CN112793747A - Underwater unmanned engineering vehicle - Google Patents
Underwater unmanned engineering vehicle Download PDFInfo
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- CN112793747A CN112793747A CN202110242255.9A CN202110242255A CN112793747A CN 112793747 A CN112793747 A CN 112793747A CN 202110242255 A CN202110242255 A CN 202110242255A CN 112793747 A CN112793747 A CN 112793747A
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- pressure
- electric appliance
- resistant electric
- propeller
- engineering vehicle
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- 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
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- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an underwater unmanned engineering vehicle which comprises an above-water control device, a cable and an engineering vehicle body, wherein the engineering vehicle body comprises a pressure-resistant electric appliance cabin and crawler traveling mechanisms arranged on two sides of the pressure-resistant electric appliance cabin, the pressure-resistant electric appliance cabin is connected with the above-water control device through the cable, four propellers capable of being controlled independently in a frequency conversion mode are symmetrically arranged on two sides of the engineering vehicle body, the thrust direction of each propeller is perpendicular to the advancing direction of each crawler traveling mechanism, the propellers are connected with the pressure-resistant electric appliance cabin in a sealing mode through hollow propeller supports, and inner cavities of the propeller supports are communicated with the pressure-resistant electric appliance cabin to form. The invention can realize the free rotation of XYZ three axes, can operate underwater projects with all angles, is not easy to move in the operation process, and has remarkable economic value and social value.
Description
Technical Field
The invention relates to the technical field of underwater operation equipment, in particular to an underwater unmanned engineering vehicle.
Background
The underwater robot is a submersible with intelligent function, is a limit operation device working under water, can submerge to replace people to complete certain operations, and becomes an important tool for developing the ocean due to the severe and dangerous underwater environment and limited diving depth of people. At present, the underwater robot plays a role in the fields of rescue at sea, oil development, landform exploration, scientific research, aquaculture, underwater hull maintenance and cleaning, diving entertainment, urban pipeline detection and the like, and the market is also rising. The expert scholars at home and abroad divide the underwater robot into four categories according to the intelligent degree and the use requirement of the underwater robot, namely, a dragging type underwater robot TUV, a remote control type underwater robot ROV, an unmanned cableless underwater robot UUV and an intelligent underwater robot AUV, wherein the two kinds of underwater robots are both provided with cables and are manually controlled by a mother ship, and the two kinds of underwater robots are both unmanned cableless and autonomously sailing underwater robots and are respectively controlled by pre-programming and intelligent.
An underwater unmanned engineering vehicle belongs to one of underwater robots, and the following problems are found in the actual operation process: firstly, almost all existing underwater robots can only sail horizontally at a certain depth underwater, can move forwards, backwards, leftwards and rightwards, and can also rotate on the horizontal plane, but cannot roll forwards, backwards, leftwards and rightwards, and cannot perform engineering operation on underwater vertical walls and underwater ceilings (such as ship bottoms); secondly, the existing underwater robot is suspended in water when performing engineering operation, the position of the robot cannot be fixed in the water during the operation process, the position of the robot is easy to deviate under the operation reaction, the operation difficulty is high, the use of the underwater unmanned engineering vehicle is limited due to the problems, and the underwater operation cannot be well completed. Therefore, it is objective to develop an underwater unmanned engineering vehicle which can realize the free rotation of the three axes of XYZ, can operate underwater engineering with all angles and is not easy to move in the operation process.
Disclosure of Invention
The invention aims to provide an underwater unmanned engineering vehicle which can realize XYZ three-axis free rotation, can operate underwater engineering with all angles and is not easy to move in the operation process.
The engineering vehicle body comprises a pressure-resistant electric appliance cabin and crawler traveling mechanisms arranged on two sides of the pressure-resistant electric appliance cabin, the pressure-resistant electric appliance cabin is connected with the water control equipment through a cable, four propellers capable of being controlled independently in a frequency conversion mode are symmetrically arranged on two sides of the engineering vehicle body, the thrust direction of each propeller is perpendicular to the advancing direction of each crawler traveling mechanism, each propeller is connected with the pressure-resistant electric appliance cabin in a sealing mode through a hollow propeller support, and the inner cavity of each propeller support is communicated with the pressure-resistant electric appliance cabin to form an integral sealed cabin.
Furthermore, an electric control component and a power driving component of the engineering vehicle are installed in the pressure-resistant electric appliance cabin, an electric appliance cabin sealing cover, an inflation safety valve and a pressure sensor are installed at the top of the pressure-resistant electric appliance cabin, a plurality of functional interfaces are respectively arranged at two ends of the pressure-resistant electric appliance cabin and used for connecting and installing an operation mechanism of the engineering vehicle, and the cable is connected with the pressure-resistant electric appliance cabin in a sealing mode through a watertight connector on the electric appliance cabin sealing cover.
Further, the operating mechanism is a cleaning mechanism, the cleaning mechanism comprises a cleaning pipe and a plurality of cleaning gun heads arranged on the cleaning pipe, and the cleaning pipe is arranged on the functional interface through a connecting rod.
Furthermore, the crawler traveling mechanism comprises a driving wheel assembly and a driven wheel assembly, the driving wheel assembly comprises a driving motor and a driving speed reducer which are installed in the pressure-resistant electric appliance cabin and are in transmission connection, an output shaft of the driving speed reducer extends out of the side wall of the pressure-resistant electric appliance cabin and is then provided with a driving wheel, the output shaft of the driving speed reducer is movably connected with the side wall of the pressure-resistant electric appliance cabin through a movable sealing structure, the driven wheel assembly comprises a support and a driven wheel which is rotatably installed on the support, the support is fixed on the side wall of the pressure-resistant electric appliance cabin.
Furthermore, the driving wheel assemblies in the two crawler belt traveling mechanisms are arranged diagonally.
Furthermore, a sliding groove is processed in the support, a sliding block is arranged in the sliding groove, the driven wheel is arranged on the sliding block, a stop block is arranged on the support at one end of the sliding groove, a tensioning bolt is screwed in the stop block through threads, the threaded end of the tensioning bolt is rotatably connected with the end portion of the sliding block, a plurality of threaded holes are processed at intervals in the groove bottom of the sliding groove along the length direction of the sliding groove, through holes corresponding to the threaded holes are processed in the sliding block, and positioning bolts are installed in the corresponding through holes and the threaded holes.
Further, the propeller includes sealed housing, propeller motor and propeller speed reducer, sealed housing includes sealed fixed connection's cone, withstand voltage drum and the sealed lid of propeller, propeller motor and the integrated inside of installing at sealed housing of propeller speed reducer, the output shaft of propeller motor is connected with the input shaft transmission of propeller speed reducer, install the screw after the output shaft of propeller speed reducer stretches out the cone, through moving seal structure swing joint between the output shaft of propeller speed reducer and the cone, the coaxial pipe that is provided with in the outside of screw, the inner wall of pipe passes through connecting rod and cone fixed connection, the inner chamber of withstand voltage drum communicates with the inner chamber of propeller support.
Furthermore, a balancing weight is installed on the side wall of the pressure-resistant electric appliance cabin below each propeller support.
Furthermore, a camera is installed at one end of the top of the pressure-resistant electric appliance cabin and the bottom of one of the propellers, and a plurality of COB light sources are uniformly distributed on the periphery of the camera.
Furthermore, a water leakage alarm device is arranged in the pressure-resistant electric appliance cabin.
The invention has the following beneficial effects:
firstly, the invention cancels the buoyancy block of the common underwater robot, and compensates the buoyancy loss caused by canceling the buoyancy block by a method of increasing the displacement of the pressure-resistant electric appliance cabin to the maximum extent, thereby improving the reliability of the underwater unmanned engineering vehicle.
The working principle of the aerial multi-rotor unmanned aerial vehicle is applied to the underwater unmanned engineering vehicle, and the four propellers capable of being independently controlled in a frequency conversion mode are installed, so that the underwater unmanned engineering vehicle can translate all around underwater, and can also freely rotate in three axes of XYZ, namely, the underwater unmanned engineering vehicle can sail vertically in water, can also sail downwards in water with the back bottom upwards and the top downwards after being turned over, and can sail in water in various pitching postures.
The four propellers arranged in the invention not only enable the underwater unmanned engineering vehicle to navigate underwater, but also have the function of tightly pressing the unmanned engineering vehicle on an engineering operation surface, so that the engineering vehicle can operate the engineering operation surface at any angle, and the unmanned engineering vehicle tightly pressed on the engineering operation surface crawls on the engineering operation surface by using a wide crawler, thereby realizing the function of the underwater wall climbing robot.
In conclusion, the invention can realize the free rotation of the three axes of XYZ, can operate underwater projects with all angles, is not easy to move in the operation process, and has remarkable economic value and social value.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of another embodiment of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic cross-sectional view of A-A of FIG. 2;
FIG. 5 is a schematic view of the propeller of the present invention;
FIG. 6 is a schematic structural view of a driving wheel assembly according to the present invention;
fig. 7 is a schematic structural diagram of a camera 23 and a COB light source 24 according to the present invention;
FIG. 8 is a schematic view of the construction of a driven wheel assembly according to the present invention;
FIG. 9 is a schematic view of the structure of the seat 16, the slide block 26, the tension bolt 28 and the positioning bolt 30 of the present invention;
in the figure: 1-pressure-resistant electric appliance cabin, 2-electric appliance cabin sealing cover, 3-inflation safety valve, 4-pressure sensor, 5-function interface, 6-watertight connector, 7-cable, 8-main bracket, 9-inclined bracket, 10-sealing shell, 11-propeller, 12-conduit, 13-driving motor, 14-driving reducer, 15-driving wheel, 16-support, 17-driven wheel, 18-wide crawler belt, 19-counterweight block, 20-cleaning tube, 21-cleaning gun head, 22-connecting rod, 23-camera, 24-COB light source, 25-chute, 26-slide block, 27-stop block, 28-tensioning bolt, 29-through hole, 30-positioning bolt, 31-cone, 32-pressure-resistant cylinder, 33-propeller sealing cover, 34-water leakage alarm device, 35-threaded hole, 36-first propeller, 37-second propeller, 38-third propeller and 39-fourth propeller.
Detailed Description
The present invention is further described with reference to the drawings, but the present invention is not limited thereto in any way, and any modification or improvement based on the present invention is within the protection scope of the present invention.
As shown in figures 1-9, the invention comprises an overwater control device, a cable 7 and an engineering vehicle body, wherein the cable 7 can be a zero-buoyancy cable, the overwater control device is the prior art and is arranged on the water surface, an operation control worker transmits electric energy, data and signals to the underwater engineering vehicle body through the cable 7, receives the data and signals of the underwater engineering vehicle body and various instruments and displays the data and signals on the overwater control device in real time, so that the operation control worker can monitor the working state of the underwater unmanned engineering vehicle in real time, the engineering vehicle body comprises a pressure-resistant electric cabin 1 and crawler traveling mechanisms arranged on two sides of the pressure-resistant electric cabin 1, the pressure-resistant electric cabin 1 is connected with the overwater control device through the cable 7, four propellers capable of independent variable frequency control are symmetrically arranged on two sides of the engineering vehicle body, the thrust direction of the propellers is vertical to the advancing direction of the crawler, the propeller is hermetically connected with the pressure-resistant electric appliance cabin 1 through a hollow propeller support, the inner cavity of the propeller support is communicated with the pressure-resistant electric appliance cabin 1 to form an integral sealed cabin, the propeller support can be arranged in a Y shape and comprises a main support 8 and two inclined supports 9 which are mutually communicated, the end part of the main support 8 is communicated with the middle part of the side wall of the pressure-resistant electric appliance cabin 1, and the propeller is arranged at the end part of the inclined supports 9.
According to the invention, the inner cavity of the propeller support is communicated with the pressure-resistant electric appliance cabin 1 to form an integral sealed cabin, and each electric element is hermetically arranged in the sealed cabin, so that the space is saved, meanwhile, the sealing link of each electric element is reduced, the underwater sealing wiring link is omitted, the design and manufacturing difficulty of an underwater unmanned engineering vehicle is reduced, and the safety and reliability of the underwater pressure-resistant electric appliance cabin are improved during underwater operation; before launching, the invention only needs to inflate the sealed cabin and then put into water to check the whole sealing performance and ensure the sealing performance of the sealed cavity; the invention cancels the buoyancy block of the common underwater robot, makes up the buoyancy loss caused by canceling the buoyancy block by a method of increasing the displacement of the pressure-resistant electric cabin 1 to the maximum extent, and improves the reliability of the underwater unmanned engineering vehicle.
The electric control component and the power driving component of the engineering vehicle are installed in the pressure-resistant electric appliance cabin 1, an electric appliance cabin sealing cover 2, an inflation safety valve 3 and a pressure sensor 4 are installed at the top of the pressure-resistant electric appliance cabin 1, before water enters, the inflation safety valve 3 inflates the pressure-resistant electric appliance cabin 1 to check the sealing performance, when the pressure in the pressure-resistant electric appliance cabin 1 is overlarge, the inflation safety valve 3 can be automatically opened to release the pressure, the sealing reliability and the safety of the pressure-resistant electric appliance cabin 1 are ensured, a plurality of functional interfaces 5 are respectively arranged at two ends of the pressure-resistant electric appliance cabin 1, the functional interfaces 5 are used for connecting and installing an operation mechanism of the engineering vehicle, the operation mechanism can be arranged as required, and various underwater unmanned engineering machines with different functions are formed according to the difference of the: the underwater electric pressure-resistant electric appliance cabin comprises an underwater excavator, an underwater bulldozer, a dam underwater detection and maintenance robot, an underwater welding robot, an underwater cleaning robot and the like, which are currently lacked and actually needed in the market, wherein a cable 7 is hermetically connected with the pressure-resistant electric appliance cabin 1 through a watertight connector 6 on a sealing cover 2 of the electric appliance cabin.
The operation mechanism is a cleaning mechanism and can be used in the ship washing industry, the cleaning mechanism comprises a cleaning pipe 20 and a plurality of cleaning gun heads 21 arranged on the cleaning pipe 20, the cleaning pipe 20 and the cleaning gun heads 21 form a cleaning gun row, the cleaning pipe 20 is arranged on the functional interface 5 through a connecting rod 22, when the cleaning mechanism is used, high-speed water flow is sprayed through the cleaning pipe 20 and the cleaning gun heads 21 to clean an operation surface, compared with manual cleaning, the cleaning efficiency is higher, the safety is better, and through an underwater cavitation jet flow gun row, the invention sails to any position of a ship body through a multi-degree of freedom method, aligns a wide crawler 18 to the surface of the ship body to enable the wide crawler 18 to be attached to the surface of the ship body and to be compressed, at the moment, propellers 11 in an assembly of four propellers move at constant rotating speed, the walking control right of an underwater unmanned engineering vehicle can be given to the wide crawler 18, and the wide crawler 18 walks, the invention can carry the cleaning gun row to walk on the surface of the ship body (such as the ship wall and the ship bottom), and carry out cleaning operation in the walking process, compared with underwater cleaning by divers, the invention has the advantages of higher efficiency, shorter cleaning period, lower cost and higher safety performance, and compared with dock cleaning, the invention has the advantages of lower cost, shorter cleaning period and more environmental protection.
The crawler traveling mechanism comprises a driving wheel assembly and a driven wheel assembly, the driving wheel assembly comprises a driving motor 13 and a driving speed reducer 14 which are installed in the pressure-resistant electric appliance cabin 1 and are in transmission connection, an output shaft of the driving speed reducer 14 extends out of the side wall of the pressure-resistant electric appliance cabin 1 and then is provided with a driving wheel 15, the output shaft of the driving speed reducer 14 is movably connected with the side wall of the pressure-resistant electric appliance cabin 1 through a movable sealing structure, the driven wheel assembly comprises a support 16 and a driven wheel 17 which is rotatably installed on the support 16, the support 16 is fixed on the side wall of the pressure-resistant electric appliance cabin 1, a wide crawler 18 is arranged between the driving wheel 15 and the driven wheel 17 in a matched mode, and a propeller support is located in a gap in the middle of the wide crawler 18.
The driving wheel assemblies in the two crawler traveling mechanisms are arranged diagonally, a certain space needs to be occupied due to the fact that the driving motor 13 and the driving speed reducer 14 are installed in the driving wheel assemblies, when the two driving wheel assemblies are arranged side by side, a larger space is needed to meet the installation requirement, and the driving wheel assemblies arranged diagonally are installed in a staggered mode, so that the size of the pressure-resistant electric appliance cabin 1 in the width direction can be greatly reduced, and the compactness of the overall structure of the pressure-resistant electric appliance cabin is improved.
Processing has spout 25 on the support 16, slidable mounting has slider 26 in the spout 25, install on slider 26 from driving wheel 17, be provided with dog 27 on the support 16 of spout 25 one end, it has tensioning bolt 28 to twist through the screw thread on the dog 27, the screw thread end of tensioning bolt 28 is connected with the tip of slider 27 is rotated, the tank bottom of spout 25 is processed along the length direction interval of spout 25 has a plurality of screw holes 35, processing has the through-hole 29 corresponding with screw hole 35 on the slider 26, install positioning bolt 30 in corresponding through-hole 29 and the screw hole 35, for the loading and unloading of broad width track 18 is convenient, also for preventing that broad width track 18 from coming off because of too lax in the machineshop car operation process, need carry out the tensioning operation to broad width track 18, concrete tensioning process is: when the tensioning bolt 28 is rotated, the tensioning bolt 28 moves along the axial direction of the tensioning bolt during rotation, meanwhile, the sliding block 26 moves in the sliding groove 25, the driven wheel 17 is installed on the sliding block 26, namely, the driven wheel 17 can be driven to move, and after the tensioning is in place, the positioning bolt 30 is used for penetrating the through hole 29 and being screwed into the threaded hole 35, the sliding block 26 and the driven wheel 17 can be fixed, and the tensioning of the driven wheel 17 is achieved.
The propeller comprises a sealed shell 10, a propeller motor and a propeller reducer, wherein the sealed shell 10 comprises a cone 31, a pressure-resistant cylinder 32 and a propeller sealing cover 33 which are fixedly connected in a sealing way, the propeller sealing cover 33 is a hemispherical end socket, other structures can be selected according to requirements, the propeller motor and the propeller reducer are integrally installed in the sealed shell 10, an output shaft of the propeller motor is in transmission connection with an input shaft of the propeller reducer, an output shaft of the propeller reducer extends out of the cone 31 and is provided with a propeller 11, the output shaft of the propeller reducer is movably connected with the cone 31 through a dynamic sealing structure, a guide pipe 12 is coaxially arranged on the outer side of the propeller 11, the inner wall of the guide pipe 12 is fixedly connected with the cone 31 through a connecting rod, the inner cavity of the pressure-resistant cylinder 32 is communicated with the inner cavity, the integrated design of the sealing shell 10, the dynamic seal, the propeller motor and the propeller speed reducer is realized, and the compactness and the reliability of the invention are favorably improved.
The side wall of the pressure-resistant electric appliance cabin 1 below each propeller support is provided with a balancing weight 19, and the balancing weight 19 with proper weight is configured to increase the overall mass of the invention, so that when the invention works in a horizontal state, the four propellers can tightly press the engineering truck on a working surface by only providing smaller thrust, and cannot rise due to the action of buoyancy, and the energy consumption can be reduced to a certain extent.
The camera 23 is installed at one end of the top of the pressure-resistant electric appliance cabin 1 and at the bottom of one of the propellers, a plurality of COB light sources 24 are evenly distributed on the periphery of the camera 23, the camera 23 on the top of the pressure-resistant electric appliance cabin 1 can monitor the operation process of the underwater camera, the camera 23 on the bottom of the sealed shell 10 can monitor the navigation process of the underwater camera, the COB light sources 24 can provide illumination for the camera 23, the picture is bright and clear, in the actual use process, the COB light sources 24 are arranged around the camera 23, and the COB light sources 24 and the camera 23 can form an underwater illumination and camera shooting integrated underwater camera illumination lens, so that the camera shooting quality is improved.
The water leakage alarm device 34 is arranged inside the pressure-resistant electric appliance cabin 1, the water leakage alarm device 34 is in the prior art, when water enters the pressure-resistant electric appliance cabin 1 during underwater operation, the water leakage alarm device 34 can detect the water leakage condition and send an alarm to the water control equipment, so that the water leakage condition of the pressure-resistant electric appliance cabin 1 can be found and maintained in time, and the damage probability of motors and speed reducers inside the pressure-resistant electric appliance cabin 1 is reduced.
In the invention, four propellers are arranged around the pressure-resistant electric appliance cabin 1, which is beneficial to increasing the displacement of the pressure-resistant electric appliance cabin 1, the fluid performance of the four propellers is optimized, meanwhile, propellers 11 in the four propellers can rotate forwards and backwards, the rotating speed can be respectively regulated and controlled, and the forward and backward operation in the navigation process of the underwater unmanned engineering vehicle can be realized. In the invention, the four propellers are respectively the first propeller 36, the second propeller 37, the third propeller 38 and the fourth propeller 39, and when the rotating directions of the propellers 11 in the first propeller 36 and the third propeller 38 are the same, the rotating directions of the propellers 11 in the second propeller 37 and the fourth propeller 39 are the same, and the rotating directions of the propellers 11 in the first propeller 36 and the second propeller 37 are opposite, the plane rotating operation in the sailing process of the underwater unmanned engineering vehicle can be realized.
Claims (10)
1. The utility model provides an unmanned machineshop car under water, includes controlgear, cable (7) and machineshop car body on water, its characterized in that: the engineering vehicle body comprises a pressure-resistant electric appliance cabin (1) and crawler traveling mechanisms arranged on two sides of the pressure-resistant electric appliance cabin (1), the pressure-resistant electric appliance cabin (1) is connected with water control equipment through a cable (7), four propellers capable of being controlled by independent frequency conversion are symmetrically arranged on two sides of the engineering vehicle body, the thrust direction of each propeller is perpendicular to the advancing direction of each crawler traveling mechanism, each propeller is connected with the pressure-resistant electric appliance cabin (1) in a sealing mode through a hollow propeller support, and the inner cavity of each propeller support is communicated with the pressure-resistant electric appliance cabin (1) to form an integral sealed cabin.
2. The underwater unmanned engineering vehicle as claimed in claim 1, wherein an electric control component and a power driving component of the engineering vehicle are installed in the pressure-resistant electric appliance cabin (1), an electric appliance cabin sealing cover (2), an inflation safety valve (3) and a pressure sensor (4) are installed at the top of the pressure-resistant electric appliance cabin (1), a plurality of functional interfaces (5) are respectively arranged at two ends of the pressure-resistant electric appliance cabin (1), the functional interfaces (5) are used for connecting and installing an operation mechanism of the engineering vehicle, and the cable (7) is hermetically connected with the pressure-resistant electric appliance cabin (1) through a watertight connector (6) on the electric appliance cabin sealing cover (2).
3. The underwater unmanned engineering vehicle as claimed in claim 2, wherein the operation mechanism is a cleaning mechanism, the cleaning mechanism comprises a cleaning pipe (20) and a plurality of cleaning gun heads (21) arranged on the cleaning pipe (20), and the cleaning pipe (20) is mounted on the functional interface (5) through a connecting rod (22).
4. The underwater unmanned engineering vehicle as claimed in claim 1, wherein the crawler traveling mechanism comprises a driving wheel assembly and a driven wheel assembly, the driving wheel assembly comprises a driving motor (13) and a driving reducer (14) which are installed in the pressure-resistant electric appliance cabin (1) in a transmission connection mode, an output shaft of the driving reducer (14) extends out of the side wall of the pressure-resistant electric appliance cabin (1) and then is provided with a driving wheel (15), the output shaft of the driving reducer (14) is movably connected with the side wall of the pressure-resistant electric appliance cabin (1) through a dynamic sealing structure, the driven wheel assembly comprises a support (16) and a driven wheel (17) rotatably installed on the support (16), the support (16) is fixed on the side wall of the pressure-resistant electric appliance cabin (1), and a wide crawler (18) is arranged between the driving wheel (15) and the driven wheel (17).
5. The underwater unmanned aerial vehicle of claim 4, wherein the driving wheel assemblies of the two crawler traveling mechanisms are arranged diagonally.
6. The underwater unmanned engineering vehicle as claimed in claim 4, wherein a sliding groove (25) is formed in the support (16), a sliding block (26) is slidably mounted in the sliding groove (25), the driven wheel (17) is mounted on the sliding block (26), a stop block (27) is arranged on the support (16) at one end of the sliding groove (25), a tension bolt (28) is screwed into the stop block (27) through threads, the threaded end of the tension bolt (28) is rotatably connected with the end of the sliding block (27), a plurality of threaded holes (35) are formed in the bottom of the sliding groove (25) at intervals along the length direction of the sliding groove (25), through holes (29) corresponding to the threaded holes (35) are formed in the sliding block (26), and positioning bolts (30) are mounted in the corresponding through holes (29) and the threaded holes (35).
7. The underwater unmanned engineering vehicle as claimed in claim 1, wherein the thruster comprises a sealed housing (10), a thruster motor and a thruster reducer, the sealed housing (10) comprises a cone (31), a pressure-resistant cylinder (32) and a thruster sealing cover (33) which are fixedly connected in a sealing manner, the thruster motor and the thruster reducer are integrally installed inside the sealed housing (10), an output shaft of the thruster motor is in transmission connection with an input shaft of the thruster reducer, an output shaft of the thruster reducer extends out of the cone (31) and is provided with a propeller (11), the output shaft of the thruster reducer is movably connected with the cone (31) through a dynamic sealing structure, a guide pipe (12) is coaxially arranged outside the propeller (11), and the inner wall of the guide pipe (12) is fixedly connected with the cone (31) through a connecting rod, the inner cavity of the pressure-resistant cylinder (32) is communicated with the inner cavity of the propeller bracket.
8. The underwater unmanned engineering vehicle as claimed in claim 1, wherein a counterweight (19) is mounted on the side wall of the pressure-resistant electric appliance cabin (1) below each propeller bracket.
9. The underwater unmanned engineering vehicle as claimed in claim 1, wherein a camera (23) is mounted at one end of the top of the pressure-resistant electric cabin (1) and at the bottom of one propeller, and a plurality of COB light sources (24) are uniformly distributed on the circumference of the camera (23).
10. The underwater unmanned engineering vehicle as claimed in claim 1, wherein a water leakage alarm device (34) is arranged inside the pressure-resistant electric appliance cabin (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242255.9A CN112793747A (en) | 2021-03-04 | 2021-03-04 | Underwater unmanned engineering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242255.9A CN112793747A (en) | 2021-03-04 | 2021-03-04 | Underwater unmanned engineering vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN112793747A true CN112793747A (en) | 2021-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110242255.9A Pending CN112793747A (en) | 2021-03-04 | 2021-03-04 | Underwater unmanned engineering vehicle |
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| CN (1) | CN112793747A (en) |
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2021
- 2021-03-04 CN CN202110242255.9A patent/CN112793747A/en active Pending
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Effective date of registration: 20230727 Address after: Room 807, Building 13, No. 1, Xuefu Road, Songshan Lake Park, Dongguan City, Guangdong Province, 523000 Applicant after: Guangdong Deep Blue Underwater Special Equipment Technology Co.,Ltd. Address before: 655000 No. 2102, building 21, kekejiayuan community, Ziyun Road, Qilin District, Qujing City, Yunnan Province Applicant before: Li Mingsheng |
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