CN111516831A - Cable type monitoring underwater robot - Google Patents
Cable type monitoring underwater robot Download PDFInfo
- Publication number
- CN111516831A CN111516831A CN202010318389.XA CN202010318389A CN111516831A CN 111516831 A CN111516831 A CN 111516831A CN 202010318389 A CN202010318389 A CN 202010318389A CN 111516831 A CN111516831 A CN 111516831A
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- Prior art keywords
- frame
- cable
- type monitoring
- self
- underwater robot
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/40—Diving chambers with mechanical link, e.g. cable, to a base of closed type adapted to specific work
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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
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
A cable type monitoring underwater robot comprises a frame, wherein a through circular hole is formed in the center of the frame in the longitudinal direction, a self-adaptive submarine cable holding device is installed inside the circular hole in a matched mode, and the self-adaptive submarine cable holding device holds a submarine cable; the middle part of the frame is provided with an ultra-short baseline responder, the frames on two sides of the ultra-short baseline responder are provided with side propellers, an underwater power box is fixed on the frame between the side propeller at one end and the ultra-short baseline responder, a control box is fixed on the frame between the side propeller at the other end and the ultra-short baseline responder, an underwater camera is further arranged in the frame, and a main propeller is arranged in the frame on two sides of the self-adaptive submarine cable holding device. The cable type monitoring and accident state observation of the cable control submersible vehicle can be realized by carrying the observation camera and the ultra-short baseline transponder, and a convenient and efficient cable type monitoring system is provided for underwater operation of the cable control submersible vehicle.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a cable type monitoring underwater robot.
Background
The cable-controlled submersible is mainly applied to the fields of deep sea exploration and scientific research, deep sea resource development and utilization and the like, and can enter various complex deep sea environments with lower risk and cost.
With the acceleration of the global deep sea development pace and the progress of deep sea development technology, the quantity of deep sea operation tasks, the operation depth and the complexity are increased, so that the cable laying length of the cable-controlled submersible vehicle is increased, and a single cable-controlled submersible vehicle cannot meet the requirements of the operation tasks, and a plurality of submersible vehicles are required to be operated simultaneously and cooperatively.
At present, if the situation that cables cannot be wound and unwound due to the fact that other objects or marine organisms wind the cables during operation of a single cable control submersible vehicle is met, operators on the water cannot know the position and the situation of the underwater wound cables, and finally the operators can only forcibly drag the cables by virtue of a winch or even cut the cables. If a plurality of cable control submergence devices operate simultaneously, the cable winding accident is easy to happen, and the submergence devices cannot be recycled.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a cable type monitoring underwater robot with a reasonable structure, so that the cable type monitoring underwater robot can be used for monitoring underwater vehicles.
The technical scheme adopted by the invention is as follows:
a cable type monitoring underwater robot comprises a frame, wherein a through circular hole is formed in the center of the frame in the longitudinal direction, a self-adaptive submarine cable holding device is installed inside the circular hole in a matched mode, and the self-adaptive submarine cable holding device holds a submarine cable; the middle part of the frame is provided with an ultra-short baseline responder, the frames on two sides of the ultra-short baseline responder are provided with side propellers, an underwater power box is fixed on the frame between the side propeller at one end and the ultra-short baseline responder, a control box is fixed on the frame between the side propeller at the other end and the ultra-short baseline responder, an underwater camera is further arranged in the frame, and a main propeller is arranged in the frame on two sides of the self-adaptive submarine cable holding device.
The further technical scheme is as follows:
the structure of the self-adaptive submarine cable holding device is as follows: including the device guide wheel mechanism of embracing tightly of four looks isostructures that enclose into the round in the circumference square, the structure of single device guide wheel mechanism of embracing tightly is: the supporting structure is of an arc-shaped structure, sleeves are respectively fixed at the upper end and the lower end of the outer part of the supporting structure, guide rods are in clearance fit with the inner parts of the sleeves, one ends of the guide rods and the sleeves are fixed at the outer part of the supporting structure together, the guide rods are sleeved with springs, and the other ends of the guide rods are fixed on the inner wall surface of a circular hole formed in the frame; the supporting structure is provided with a plurality of square holes from top to bottom at intervals, and the inside of each square hole is provided with a roller through a shaft and a bearing support.
The sleeve is welded to the exterior of the support structure.
And two ends of the guide rod are respectively welded on the outer part of the supporting structure and the inner wall surface of the circular hole.
The frame is externally wrapped with a light shell.
The invention has the following beneficial effects:
the cable type monitoring underwater robot is compact and reasonable in structure and convenient to operate, cable type monitoring and accident state observation of the cable control submersible vehicle can be achieved by carrying the observation camera and the ultra-short baseline transponder, a convenient and efficient cable type monitoring system is provided for underwater operation of the cable control submersible vehicle, and meanwhile, the cable type monitoring underwater robot has certain cable releasing capacity and can handle partial cable winding accidents.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a schematic structural diagram of the frame of the present invention.
Fig. 5 is a schematic structural diagram of the adaptive submarine cable holding device according to the present invention.
Fig. 6 is a top view of fig. 5.
Fig. 7 is a front view of a single support structure of the adaptive sea cable holding device of the present invention.
Wherein: 1. a lateral thruster; 2. an underwater power box; 3. a sea cable; 4. a frame; 401. a circular hole; 5. an ultra-short baseline transponder; 6. a control box; 7. a main thruster; 8. an underwater camera; 9. a self-adaptive submarine cable holding device;
901. a spring; 902. a guide bar; 903. a sleeve; 904. a roller; 905. a support structure; 906. a square hole.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the cable type monitoring underwater robot of the present embodiment includes a frame 4, a through circular hole 401 is formed in the center longitudinal direction of the frame 4, a self-adaptive sea cable holding device 9 is installed inside the circular hole 401 in a matching manner, and the self-adaptive sea cable holding device 9 holds a sea cable 3; the mid-mounting of frame 4 has ultrashort baseline transponder 5, install side propeller 1 on the frame 4 on the both sides of ultrashort baseline transponder 5, be fixed with underwater power supply box 2 on the side propeller 1 of one end and the frame 4 between the ultrashort baseline transponder 5, be fixed with control box 6 on the frame 4 between the side propeller 1 of the other end and the ultrashort baseline transponder 5, the inside camera 8 that still installs of frame 4, the self-adaptation sea cable holds frame 4 internally mounted on the both sides of device 9 has main propeller 7.
The structure of the self-adaptive submarine cable holding device 9 is as follows: including the device guide wheel mechanism of embracing tightly of four looks isostructures that enclose into the round in the circumference square, the structure of single device guide wheel mechanism of embracing tightly is: the supporting structure 905 is of an arc-shaped structure, sleeves 903 are fixed at the upper end and the lower end of the outer part of the supporting structure 905 respectively, guide rods 902 are in clearance fit with the inner parts of the sleeves 903, one ends of the guide rods 902 and the sleeves 903 are fixed on the outer part of the supporting structure 905, the guide rods 902 are sleeved with springs 901, and the other ends of the guide rods 902 are fixed on the inner wall surface of a circular hole 401 formed in a frame 4; the supporting structure 905 is provided with a plurality of square holes 906 from top to bottom at intervals, and the inside of each square hole 906 is provided with a roller 904 through a shaft and a bearing support.
The sleeve 903 is welded to the outside of the support structure 905.
Both ends of the guide rod 902 are welded to the outside of the support structure 905 and the inner wall surface of the circular hole 401, respectively.
The outside of the frame 4 is covered with a light housing.
The specific structure and function of the invention are as follows:
the marine submarine navigation system mainly comprises a side thruster 1, an underwater power supply box 2, a submarine cable 3, a frame 4, an ultra-short baseline transponder 5, a control box 6, a main thruster 7, an underwater camera 8, a self-adaptive submarine cable holding device 9 and other bolts and screw fasteners.
Wherein the cable type monitoring underwater robot is connected with the submarine cable 3 through the self-adaptive submarine cable holding device 9, and the two are connected in a mode of pressing through the spring 901, so that the robot moves along the axial direction of the cable.
Wherein, the side thruster 1, the underwater power box 2, the ultra-short baseline transponder 5, the control box 6, the main thruster 7, the underwater camera 8 and the self-adaptive submarine cable holding device 9 are respectively connected with the frame 4 through bolts, and the light shell is coated outside the frame 4, so as to ensure that the cable type monitoring underwater robot has a good hydrodynamic appearance.
The adaptive submarine cable holding device 9 mainly comprises four same holding device guide wheel mechanisms with elastic pressing functions. The guide wheel mechanism mainly comprises a spring 901, a guide rod 902, a sleeve 903, a roller 904 and a support structure 905.
Wherein the sleeve 903 is connected to the support structure 905 by means of welding and the roller 904 is connected to the support structure 905 by means of a shaft and a bearing. Guide bar 902 one end welding is on frame 4, and the other end passes through clearance fit and is connected with sleeve 903, and spring 901 installs on guide bar 902, and one end and sleeve 903 end face contact, the other end and frame 4 contact realize spacingly.
In the actual use process:
hold the submarine cable 3 through self-adaptation submarine cable cohesion device 9 and realize that cable type monitoring underwater robot follows cable axial motion, realize the navigation of robot through main propeller 7, it drives the shake of submarine cable 3 to realize the robot through side propeller 1, realize providing the energy for the robot through power supply box 2 under water, realize the control to the robot through control box 6, feed back robot positional information to the surface of water ship through ultrashort baseline transponder 5, observe environment and submarine cable 3 states under water through camera 8 under water.
The submarine cable 3 penetrates into the cable type monitoring underwater robot before the tail end is connected with the bearing head, the self-adaptive submarine cable holding device 9 is used for realizing compaction, and then the bearing head and the underwater equipment are connected. When normally receiving and releasing the cable, the self-adaptive submarine cable holding device 9 is limited, so that the robot does not influence the cable receiving and releasing, and the robot stops on the deck surface of the water surface ship.
When cable type monitoring is needed, the robot is released, the robot sails along the axial direction of the submarine cable 3 by opening the main propeller 7, and the track of the robot is completely consistent with the shape of the submarine cable 3 in water. The ultra-short baseline transmitting transducer of the surface ship transmits acoustic pulses, the ultra-short baseline transponder 5 on the robot receives the acoustic pulses and then transmits the acoustic pulses back to the surface ship, and the nodes of the submarine cable 3 are positioned in real time, so that cable type monitoring is realized. The state of the submarine cable 3 and the underwater environment can be observed in real time through the underwater camera 8.
When encountering the winding of submarine cable 3 and underwater foreign matter or the mutual winding of a plurality of submarine cables 3, the cable type monitoring underwater robot can drive the submarine cable 3 to shake by opening the two side thrusters 1, thereby realizing simple cable untwisting operation.
After the cable type monitoring is finished, through the reverse thrust of the main thruster 7, the cable type monitoring underwater robot sails upwards to the water surface along the submarine cable 3 and is then recovered by a surface ship.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (5)
1. A cable type monitoring underwater robot, characterized in that: the sea cable clamping device comprises a frame (4), wherein a through circular hole (401) is formed in the center of the frame (4) in the longitudinal direction, a self-adaptive sea cable clamping device (9) is installed inside the circular hole (401) in a matched mode, and the self-adaptive sea cable clamping device (9) clamps a sea cable (3); the mid-mounting of frame (4) has ultrashort baseline transponder (5), install side propeller (1) on frame (4) on ultrashort baseline transponder (5) both sides, be fixed with underwater power supply box (2) on side propeller (1) of one end and frame (4) between ultrashort baseline transponder (5), be fixed with control box (6) on side propeller (1) of the other end and frame (4) between ultrashort baseline transponder (5), frame (4) inside still installs camera (8) under water, frame (4) internally mounted on self-adaptation sea cable cohesion device (9) both sides has main propeller (7).
2. A cable-type monitoring underwater robot as claimed in claim 1, wherein: the structure of the self-adaptive submarine cable holding device (9) is as follows: including the device guide wheel mechanism of embracing tightly of four looks isostructures that enclose into the round in the circumference square, the structure of single device guide wheel mechanism of embracing tightly is: the supporting structure (905) is of an arc-shaped structure, sleeves (903) are respectively fixed at the upper end and the lower end of the outer part of the supporting structure (905), guide rods (902) are in clearance fit with the inner part of the sleeves (903), one ends of the guide rods (902) and the sleeves (903) are fixed to the outer part of the supporting structure (905), the guide rods (902) are sleeved with springs (901), and the other ends of the guide rods (902) are fixed to the inner wall surface of a circular hole (401) formed in a frame (4); supporting structure (905) from last to having a plurality of quad slit (906) of spaced apart down, gyro wheel (904) are installed through axle and bearing support to every quad slit (906) inside.
3. A cable-type monitoring underwater robot as claimed in claim 2, wherein: the sleeve (903) is welded to the outside of the support structure (905).
4. A cable-type monitoring underwater robot as claimed in claim 2, wherein: two ends of the guide rod (902) are respectively welded on the outer part of the supporting structure (905) and the inner wall surface of the circular hole (401).
5. A cable-type monitoring underwater robot as claimed in claim 1, wherein: the frame (4) is externally covered with a light shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010318389.XA CN111516831B (en) | 2020-04-21 | 2020-04-21 | Cable type monitoring underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010318389.XA CN111516831B (en) | 2020-04-21 | 2020-04-21 | Cable type monitoring underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111516831A true CN111516831A (en) | 2020-08-11 |
| CN111516831B CN111516831B (en) | 2021-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010318389.XA Active CN111516831B (en) | 2020-04-21 | 2020-04-21 | Cable type monitoring underwater robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN116142426A (en) * | 2023-02-28 | 2023-05-23 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
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| FR2645360A1 (en) * | 1989-03-31 | 1990-10-05 | Ifremer | Method and device for connecting in situ a transmission cable to a carrier cable |
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN102493685A (en) * | 2011-11-30 | 2012-06-13 | 杭州高越科技有限公司 | Underwater cleaning robot with cable torsion detection device |
| CN104153291A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Rope inspection robot |
| KR20160047927A (en) * | 2014-10-23 | 2016-05-03 | 대우조선해양 주식회사 | Monitoring device for cable of submergence vehicle and monitoring method of the same of |
| CN205311868U (en) * | 2016-01-29 | 2016-06-15 | 大力金刚机器人（威海）有限公司 | Antiwind underwater robot |
| CN107479601A (en) * | 2017-09-18 | 2017-12-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winches |
| CN110626480A (en) * | 2019-09-28 | 2019-12-31 | 深圳智加问道科技有限公司 | Underwater inspection robot |
-
2020
- 2020-04-21 CN CN202010318389.XA patent/CN111516831B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2645360A1 (en) * | 1989-03-31 | 1990-10-05 | Ifremer | Method and device for connecting in situ a transmission cable to a carrier cable |
| CN102493685A (en) * | 2011-11-30 | 2012-06-13 | 杭州高越科技有限公司 | Underwater cleaning robot with cable torsion detection device |
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN104153291A (en) * | 2014-04-15 | 2014-11-19 | 宁波职业技术学院 | Rope inspection robot |
| KR20160047927A (en) * | 2014-10-23 | 2016-05-03 | 대우조선해양 주식회사 | Monitoring device for cable of submergence vehicle and monitoring method of the same of |
| CN205311868U (en) * | 2016-01-29 | 2016-06-15 | 大力金刚机器人（威海）有限公司 | Antiwind underwater robot |
| CN107479601A (en) * | 2017-09-18 | 2017-12-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of automatic deploying and retracting cable monitoring system and method for ROV umbilical cables winches |
| CN110626480A (en) * | 2019-09-28 | 2019-12-31 | 深圳智加问道科技有限公司 | Underwater inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN116142426A (en) * | 2023-02-28 | 2023-05-23 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN116142426B (en) * | 2023-02-28 | 2023-08-29 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
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| CN111516831B (en) | 2021-03-09 |
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