CN113306689A - Underwater robot structure - Google Patents

Underwater robot structure Download PDF

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Publication number
CN113306689A
CN113306689A CN202110749818.3A CN202110749818A CN113306689A CN 113306689 A CN113306689 A CN 113306689A CN 202110749818 A CN202110749818 A CN 202110749818A CN 113306689 A CN113306689 A CN 113306689A
Authority
CN
China
Prior art keywords
body frame
main body
buoyancy block
vertical
filter screen
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
Application number
CN202110749818.3A
Other languages
Chinese (zh)
Inventor
刘文智
刘汉强
秦明达
王顺礼
韩锦亮
于力明
周翰文
张志强
黄杰
刘丕业
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhizhen Marine Science And Technology Weihai Co ltd
Original Assignee
Zhizhen Marine Science And Technology Weihai Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhizhen Marine Science And Technology Weihai Co ltd filed Critical Zhizhen Marine Science And Technology Weihai Co ltd
Priority to CN202110749818.3A priority Critical patent/CN113306689A/en
Publication of CN113306689A publication Critical patent/CN113306689A/en
Pending legal-status Critical Current

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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
    • 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
    • B63G8/08—Propulsion
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses an underwater robot structure which comprises a main body frame, a buoyancy block, a filter screen, a plurality of vertical propellers, a plurality of horizontal propellers, a power supply control cabin and a driving cabin, wherein the buoyancy block is arranged on the main body frame; the buoyancy block is arranged at the upper part of the main body frame; the filter screen is arranged around the periphery of the main body frame; the plurality of vertical propellers are respectively arranged above the inner part of the main body frame, and the vertical propellers penetrate through the buoyancy block; the plurality of horizontal thrusters are respectively arranged at four corner ends below the inner part of the main body frame and are all wrapped in the filter screen; the power supply control cabin and the driving cabin electrically connected with the power supply control cabin are both fixed at the lower part of the main body frame and are both wrapped in the filter screen; and the plurality of vertical propellers and the plurality of horizontal propellers are electrically connected with the driving cabin. The invention has simple structure, the vertical thruster provides power for the floating and diving and pitching and rolling movements of the main body frame, the horizontal thruster provides power for the advancing and retreating, the left-turning and right-turning and the left-moving and right-moving of the main body frame, the action is flexible, and the invention can carry the operation tool to move in all directions.

Description

Underwater robot structure
Technical Field
The invention relates to the technical field of underwater cleaning equipment, in particular to an underwater robot structure.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving.
However, the existing underwater robot is not only complex in structure, but also limited in movement, and cannot carry a working tool to move in all directions, so that the working effect is influenced.
Therefore, it is an urgent problem to provide an underwater robot structure with simple structure and flexible movement.
Disclosure of Invention
In view of this, the invention provides an underwater robot structure, which is simple in structure, flexible in action and capable of carrying a working tool to move in all directions.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater robotic structure comprising:
the buoyancy tank is formed above the inner part of the main body frame;
the buoyancy block is installed in the buoyancy groove;
the filter screen is arranged around the periphery of the main body frame in an enclosing manner;
the vertical thrusters are respectively arranged at four corner ends above the inside of the main body frame and are all wrapped in the filter screen, and the vertical thrusters penetrate through the buoyancy block;
the horizontal thrusters are respectively arranged at four corner ends below the inside of the main body frame and are all wrapped in the filter screen;
the power control cabin and the driving cabin electrically connected with the power control cabin are fixed at the lower part of the main body frame and are wrapped in the filter net; the plurality of vertical thrusters and the plurality of horizontal thrusters are electrically connected with the driving cabin.
By adopting the technical scheme, the invention has the beneficial technical effects that:
1) the invention has simple structure, provides buoyancy for the main body frame through the buoyancy block, provides power for the floating, submerging and pitching rolling motion of the main body frame through the vertical thruster, provides power for the advancing, retreating, left-turning, right-turning, left-moving and right-moving of the main body frame through the horizontal thruster, has flexible action and can carry operation tools to move in all directions;
2) the filter screen filters debris such as pasture and water and fish tape in the environment under water, avoids perpendicular propeller and horizontal propeller winding debris to lead to stall trouble.
The buoyancy block is fixed on the upper part of the main body frame, and the buoyancy block is covered by the protection plate frame and is tightly attached and fixed with the periphery of the filter screen; the vertical propeller penetrates through the buoyancy block and the protection plate frame in sequence.
Adopt the beneficial effect that above-mentioned further technical scheme produced to do, can carry out anticollision and prevent scraping the protection to the inside part of main body frame.
The buoyancy block is provided with a plurality of short baseline positioning beacons, a plurality of cameras with illuminating lamps are arranged on the periphery of the buoyancy block and penetrate through the buoyancy block, and the cameras with the illuminating lamps are electrically connected with the power control cabin; the two short base line positioning beacons are respectively fixed on two sides above the inner part of the main body frame and penetrate through the buoyancy block; the attitude navigator is installed on the main body frame and located below the buoyancy block, and the attitude navigator is electrically connected with the power control cabin.
The underwater information can be acquired, the movement and control of an underwater motion carrier are facilitated, the cleaning effect is improved, and the underwater surrounding environment state can be observed in all directions by a plurality of cameras with illuminating lamps, so that reference information is provided for movement; the attitude navigator can acquire navigation information such as course, attitude, depth and the like.
Further, still include and arrange recovery head, it articulates in main part frame center to arrange recovery head, and run through the buoyancy piece.
Adopt the beneficial effect that above-mentioned further technical scheme produced to be, cloth is put and is retrieved the head and can swing back and forth, follows the rivers direction, reduces the motion resistance in aqueous.
Furthermore, the vertical propeller and the vertical direction of the main body frame form an included angle of 5-20 degrees.
The beneficial effect who adopts above-mentioned further technical scheme to produce does, can improve and promote efficiency.
Further, the main body frame is made of stainless steel or titanium alloy materials; the protection grillage is made of PE or polypropylene.
The main body frame made of stainless steel or titanium alloy material is anticorrosive; the PE or polypropylene protective plate frame is wear-resistant and impact-resistant.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an exploded view of a structure of an underwater robot provided by the present invention;
FIG. 2 is a front view of an underwater robot structure provided by the present invention;
fig. 3 is a top view of an underwater robot structure provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, an embodiment of the present invention discloses an underwater robot structure, including:
a main body frame 1, wherein a buoyancy groove is formed above the inner part of the main body frame 1;
the buoyancy block 2 is arranged in the buoyancy groove;
the filter screen 3 is arranged around the main body frame 1;
the vertical propellers 4 are respectively arranged at four corner ends above the inner part of the main body frame 1 and are all wrapped in the filter screen 3, and the vertical propellers 4 penetrate through the buoyancy block 2;
the plurality of horizontal propellers 5 are respectively arranged at four corner ends at the lower part in the main body frame 1 and are all wrapped in the filter screen 3;
the power supply control cabin 6 and the driving cabin 7 are fixed at the lower part of the main body frame 1 and are wrapped in the filter screen 3; the plurality of vertical propellers 4 and the plurality of horizontal propellers 5 are electrically connected with the driving cabin 7.
The invention has simple structure, provides buoyancy for the main body frame 1 through the buoyancy block 2, provides power for the floating, submerging and pitching rolling motion of the main body frame through the vertical thruster 4, provides power for the advancing, retreating, left-turning, right-turning, left-turning and right-shifting of the main body frame through the horizontal thruster 5, has flexible action and can carry operation tools to move in all directions; and the filter screen 3 filters sundries such as aquatic weeds and fish ropes in the underwater environment, and the stalling fault caused by winding the sundries on the vertical propeller 4 and the horizontal propeller 5 is avoided.
Specifically, the filter screen device also comprises a protection plate frame 8, wherein the protection plate frame 8 is fixed on the upper part of the main body frame 1 to cover the buoyancy block 2 and is tightly attached and fixed with the periphery of the filter screen 3; the vertical propeller 4 penetrates through the buoyancy block 2 and the protection plate frame 8 in sequence.
Specifically, the device also comprises a plurality of cameras 9 with illuminating lamps, two short baseline positioning beacons 10 and an attitude navigator 11, wherein the plurality of cameras 9 with illuminating lamps are respectively arranged on the periphery of the buoyancy block 2 and penetrate through the buoyancy block 2, and the plurality of cameras 9 with illuminating lamps are electrically connected with the power control cabin 6; the two short base line positioning beacons 10 are respectively fixed at two sides above the inner part of the main body frame 1 and penetrate through the buoyancy block 2; the attitude navigator 11 is installed on the main body frame 1 and is located below the buoyancy block 2, and the attitude navigator 11 is electrically connected with the power control cabin 6.
Specifically, the floating buoyancy block comprises a distribution and recovery head 12, wherein the distribution and recovery head 12 is hinged to the center of the main body frame 1 and penetrates through the buoyancy block 2.
Specifically, the vertical propeller 4 and the main body frame 1 form an included angle of 5-20 degrees in the vertical direction.
Specifically, the main body frame 1 is made of stainless steel or titanium alloy material; the protection plate frame 8 is made of PE or polypropylene.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. An underwater robotic structure, comprising:
the buoyancy tank is formed above the inner part of the main body frame;
the buoyancy block is installed in the buoyancy groove;
the filter screen is arranged around the periphery of the main body frame in an enclosing manner;
the vertical thrusters are respectively arranged at four corner ends above the inside of the main body frame and are all wrapped in the filter screen, and the vertical thrusters penetrate through the buoyancy block;
the horizontal thrusters are respectively arranged at four corner ends below the inside of the main body frame and are all wrapped in the filter screen;
the power control cabin and the driving cabin electrically connected with the power control cabin are fixed at the lower part of the main body frame and are wrapped in the filter net; the plurality of vertical thrusters and the plurality of horizontal thrusters are electrically connected with the driving cabin.
2. The underwater robot structure as claimed in claim 1, further comprising a protective plate frame, wherein the protective plate frame is fixed on the upper portion of the main body frame to cover the buoyancy block and is tightly fixed with the periphery of the filter screen; the vertical propeller penetrates through the buoyancy block and the protection plate frame in sequence.
3. The underwater robot structure as claimed in claim 2, further comprising a plurality of cameras with illuminating lamps, two short baseline positioning beacons and a posture navigator, wherein the plurality of cameras with illuminating lamps are respectively installed at the periphery of the buoyancy block and penetrate through the buoyancy block, and are all electrically connected with the power control cabin; the two short base line positioning beacons are respectively fixed on two sides above the inner part of the main body frame and penetrate through the buoyancy block; the attitude navigator is installed on the main body frame and located below the buoyancy block, and the attitude navigator is electrically connected with the power control cabin.
4. The underwater robot structure of claim 3, further comprising a deployment recovery head hinged centrally to the body frame and extending through the buoyancy block.
5. An underwater robot structure as in any of claims 1 to 4, wherein the vertical thruster forms an angle of 5 to 20 ° with the vertical direction of the main body frame.
6. An underwater robot structure as in any of claims 2 to 4, wherein the main body frame is of stainless steel or titanium alloy material; the protection grillage is made of PE or polypropylene.
CN202110749818.3A 2021-07-02 2021-07-02 Underwater robot structure Pending CN113306689A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110749818.3A CN113306689A (en) 2021-07-02 2021-07-02 Underwater robot structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110749818.3A CN113306689A (en) 2021-07-02 2021-07-02 Underwater robot structure

Publications (1)

Publication Number Publication Date
CN113306689A true CN113306689A (en) 2021-08-27

Family

ID=77380922

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110749818.3A Pending CN113306689A (en) 2021-07-02 2021-07-02 Underwater robot structure

Country Status (1)

Country Link
CN (1) CN113306689A (en)

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