Remote Operated Vehicle) for marine petroleum exploitation |
| KR20180064636A (en) * | 2016-12-05 | 2018-06-15 | 한국해양과학기술원 | marine exploration robot and leg mounted on marine exploration robot |
| CN108313240A (en) * | 2018-01-03 | 2018-07-24 | 中广核核电运营有限公司 | Nuclear power station submerged condition inspection machine people |
| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A kind of running on wheels-thrust by airscrew underwater cleaning robot |
| CN110077562A (en) * | 2019-05-15 | 2019-08-02 | 浙江大学 | Migration combination underwater monitoring robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10131057B2 (en) * | 2016-09-20 | 2018-11-20 | Saudi Arabian Oil Company | Attachment mechanisms for stabilzation of subsea vehicles |
-
2020
- 2020-01-08 CN CN202010020921.XA patent/CN111186501B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110062248A (en) * | 2009-12-03 | 2011-06-10 | 대우조선해양 주식회사 | Rov for ships using radio control |
| CN204393121U (en) * | 2014-11-26 | 2015-06-17 | 獐子岛集团股份有限公司 | A kind of precious marine product Cai Bu robot |
| CN106428484A (en) * | 2016-11-28 | 2017-02-22 | 东北石油大学 | Self-adaption multi-legged ROV (Remote Operated Vehicle) for marine petroleum exploitation |
| KR20180064636A (en) * | 2016-12-05 | 2018-06-15 | 한국해양과학기술원 | marine exploration robot and leg mounted on marine exploration robot |
| CN108313240A (en) * | 2018-01-03 | 2018-07-24 | 中广核核电运营有限公司 | Nuclear power station submerged condition inspection machine people |
| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A kind of running on wheels-thrust by airscrew underwater cleaning robot |
| CN110077562A (en) * | 2019-05-15 | 2019-08-02 | 浙江大学 | Migration combination underwater monitoring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111186501A (en) | 2020-05-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103978474B (en) | A kind of job that requires special skills robot towards extreme environment | |
| CN110525691B (en) | Foldable lunar camp auxiliary construction robot | |
| CN108973478B (en) | Large-scale stone carving robot assembly and stone carving method thereof | |
| CN107499479B (en) | Seabed self-propelled operation platform | |
| CN211694003U (en) | Detection control system of pipeline robot | |
| CN112267832A (en) | Seabed investigation drilling machine | |
| CN109981042A (en) | A kind of clean intelligent robot of solar panel based on more rotors | |
| CN111186501B (en) | Seabed operation robot | |
| CN207120238U (en) | Confined space sniffing robot | |
| CN112720512A (en) | Multi-drive cleaning robot for seawater desalination equipment | |
| CN111872946A (en) | Interior decoration robot | |
| CN114132470A (en) | Control vertical vector propulsion device of underwater robot and propulsion method thereof | |
| CN111805501B (en) | Flexible variable-diameter permanent-magnet adsorption wheat wheel type cylinder climbing robot system | |
| CN207423503U (en) | A kind of dynamic guiding type rotary steering drilling tool testing stand | |
| CN210083511U (en) | Mini underwater robot capable of monitoring water quality | |
| CN211649493U (en) | CCTV pipeline inspection robot body structure | |
| CN211006796U (en) | Bridge underwater pile foundation detection robot | |
| CN210775100U (en) | Multifunctional device for rock-soil body cutting mechanism research and cutter tooth optimization | |
| CN108406793B (en) | Intelligent explosion and danger eliminating robot | |
| CN113945409B (en) | Electric rotary sampler for geological exploration for mining | |
| CN115929203A (en) | Underwater hovering drilling robot | |
| CN213121918U (en) | Multifunctional wireless soil environment monitor | |
| CN113640042B (en) | Remotely controllable concrete drilling coring device | |
| CN213510442U (en) | Seabed investigation drilling machine | |
| CN213089199U (en) | Artificial intelligence data acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220124 Address after: 410000 room D-113, East Building, engineering incubation building, Hunan University Science Park, 186 Guyuan Road, Changsha high tech Development Zone, Changsha, Hunan Province Patentee after: Hunan Pudong Technology Co.,Ltd. Address before: 526000 room 8, unit C, maker business center, Zhanqian Avenue, Guicheng, Dinghu District, Zhaoqing City, Guangdong Province Patentee before: Huayuchang (Zhaoqing) Intelligent Technology Research Co.,Ltd. Patentee before: Li Shi Feng (Zhaoqing) Automation Technology Co., Ltd |