CN112519992A - Special underwater robot - Google Patents
Special underwater robot Download PDFInfo
- Publication number
- CN112519992A CN112519992A CN201910875570.8A CN201910875570A CN112519992A CN 112519992 A CN112519992 A CN 112519992A CN 201910875570 A CN201910875570 A CN 201910875570A CN 112519992 A CN112519992 A CN 112519992A
- Authority
- CN
- China
- Prior art keywords
- water
- pipe
- robot
- hole
- shell
- 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.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 177
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 17
- 230000001174 ascending effect Effects 0.000 claims description 14
- 230000006698 induction Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 abstract description 16
- 241000251468 Actinopterygii Species 0.000 abstract description 7
- 241001474374 Blennius Species 0.000 abstract description 6
- 239000013535 sea water Substances 0.000 abstract description 6
- 230000033228 biological regulation Effects 0.000 abstract description 3
- 238000004804 winding Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 241000544058 Halophila Species 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 2
- 208000034699 Vitreous floaters Diseases 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/40—Other means for varying the inherent hydrodynamic characteristics of hulls by diminishing wave resistance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/01—Marine propulsion by water jets having means to prevent foreign material from clogging fluid passage way
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The technical scheme relates to the technical field of underwater equipment, in particular to a special underwater robot which comprises a robot shell and a support frame, wherein the robot shell comprises a machine head, a machine body and a machine tail, and the support frame is fixed inside the robot shell. This technical scheme structural design is reasonable, utilize the rivers control of solenoid valve and No. two solenoid valves to each way water pipe, realize the up-and-down side-to-side motion of underwater robot, it is nimble to remove, the counterforce that utilizes water jet to produce replaces the screw to provide drive power for the robot, the structural design who utilizes the filter screen panel can prevent that seaweed winding and debris from piling up the jam, utilize streamlined shell design, reducible movement resistance, increase the back of the body fin similar with fish, pectoral fin and ventral fin, the motion balance of regulation robot in left and right directions and vertical direction that can be fine, utilize the sea water as the water source, convenience and practicality, especially, be applicable to seabed oil development field, have fine popularization and application prospect.
Description
Technical Field
The technical scheme relates to the technical field of underwater equipment, in particular to a special underwater robot.
Background
The underwater robot is a limit operation robot which replaces human beings to work underwater, because the underwater environment is complicated and changeable, the diving depth of the human beings is limited, and the environment of a deeper water area can not be explored, the underwater robot is often used for searching and observing underwater targets, because the driving mode of the underwater robot adopts a propeller type to control the motion direction of the underwater robot, a lot of seaweeds and floaters similar to the shapes of the seaweeds grow in the ocean, when the propeller is wound with the seaweeds or the floaters in the running process, the running of the underwater robot can be influenced, even the function of the underwater robot can be paralyzed, and therefore a series of optimization design is carried out on the underwater robot aiming at the outstanding problem.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a special underwater robot. Utilize the rivers control of solenoid valve and No. two solenoid valves to each way water pipe, realize underwater robot's upper and lower side-to-side movement, it is nimble to remove, the counterforce that utilizes the water jet to produce replaces the screw to provide drive power for the robot, the structural design who utilizes the filter screen panel can prevent that sea grass winding and debris from piling up the jam, utilize streamlined shell design, reducible movement resistance, increase the dorsal fin similar with fish, pectoral fin and ventral fin, the motion balance of regulation robot in left and right directions and vertical direction that can be fine, utilize the sea water as the water source, economical and practical.
The technical scheme adopted by the invention for solving the technical problems is as follows: a special underwater robot comprises a robot shell and a support frame, wherein the robot shell comprises a machine head, a machine body and a machine tail, the machine head and the machine tail are semi-elliptical shells and are fixedly connected with the machine body, a center hole and two observation holes which are symmetrical relative to the center hole are arranged at the center of a machine head shell, a horizontal through hole and four direction through holes which are symmetrical relative to the horizontal through hole are arranged at the center of a machine tail shell, the direction through holes comprise two left-direction through holes and two right-direction through holes, a back fin is arranged on the outer surface of the machine body shell, the dorsal fins, the pectoral fins and the ventral fins simulate the external shape characteristics of the body of large marine fishes, so that the motion balance of the underwater robot can be well adjusted, the rejection attack of the fishes on the underwater robot can be reduced, and a balance through hole and a vertical through hole positioned on the left side of the balance through hole are formed in the central position of the bottom of the body shell; the robot shell is internally provided with a water inlet pipe, a camera, a power supply, a water pump, a water outlet pipe, a tee joint, a first branch pipe, a second branch pipe, a first electromagnetic valve, a water ascending pipe, a water advancing pipe, a water balancing pipe, a second electromagnetic valve, a right water pipe, a left water pipe, a depth sensor, an underwater detector, a receiving and processing system, a communication system and a nozzle in sequence from left to right, the cameras are two in total and are respectively communicated and fixedly connected with an observation hole, the left end of the water inlet pipe penetrates through a central hole and is fixedly connected with a semi-elliptical filter screen cover, the tee joint comprises an inlet and two outlets, the right end of the water inlet pipe and the left end of the water outlet pipe are both communicated with the water pump, the right end of the water outlet pipe is in threaded connection with the inlet of the tee joint, the left end of the first branch pipe and the left end of the second branch pipe are respectively in threaded connection with the two outlets of the tee joint, the right, the first electromagnetic valve comprises two water inlets, three water outlets and an electromagnetic control system, the two water inlets are respectively communicated and fixedly connected with two through pipes of the first branch pipe, the three water outlets are respectively communicated and fixedly connected with the ascending water pipe, the front water inlet pipe and the balance water pipe from left to right, the second electromagnetic valve comprises a water inlet, two groups of water outlets and an electromagnetic control system, each group of water outlets is provided with two through holes, the water inlet of the second electromagnetic valve is communicated and fixedly connected with the second branch pipe, and the two groups of water outlets are respectively communicated and fixedly connected with the left water pipe and the right water pipe; the number of the nozzles is seven, the nozzles comprise a cylindrical hole, a conical hole and a thin nozzle, the nozzles are designed to increase the jet speed of water flow, the moving direction of the underwater robot can be regulated and controlled more quickly, and the tail ends of a right water pipe, a left water pipe, a water ascending pipe, a water advancing pipe and a balance water pipe respectively penetrate through a right through hole, a left through hole, a vertical through hole, a horizontal through hole and a balance through hole and are in threaded connection with the cylindrical hole; the support frame is fixed at the bottom of an inner cavity of the robot shell, a first square frame and a second square frame are sequentially arranged on the support frame from left to right, the water pump is fixed on the upper end face of the first square frame, the depth sensor, the underwater detection instrument and the communication system are all fixed on the upper end face of the second square frame, the power supply and the receiving and processing system are all fixed on the upper end face of the support plate, the induction head of the underwater detection instrument, the induction head of the depth sensor and the signal line of the communication system all penetrate through the robot shell and extend outwards to a certain distance along the signal line of the communication system, the induction head and the signal line are all provided with waterproof seals at the contact positions with the robot shell, and the waterproof seals are arranged between a center hole and a water inlet pipe, between an observation hole and a camera, between a water feeding pipe and the robot shell, between a left water feeding pipe and the robot shell, between a right, The joints between the balance water pipe and the robot shell and between the pipelines inside the robot shell are provided with waterproof seals, wherein the waterproof seals can be sealed by sealing rings or mechanical seals, and the camera, the water pump, the first electromagnetic valve, the second electromagnetic valve, the depth sensor, the underwater detection instrument, the receiving and processing system and the communication system are electrically connected with the power supply.
Furthermore, the shape of the valve core in the first electromagnetic valve is
When the valve core is positioned in the middle position, the right water inlet is communicated with the rightmost water outlet, so that the underwater robot resists the self gravity and keeps the balance of the original position; when the valve core slides leftwards, the two water outlets on the left side are communicated with the water inlet on the left side, so that the combination of horizontal thrust and vertical thrust is realized to form an oblique upward thrust, the underwater robot is pushed to move obliquely upwards, and the movement resistance of the underwater robot during ascending can be greatly reduced; when the valve core slides rightwards, the water inlet at the left side is communicated with the water outlet at the middle position, so that the underwater robot moves only under the action of horizontal thrust.
Furthermore, the filter head of the filter screen covers faces the outside of the machine head, the filter screen covers are exposed outside the shell of the robot, and seawater is used for washing the filter screen covers, so that the seaweed can be prevented from blocking the filter holes.
The technical scheme has the beneficial effects that: this technical scheme mechanism reasonable in design utilizes the rivers control of solenoid valve and No. two solenoid valves to each way water pipe, realize the up-and-down side-to-side motion of underwater robot, it is nimble to remove, the counterforce that utilizes water jet to produce replaces the screw to provide drive power for the robot, the structural design who utilizes the filter screen panel can prevent that sea grass winding and debris from piling up the jam, utilize streamlined shell design, reducible movement resistance, increase the back of the body fin similar with fish, pectoral fin and ventral fin, the motion balance of regulation robot in left and right directions and vertical direction that can be fine, utilize the sea water as the water source, and is convenient and practical.
Drawings
FIG. 1 is a schematic diagram of the external structure of the present invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
Fig. 3 is a schematic structural diagram of the first solenoid valve.
Fig. 4 is a schematic structural diagram of a second electromagnetic valve.
Fig. 5 is a right side view of the tail housing.
Fig. 6 is a schematic structural view of the nozzle.
Fig. 7 is a schematic structural view of the filter screen.
Icon: 1-machine head; 1-1-central hole; 1-2-observation hole; 2-a fuselage; 2-1-dorsal fin; 2-2-pectoral fin; 2-3-ventral fin; 3-machine tail; 3-1-horizontal through holes; 3-2-direction through holes; 3-2-1-right through hole; 3-2-2-left direction through hole; 4-filtering net cover; 5-a camera; 6-water inlet pipe; 7-a water pump; 8-water outlet pipe; 9-a tee joint; branch pipe No. 10-II; 11-second electromagnetic valve; 11-1-a water inlet; 11-2-water outlet; 11-3-electromagnetic control system; 12-a right-hand water pipe; 13-a depth sensor; 14-underwater detectors; 15-a communication system; 16-a nozzle; 16-1-cylindrical bore; 16-2-taper hole; 16-3-fine nozzle; 17-a water feeding pipe; 18-a left-hand water pipe; 19-a support frame; 20-a receiving and processing system; 21-second square frame; 22-balance water pipe; 23-balanced vias; 24-vertical vias; 25-rising water pipes; 26-a first electromagnetic valve; 26-1-a water inlet; 26-2-water outlet; 26-3-electromagnetic control system; 27-branch line I; 27-1-pass tube; 28-a power supply; 29-a first square frame; 30-robot housing.
Detailed Description
The present invention will be described in detail below with reference to fig. 1 to 7.
As shown in figures 1-7, the robot comprises a robot shell 30 and a support frame 19, wherein the robot shell 30 comprises a nose 1, a body 2 and a tail 3, the nose 1 and the tail 3 are semi-elliptical shells and are fixedly connected with the body 2, a central hole 1-1 and two observation holes 1-2 symmetrical relative to the central hole 1-1 are arranged at the central position of a shell of the nose 1, a horizontal through hole 3-1 and four direction through holes 3-2 symmetrical relative to the horizontal through hole 3-1 are arranged at the central position of a shell of the tail 3, the direction through holes 3-2 comprise two left through holes 3-2-1 and two right through holes 3-2-2, a dorsal fin 2-1, a pectoral fin 2-2 and a ventral fin 2-3 are arranged on the outer surface of the body 2, and the dorsal fin 2-1, The pectoral fins 2-2 and the ventral fins 2-3 imitate the external shape characteristics of the body of large marine fishes, so that the motion balance of the underwater robot can be well adjusted, the rejection attack of the fishes on the underwater robot can be reduced, and a balance through hole 23 and a vertical through hole 24 positioned on the left side of the balance through hole 23 are arranged at the central position of the bottom of the shell of the body 2; the robot shell 30 is internally provided with a water inlet pipe 6, a camera 5, a power supply 28, a water pump 7, a water outlet pipe 8, a tee joint 9, a first branch pipe 27, a second branch pipe 10, a first electromagnetic valve 26, a rising water pipe 25, a water inlet pipe 17, a balance water pipe 22, a second electromagnetic valve 11, a right water pipe 12, a left water pipe 18, a depth sensor 13, an underwater detecting instrument 14, a receiving and processing system 20, a communication system 15 and a nozzle 16 from left to right in sequence, the camera 5 is provided with two parts which are respectively communicated and fixedly connected with an observation hole 1-2, the left end of the water inlet pipe 6 penetrates through a central hole 1-1 and is fixedly connected with a semi-elliptical filter screen 4, the tee joint 9 comprises an inlet and two outlets, the right end of the water inlet pipe 6 and the left end of the water outlet pipe 8 are both communicated with the water pump 7, the right end of the water outlet pipe 8 is in threaded connection with the inlet of the tee joint, the right side of the first branch pipe 27 is branched into two through pipes 27-1, the number of the right water pipe 12 and the left water pipe 18 is two and respectively corresponds to the distribution positions of the right through hole 3-2-2 and the left through hole 3-2-1, the first electromagnetic valve 26 comprises two water inlets 26-1, three water outlets 26-2 and an electromagnetic control system 26-3, the two water inlets 26-1 are respectively communicated and fixedly connected with the two through pipes 27-1 of the first branch pipe 27, the three water outlets 26-2 are respectively communicated and fixedly connected with the ascending water pipe 25, the advancing water pipe 17 and the balance water pipe 22 from left to right, the second electromagnetic valve 11 comprises a water inlet 11-1, two groups of water outlets 11-2 and an electromagnetic control system 11-3, and each group of the water outlets 11-2 is provided with two through holes, a water inlet 11-1 of the second electromagnetic valve 11 is communicated and fixedly connected with the second branch pipe 10, and two groups of water outlets 11-2 are respectively communicated and fixedly connected with the left water pipe 18 and the right water pipe 12; the nozzles 16 are seven in total and consist of three parts, namely a cylindrical hole 16-1, a conical hole 16-2 and a thin nozzle 16-3, the nozzles 16 are designed to increase the jet speed of water flow and can more quickly regulate and control the movement direction of the underwater robot, and the tail ends of the right water pipe 12, the left water pipe 18, the water ascending pipe 25, the water advancing pipe 17 and the balance water pipe 22 respectively penetrate through the right through hole 3-2-2, the left through hole 3-2-1, the vertical through hole 24, the horizontal through hole 3-2 and the balance through hole 23 and are in threaded connection with the cylindrical hole 16-1; the support frame 19 is fixed at the bottom of an inner cavity of the robot shell 30, the support frame 19 is sequentially provided with a first square frame 29 and a second square frame 21 from left to right, the water pump 7 is fixed on the upper end face of the first square frame 29, the depth sensor 13, the underwater detection instrument 14 and the communication system 15 are fixed on the upper end face of the second square frame 21, the power supply 28 and the receiving and processing system 20 are fixed on the upper end face of the support plate 19, the induction head of the underwater detection instrument 14, the induction head of the depth sensor 13 and the signal line of the communication system 15 penetrate through the robot shell 30, the signal line of the communication system 15 extends outwards to a certain distance, the induction head and the signal line are provided with waterproof seals at the contact positions with the robot shell 30, and the center holes 1-1, the water inlet pipe 6, the observation holes 1-2, the camera 5 and the front water inlet pipe 17 are arranged between the, Waterproof seals are arranged at the joints between the left water pipe 18 and the robot shell 30, between the right water pipe 12 and the robot shell 30, between the ascending water pipe 25 and the robot shell 30, between the balance water pipe 22 and the robot shell 30 and between pipelines inside the robot shell 30, wherein the waterproof seals can be sealed by sealing rings or mechanically sealed, and the camera 5, the water pump 7, the first electromagnetic valve 26, the second electromagnetic valve 11, the depth sensor 13, the underwater detecting instrument 14, the receiving and processing system 20 and the communication system 15 are electrically connected with the power supply 28.
In this embodiment, the first electromagnetic valve 26 has a valve core with a shape of
When the valve core is positioned in the middle position, the right water inlet 26-1 is communicated with the rightmost water outlet 26-2, so that the underwater robot resists self gravity and keeps the balance of the original position; when the valve core slides leftwards, the two water outlets 26-2 on the left side are communicated with the water inlet 26-1 on the left side, so that the combination of horizontal thrust and vertical thrust is realized to form an oblique upward thrust, the underwater robot is pushed to move obliquely upwards, and the movement resistance of the underwater robot during ascending can be greatly reduced; when the valve core slides rightwards, the left water inlet 26-1 is communicated with the water outlet 26-2 in the middle position, so that the underwater robot moves only under the action of horizontal thrust.
In this embodiment, the filter head of the filter screen 4 faces the outside of the machine head, the filter screen 4 is exposed outside the robot housing 28, and seawater is used to wash the filter screen 4, so that the seaweed can be prevented from blocking the filter holes.
When the device is used, the power supply 28 is turned on, the camera 5, the water pump 7, the first electromagnetic valve 26, the second electromagnetic valve 11, the depth sensor 13, the underwater detector 14, the receiving and processing system 20 and the communication system 15 start to work, seawater is filtered by the filter screen cover 4 to enter the water inlet pipe 6, the water pump 7, the water outlet pipe 8, the tee joint 9, the first branch pipe 27 and the second branch pipe 10, then valve cores of the first electromagnetic valve 26 and the second electromagnetic valve 11 are controlled to slide, if a fixed position needs to be observed, the valve core of the first electromagnetic valve 26 can be adjusted to the middle position, a right water inlet 26-1 of the first electromagnetic valve is communicated with a rightmost water outlet 26-2, water flow is sprayed out from the nozzle 16 of the balance water pipe 22, and the purpose that an underwater robot resists self gravity and keeps the original position balance is achieved; if the underwater robot needs to move upwards, the valve core of the first electromagnetic valve 26 can slide leftwards, the two water outlets 26-2 on the left side of the underwater robot are communicated with the water inlet 26-1 on the left side, water flow is sprayed out from the water ascending pipe 25 and the water advancing pipe 17 simultaneously to generate horizontal thrust and vertical thrust for the robot, the two acting forces are combined to form an oblique upward thrust to push the underwater robot to move obliquely upwards, and the ascending mode can greatly reduce the movement resistance of the underwater robot during ascending; if the underwater robot needs to keep moving forward in the horizontal direction, the valve core of the first electromagnetic valve 26 can slide rightwards, the left water inlet 26-1 is communicated with the water outlet 26-2 in the middle position, and water flow is sprayed out from the front water inlet pipe 17, so that the underwater robot can move only under the action of horizontal thrust; if the robot needs to rotate leftwards, the valve core of the second electromagnetic valve 11 can slide leftwards, the water inlet 11-1 is communicated with the right water outlet 11-2, so that water flows into the left water pipe 18, the water flows in the left water pipe 18 are sprayed out from the nozzle 16, the underwater robot rotates leftwards, and similarly, when the valve core of the second electromagnetic valve 11 slides rightwards, the underwater robot rotates rightwards.
Claims (3)
1. The utility model provides a special underwater robot, includes robot housing and support frame, characterized by: the robot comprises a robot shell, a robot body and a robot tail, wherein the robot shell consists of a machine head, a machine body and a machine tail, the machine head and the machine tail are semi-elliptical shells and are fixedly connected with the machine body, a central hole and two observation holes which are symmetrical relative to the central hole are formed in the central position of a machine head shell, a horizontal through hole and four direction through holes which are symmetrical relative to the horizontal through hole are formed in the central position of a machine tail shell, the direction through holes comprise two left through holes and two right through holes, a dorsal fin, a pectoral fin and a ventral fin are arranged on the outer surface of the machine body shell, and a balance through hole and a vertical through hole; the robot shell is internally provided with a water inlet pipe, a camera, a power supply, a water pump, a water outlet pipe, a tee joint, a first branch pipe, a second branch pipe, a first electromagnetic valve, a water ascending pipe, a water advancing pipe, a water balancing pipe, a second electromagnetic valve, a right water pipe, a left water pipe, a depth sensor, an underwater detector, a receiving and processing system, a communication system and a nozzle in sequence from left to right, the cameras are two in number and are respectively communicated and fixedly connected with an observation hole, the left end of the water inlet pipe penetrates through a central hole and is fixedly connected with a semi-elliptical filter screen cover, the right end of the water inlet pipe and the left end of the water outlet pipe are both communicated with the water pump, the right end of the water outlet pipe is in threaded connection with the tee joint, the left end of the first branch pipe and the left end of the second branch pipe are both in threaded connection with the tee joint, the right side of the first, the first electromagnetic valve comprises two water inlets, three water outlets and an electromagnetic control system, the two water inlets are respectively communicated and fixedly connected with two through pipes of the first branch pipe, the three water outlets are respectively communicated and fixedly connected with the ascending water pipe, the front water inlet pipe and the balance water pipe from left to right, the second electromagnetic valve comprises a water inlet, two groups of water outlets and an electromagnetic control system, each group of water outlets is provided with two through holes, the water inlet of the second electromagnetic valve is communicated and fixedly connected with the second branch pipe, and the two groups of water outlets are respectively communicated and fixedly connected with the left water pipe and the right water pipe; the tail ends of the right water pipe, the left water pipe, the ascending water pipe, the front water pipe and the balance water pipe respectively penetrate through the right through hole, the left through hole, the vertical through hole, the horizontal through hole and the balance through hole and are in threaded connection with the cylindrical hole; the support frame is fixed at the bottom of an inner cavity of the robot shell, a first square frame and a second square frame are sequentially arranged on the support frame from left to right, the water pump is fixed on the upper end face of the first square frame, the depth sensor, the underwater detection instrument and the communication system are all fixed on the upper end face of the second square frame, the power supply and the receiving and processing system are all fixed on the upper end face of the support plate, the induction head of the underwater detection instrument, the induction head of the depth sensor and the signal line of the communication system all penetrate through the robot shell and extend outwards to a certain distance along the signal line of the communication system, the induction head and the signal line are all provided with waterproof seals at the contact positions with the robot shell, and the waterproof seals are arranged between a center hole and a water inlet pipe, between an observation hole and a camera, between a water feeding pipe and the robot shell, between a left water feeding pipe and the robot shell, between a right, The joints between the balance water pipe and the robot shell and between the pipelines inside the robot shell are provided with waterproof seals, and the camera, the water pump, the first electromagnetic valve, the second electromagnetic valve, the depth sensor, the underwater detection instrument, the receiving and processing system and the communication system are electrically connected with the power supply.
2. The dedicated underwater robot as recited in claim 1, wherein: the shape of a valve core in the first electromagnetic valve is
3. The dedicated underwater robot as recited in claim 1, wherein: the filter head of the filter screen cover faces the outside of the machine head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910875570.8A CN112519992A (en) | 2019-09-17 | 2019-09-17 | Special underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910875570.8A CN112519992A (en) | 2019-09-17 | 2019-09-17 | Special underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112519992A true CN112519992A (en) | 2021-03-19 |
Family
ID=74974498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910875570.8A Pending CN112519992A (en) | 2019-09-17 | 2019-09-17 | Special underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112519992A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986996A (en) * | 2022-05-05 | 2022-09-02 | 华南理工大学 | Bionic drag reduction fish skin and manufacturing method thereof |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3492965A (en) * | 1961-06-12 | 1970-02-03 | David J Wayfield | Propulsion system and related devices |
| JPS551233A (en) * | 1978-06-17 | 1980-01-08 | Jiyouban Eng Kk | Water-jet propeller ship |
| DE3503642A1 (en) * | 1984-12-10 | 1986-06-12 | Peter 2000 Hamburg Labentz | Submarine with rudder and hydroplane |
| DE4317765A1 (en) * | 1993-05-28 | 1994-12-01 | Erich Sterzel | Water jet propulsion for water vehicles |
| JPH07108995A (en) * | 1993-10-13 | 1995-04-25 | Masaru Fujiwara | Sudden braking or quick turning device for hull |
| US6142841A (en) * | 1998-05-14 | 2000-11-07 | Brunswick Corporation | Waterjet docking control system for a marine vessel |
| US6158371A (en) * | 1996-11-11 | 2000-12-12 | De Risi; Felice | Hydraulic system for maneuvring boats, ships and crafts in general |
| CN101318549A (en) * | 2008-05-22 | 2008-12-10 | 北京邮电大学 | Amphibious spherical robot |
| CN102285435A (en) * | 2011-06-01 | 2011-12-21 | 华南理工大学 | Submersible pump waterjet type umbilical-cord cable remote control underwater robot |
| CN102303695A (en) * | 2011-06-01 | 2012-01-04 | 华南理工大学 | Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power |
| KR20130077932A (en) * | 2011-12-30 | 2013-07-10 | 현대중공업 주식회사 | Jet thruster arrangement for ice covered water operating vessel |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN103879536A (en) * | 2014-04-14 | 2014-06-25 | 大连海事大学 | Water spraying propelling system |
| WO2014095791A1 (en) * | 2012-12-17 | 2014-06-26 | Cgg Services Sa | Self-burying autonomous underwater vehicle and method for marine seismic surveys |
| CN105422911A (en) * | 2015-12-13 | 2016-03-23 | 北京工业大学 | Double-cone type two-position four-way electromagnetic reversing valve |
| CN105947162A (en) * | 2016-05-31 | 2016-09-21 | 河南海力特装备工程有限公司 | Underwater vehicle with pumping set for propelling |
| CN106882353A (en) * | 2017-03-27 | 2017-06-23 | 郝计忠 | A kind of hydrodynamic force ship |
| CN109850105A (en) * | 2019-02-16 | 2019-06-07 | 江苏大学 | A kind of underwater robot driving device |
-
2019
- 2019-09-17 CN CN201910875570.8A patent/CN112519992A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3492965A (en) * | 1961-06-12 | 1970-02-03 | David J Wayfield | Propulsion system and related devices |
| JPS551233A (en) * | 1978-06-17 | 1980-01-08 | Jiyouban Eng Kk | Water-jet propeller ship |
| DE3503642A1 (en) * | 1984-12-10 | 1986-06-12 | Peter 2000 Hamburg Labentz | Submarine with rudder and hydroplane |
| DE4317765A1 (en) * | 1993-05-28 | 1994-12-01 | Erich Sterzel | Water jet propulsion for water vehicles |
| JPH07108995A (en) * | 1993-10-13 | 1995-04-25 | Masaru Fujiwara | Sudden braking or quick turning device for hull |
| US6158371A (en) * | 1996-11-11 | 2000-12-12 | De Risi; Felice | Hydraulic system for maneuvring boats, ships and crafts in general |
| US6142841A (en) * | 1998-05-14 | 2000-11-07 | Brunswick Corporation | Waterjet docking control system for a marine vessel |
| CN101318549A (en) * | 2008-05-22 | 2008-12-10 | 北京邮电大学 | Amphibious spherical robot |
| CN102285435A (en) * | 2011-06-01 | 2011-12-21 | 华南理工大学 | Submersible pump waterjet type umbilical-cord cable remote control underwater robot |
| CN102303695A (en) * | 2011-06-01 | 2012-01-04 | 华南理工大学 | Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power |
| KR20130077932A (en) * | 2011-12-30 | 2013-07-10 | 현대중공업 주식회사 | Jet thruster arrangement for ice covered water operating vessel |
| WO2014095791A1 (en) * | 2012-12-17 | 2014-06-26 | Cgg Services Sa | Self-burying autonomous underwater vehicle and method for marine seismic surveys |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN103879536A (en) * | 2014-04-14 | 2014-06-25 | 大连海事大学 | Water spraying propelling system |
| CN105422911A (en) * | 2015-12-13 | 2016-03-23 | 北京工业大学 | Double-cone type two-position four-way electromagnetic reversing valve |
| CN105947162A (en) * | 2016-05-31 | 2016-09-21 | 河南海力特装备工程有限公司 | Underwater vehicle with pumping set for propelling |
| CN106882353A (en) * | 2017-03-27 | 2017-06-23 | 郝计忠 | A kind of hydrodynamic force ship |
| CN109850105A (en) * | 2019-02-16 | 2019-06-07 | 江苏大学 | A kind of underwater robot driving device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986996A (en) * | 2022-05-05 | 2022-09-02 | 华南理工大学 | Bionic drag reduction fish skin and manufacturing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102285435B (en) | Submersible pump waterjet type umbilical-cord cable remote control underwater robot | |
| CN108820173B (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| US9097233B1 (en) | Suction-augmented hydropower turbine | |
| CN109552579A (en) | One kind is small-sized cable remote control type underwater robot | |
| CN207773410U (en) | A kind of shallow water observation grade underwater robot | |
| CN112519992A (en) | Special underwater robot | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN105298715A (en) | Deepwater energy generating station, power station, ship power device and offshore floating city of ship power device | |
| CN101512073B (en) | Fish way of turbine structure and gate structure for tidal power plant | |
| CN211391642U (en) | Special underwater robot | |
| CN108408006B (en) | Underwater bionic robot fish driven by flow conveying pipe | |
| CN108725722A (en) | A kind of hydraulic drive type parallel connected bionic machine fish and its working method | |
| CN110316341A (en) | A kind of bionic machine sailfish | |
| CN114190321B (en) | Floating garbage collection and automatic feeding intelligent robot for aquaculture | |
| CN209905022U (en) | Ornamental bionic squid based on ocean hall | |
| CN209567063U (en) | One kind is small-sized cable remote control type underwater robot | |
| CN106018407B (en) | A kind of marine conservation areas monitor using wave energy | |
| CN210634736U (en) | Bionic machine flagfish | |
| CN104303985B (en) | A kind of algal reef that can breathe | |
| CN111284663A (en) | Fish-shaped bionic underwater robot and control method thereof | |
| CN114771779A (en) | Wave measuring fish | |
| EP4347375A1 (en) | An underwater probe or submersible | |
| CN106060457B (en) | A kind of spawning ground monitoring device of 360 degree rotation monitoring | |
| CN209215941U (en) | A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system | |
| US5647691A (en) | Method and apparatus for transferring mud and silt |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210319 |
|
| WD01 | Invention patent application deemed withdrawn after publication |