CN113465580A - Submarine exploration equipment - Google Patents
Submarine exploration equipment Download PDFInfo
- Publication number
- CN113465580A CN113465580A CN202110602523.3A CN202110602523A CN113465580A CN 113465580 A CN113465580 A CN 113465580A CN 202110602523 A CN202110602523 A CN 202110602523A CN 113465580 A CN113465580 A CN 113465580A
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- Prior art keywords
- vehicle body
- arm
- connecting seat
- support arm
- support
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- 239000010802 sludge Substances 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 5
- 239000004575 stone Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to the technical field of exploration and discloses submarine exploration equipment, which comprises a vehicle body (1) and a detector (2) arranged on the vehicle body (1), wherein wheels (3) and a propeller (4) are arranged on the vehicle body (1), the bottom of the vehicle body (1) is provided with a boosting mechanism (50) for pushing the vehicle body (1) out of a sludge area or a riprap area and a balance mechanism (60) for preventing the vehicle body (1) from turning over during falling; this submarine exploration equipment passes through boosting mechanism and releases the automobile body mud district or indiscriminate stone district, and boosting mechanism can used repeatedly many times, the recovery of the equipment of being convenient for, and this exploration equipment overall structure is simple and can realize remote control.
Description
Technical Field
The invention relates to the technical field of exploration, in particular to submarine exploration equipment.
Background
Geological exploration is to explore and detect geology by various means and methods, determine a proper bearing stratum, calculate investigation and research activities of basic parameters according to the foundation bearing capacity and the actual basic type of the bearing stratum, provide mineral reserves and geological data required by mine construction design, and investigate and research geological conditions such as rocks, stratums, structures, mineral products, hydrology, landforms and the like in a certain area. The land exploration work is simple compared with submarine exploration, and the submarine exploration device comprises an instrument sinking into the seabed, wherein the instrument is thrown at a planned point and then falls to the seabed for data recording, and the instrument is recovered after a planned task is completed.
However, seabed geological conditions are complex, a sludge area or a riprap area exists, seabed exploration equipment may be trapped in sludge or clamped in stones, and the like, so that the equipment cannot be recovered, and great economic loss is caused. In the prior art, a submarine exploration device (application publication number CN108469256A) rebounds through a spring mechanism in a compressed state to push a submarine instrument to overcome the resistance of sludge and flush out the sludge, so that the submarine instrument floats to the water surface through the buoyancy of the submarine instrument; however, the spring mechanism can only be used once, and if the exploration device is sunk into sludge or stuck in stones in the exploration process, the exploration can only be abandoned.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the submarine exploration equipment, the submarine exploration equipment pushes the vehicle body out of a sludge area or a riprap area through the boosting mechanism, the boosting mechanism can be repeatedly used for many times, the recovery of the equipment is convenient, the overall structure of the exploration equipment is simple, and the remote control can be realized.
In order to achieve the above purpose, the invention provides the following technical scheme:
a submarine exploration device comprises a vehicle body and a detector arranged on the vehicle body, wherein wheels and a propeller are arranged on the vehicle body, a boosting mechanism for pushing the vehicle body out of a sludge area or a riprap area and a balance mechanism for preventing the vehicle body from turning over during falling are arranged at the bottom of the vehicle body; the boosting mechanism can be repeatedly used for many times, and the recovery of equipment is facilitated.
The boosting mechanism comprises a fixed seat arranged at the bottom of the vehicle body, a first connecting seat arranged inside the fixed seat in a sliding manner, a first driver driving the first connecting seat to slide relative to the fixed seat and a plurality of groups of first supporting pieces hinged with the end part of the first connecting seat, wherein the first connecting seat is of a hollow structure, the hinged point of the first supporting piece and the first connecting seat is positioned in the middle of the first connecting seat, and an ejection assembly is further arranged in a hollow cavity of the first connecting seat and used for ejecting the supporting pieces to realize the unfolding of the first connecting seat.
Preferably, the ejection assembly includes a second actuator fixed in the first connecting seat and an ejector fixed to an end of the second actuator.
Preferably, the first connecting seat is a hollow cylinder or a hollow prism, when the first connecting seat is a hollow prism, the number of the first supporting pieces is consistent with the number of the edges of the first supporting pieces, and the first supporting pieces are hinged with the corresponding side faces of the first connecting seat.
Preferably, the balance mechanism comprises a weight part and an elastic balance part, a slideway is arranged in the vehicle body, the weight part is arranged in the slideway in a sliding manner, the elastic balance part is fixedly arranged between the weight part and the vehicle body, and the elastic balance part is a spring rod which is at least provided with four spring rods.
Preferably, the vehicle body gripping and transferring device further comprises a gripping and supporting mechanism, wherein the gripping and supporting mechanism comprises a rotating arm arranged on the wheel and a gripper arranged at the end part of the rotating arm, so that sampling and vehicle body supporting and transferring operation when the vehicle body sinks into a marsh are realized.
Preferably, the rotating arm comprises a first supporting arm, a second supporting arm and a third supporting arm, the first supporting arm and the second supporting arm are in shaft connection, and a torsion motor is arranged in the first supporting arm and the second supporting arm so as to drive the second supporting arm to rotate relative to the first supporting arm; the second supporting arm is connected with the third supporting arm in a shaft mode, and a torsion motor is arranged in the second supporting arm and the third supporting arm so as to drive the third supporting arm to rotate relative to the second supporting arm.
The first supporting arm, the second supporting arm and the third supporting arm can realize the bending angle of the rotating arm so as to drive the gripper to move to realize sampling or lift the wheels when the vehicle body sinks into a marsh, and then the first supporting arm, the second supporting arm and the third supporting arm are matched to rotate to move the wheels out of the sinking area.
Preferably, the rotating arm further comprises a horizontal motor for driving the first supporting arm to rotate horizontally and a vertical motor for driving the first supporting arm to rotate vertically, the horizontal motor is mounted on the vehicle body, an output shaft of the horizontal motor is fixedly connected with the turntable, and the vertical motor is mounted on the turntable and an output shaft of the vertical motor is connected with the first supporting arm.
Preferably, the third support arm is internally provided with a first telescopic driver for driving the gripper to relatively extend and retract into the third support arm.
Preferably, an auxiliary support device is further arranged in the third support arm, the auxiliary support device comprises a second connecting seat in the third support arm, a second support sheet which is overturned relative to the outside of the second connecting seat, and a second telescopic driver which is used for driving the second connecting seat to relatively extend into the third support arm, and an output shaft of the first telescopic driver penetrates through the connecting seat and is connected with the hand grip.
When the tongs are driven by the first telescopic driver to retract into the third supporting arm, the second telescopic driver drives the second connecting seat to extend out of the third supporting arm, the second supporting sheet is in contact with soil to turn over to form an unfolding structure, so that the contact area with the swamp ground is increased, the stability of the vehicle body can be improved, the vehicle body is moved by the rotating arm, the vehicle body leaves a sinking area, and exploration work is carried out continuously.
Preferably, the vehicle body is further provided with a monitoring camera.
Compared with the prior art, the invention has the beneficial effects that:
the submarine exploration equipment pushes the vehicle body out of the sludge area or the riprap area through the boosting mechanism, and the boosting mechanism can be repeatedly used for many times, so that the recovery of the equipment is facilitated;
the grabbing supporting mechanism arranged in a matched mode realizes sampling and vehicle body transferring operation when the vehicle body is sunk into a marsh, and the whole exploration equipment is simple in structure and can be remotely controlled.
Drawings
FIG. 1 is a schematic structural diagram of the marine exploration apparatus of this embodiment 1.
Fig. 2 is a front view of fig. 1.
Fig. 3 is a bottom view of fig. 1.
FIG. 4 is a schematic diagram showing the structure of a vehicle body in the marine exploration apparatus of this embodiment 1.
Fig. 5 is a schematic structural diagram of a boosting mechanism in the seafloor surveying apparatus in this embodiment 1.
FIG. 6 is a schematic structural diagram of the marine exploration apparatus in this embodiment 3.
Fig. 7 is a side view of fig. 3.
Fig. 8 is a schematic structural diagram of the grasping and supporting mechanism in the seafloor surveying device in this embodiment 3.
Fig. 9 is a schematic diagram illustrating a disassembled structure of the auxiliary support and the gripper in the marine exploration apparatus in this embodiment 3.
In the drawings: the system comprises a vehicle body 1, a detector 2, wheels 3, a propeller 4, a boosting mechanism 50, a fixed seat 51, a first connecting seat 52, a first driver 53, a first supporting sheet 54, an ejection assembly 55, a balance mechanism 60, a weight 61, an elastic balance 62, a grabbing supporting mechanism 70, a grab handle 71, a first supporting arm 72, a second supporting arm 73, a third supporting arm 74, a horizontal motor 75, a vertical motor 76, a first telescopic driver 77, an auxiliary support 78 and a monitoring camera 8.
Detailed Description
Example 1: the invention provides a submarine exploration device, which comprises a vehicle body 1 and a detector 2 arranged on the vehicle body 1, wherein the detector 2 is an existing detector with waterproof performance, and wheels 3 and a propeller 4 are arranged on the vehicle body 1 to drive the vehicle body 1 to move on the seabed; the automobile body 1 still is equipped with surveillance camera head 8, and the topography circumstances in exploration area can be shot to surveillance camera head 8 to the operation such as staff remote control automobile body 1 direction of advance.
The bottom of a vehicle body 1 of the submarine exploration equipment is provided with a boosting mechanism 50 for pushing the vehicle body 1 out of a sludge area or a riprap area and a balance mechanism 60 for preventing the vehicle body 1 from turning over during falling; the boosting mechanism 50 can be repeatedly used for a plurality of times, and the recovery of the equipment is convenient.
The boosting mechanism 50 includes a fixing seat 51 installed at the bottom of the vehicle body 1, a first connecting seat 52 slidably disposed inside the fixing seat 51, a first driver 53 driving the first connecting seat 52 to slide relative to the fixing seat 51, and a plurality of groups of first supporting pieces 54 hinged to the end of the first connecting seat 52, wherein the first connecting seat 52 is of a hollow structure, a hinge point of the first supporting piece 54 and the first connecting seat 52 is located at the middle of the first connecting seat, and an ejecting assembly 55 is further disposed in a hollow cavity of the first connecting seat 52 for ejecting the supporting pieces to realize the unfolding thereof.
The ejection assembly 55 includes a second driver fixed in the first connecting seat 52 and an ejection member fixed at an end of the second driver; the first and second actuators are existing waterproof cylinders.
In this embodiment, the first connecting seat 52 is a hollow hexagonal prism, the number of the first supporting pieces 54 is the same as the number of the edges thereof, and the first supporting pieces 54 are hinged to the corresponding side surfaces of the first connecting seat 52. In other embodiments, the first connecting seat 52 is a hollow cylinder, and the first supporting pieces 54 are at least three pieces, which are uniformly distributed along the circumference.
Example 2: a preferred embodiment of the invention provides a seafloor surveying instrument that differs from the above embodiments only in that: the balance mechanism 60 comprises a weight part 61 and an elastic balance part 62, a slideway is arranged in the vehicle body 1, the weight part 61 is arranged in the slideway in a sliding manner, the elastic balance part 62 is fixedly arranged between the weight part 61 and the vehicle body 1, and the elastic balance part 62 is a spring rod which is at least provided with four spring rods;
when the automobile body 1 falls, if when the automobile body 1 overturns to one side, the weight part 61 slides to the side of turning on one side along the slide way, the elastic balance part 62 on the side of turning on one side of the automobile body 1 is compressed, the elastic balance part 62 on the other side is stretched, and simultaneously deforms to pull the weight part 61 back to the middle part of the automobile body 1, so that the stability of the automobile body is kept to prevent the side turning condition.
Example 3: a preferred embodiment of the invention provides a seafloor surveying instrument that differs from the above embodiments only in that: the vehicle body support device further comprises a grabbing support mechanism 70, wherein the grabbing support mechanism 70 comprises a rotating arm arranged on the wheel 3 and a grabbing hand 71 arranged at the end part of the rotating arm, so that sampling and operation of supporting and transferring the vehicle body 1 when the vehicle body 1 is sunk into a marsh are realized.
The rotating arm comprises a first supporting arm 72, a second supporting arm 73 and a third supporting arm 74, wherein the first supporting arm 72 and the second supporting arm 73 are coupled by a shaft and are internally provided with a torsion motor so as to drive the second supporting arm 73 to rotate relative to the first supporting arm 72; the second support arm 73 is coupled to the third support arm 74 and a torsion motor is disposed therein to drive the third support arm 74 to rotate relative to the second support arm 73.
The first support arm 72, the second support arm 73 and the third support arm 74 can realize the bending angle of the rotating arms so as to drive the hand grip 71 to move to realize sampling or support the vehicle body 1 to lift the wheel 3 when the vehicle body 1 sinks into a marsh, and then the first support arm 72, the second support arm 73 and the third support arm 74 are matched to rotate to move the wheel 3 out of the sinking area.
The rotating arm further comprises a horizontal motor 75 for driving the first supporting arm 72 to rotate horizontally and a vertical motor 76 for driving the first supporting arm 72 to rotate vertically, the horizontal motor 75 is mounted on the vehicle body, an output shaft of the horizontal motor 75 is fixedly connected with a turntable, the vertical motor 76 is mounted on the turntable, and an output shaft of the vertical motor 76 is connected with the first supporting arm 72; the horizontal motor 75 can realize horizontal movement sampling, or when the vehicle body 1 sinks into a swamp or a riprap area, the vehicle body 1 is supported to lift the wheels 3, and then the vehicle body 1 is horizontally moved; the vertical motor 76 changes the position of the hand grip 71 in cooperation with the first support arm 72, the second support arm 73, and the third support arm 74.
A first telescopic driver 77 for driving the hand grip 71 to relatively extend into the third support arm 74 is arranged in the third support arm 74; an auxiliary support device 78 is further arranged in the third support arm 74, the auxiliary support device 78 comprises a second connecting seat in the third support arm, a second support sheet which is turned over relative to the second connecting seat and a second telescopic driver which is used for driving the second connecting seat to relatively extend into the third support arm 74, and an output shaft of the first telescopic driver 77 penetrates through the connecting seat and is connected with the hand grip; the first telescopic driver and the second telescopic driver are also existing waterproof cylinders.
The second supporting sheet and the second connecting seat can be fixed through the unidirectional hinge, and the second supporting sheet can only be turned outwards relative to the second connecting seat, namely turned backwards from one side of the hand grip 71. In this embodiment, the second connecting seat is also a hollow hexagonal prism, the number of the second supporting pieces is the same as the number of the edges thereof, and the second supporting pieces are hinged to the corresponding side surfaces of the second connecting seat.
When the hand grip 71 is retracted into the third support arm 74 under the driving of the first telescopic driver 77, the second telescopic driver drives the second connecting seat 751 to extend out to the third support arm 74, the second support sheet 752 contacts with soil and turns over to form an unfolding structure, so that the contact area with the swamp ground is increased, the stability of the vehicle body 1 can be improved, and then the vehicle body 1 is moved by the rotating arm, so that the vehicle body 1 leaves a sinking area to continue exploration.
Claims (10)
1. A submarine exploration device comprises a vehicle body (1) and a detector (2) arranged on the vehicle body (1), wherein wheels (3) and a propeller (4) are arranged on the vehicle body (1), and the submarine exploration device is characterized in that a boosting mechanism (50) used for pushing the vehicle body (1) out of a sludge area or a riprap area and a balance mechanism (60) used for preventing the vehicle body (1) from turning on one side in a falling process are arranged at the bottom of the vehicle body (1);
boosting mechanism (50) are including installing in fixing base (51) of automobile body (1) bottom, the first connecting seat (52) of fixing base (51) inside is equipped with in the slip, drive first connecting seat (52) for fixing base (51) gliding first driver (53) and with first connecting seat (52) tip articulated a plurality of groups first supporting sheet (54), first connecting seat (52) are hollow structure, first supporting sheet (54) and first connecting seat (52) pin joint are located its middle part, and first connecting seat (52) cavity intracavity still is equipped with ejecting subassembly (55), for ejecting supporting sheet realizes its expansion.
2. Subsea equipment according to claim 1, characterized in that the ejector assembly (55) comprises a second drive fixed in the first connection socket (52) and an ejector fixed to the end of the second drive.
3. A seafloor surveying arrangement as claimed in claim 1, wherein the first connection block (52) is a hollow cylinder or a hollow prism, and when the first connection block (52) is a hollow prism, the number of first support pieces (54) corresponds to the number of edges thereof, and the first support pieces (54) are hinged to corresponding sides of the first connection block (52).
4. The seafloor surveying device according to claim 1, wherein the balancing mechanism (60) comprises a weight member (61) and an elastic balancing member (62), a slideway is arranged in the vehicle body (1), the weight member (61) is slidably arranged in the slideway, the elastic balancing member (62) is fixedly arranged between the weight member (61) and the vehicle body (1), and the elastic balancing member (62) is a spring rod which is provided with at least four spring rods.
5. The seafloor surveying device of claim 1, further comprising a grabbing support mechanism (70), wherein the grabbing support mechanism (70) comprises a rotating arm arranged on the wheel (3) and a grabbing hand (71) arranged at the end part of the rotating arm, so that the vehicle body (1) is supported and transferred to operate when the vehicle body (1) is sunk into a marsh.
6. Subsea equipment according to claim 5, characterized in that the rotating arm comprises a first support arm (72), a second support arm (73) and a third support arm (74), the first support arm (72) and the second support arm (73) being coupled by means of a shaft and having a torsion motor arranged therein for rotating the second support arm (73) relative to the first support arm (72); the second supporting arm (73) is coupled with the third supporting arm (74) and a torsion motor is arranged in the second supporting arm (73) to drive the third supporting arm (74) to rotate relative to the second supporting arm (73).
7. The seafloor surveying device of claim 6, wherein the rotating arm further comprises a horizontal motor (75) for driving the first support arm (72) to rotate horizontally and a vertical motor (76) for driving the first support arm (72) to rotate vertically, the horizontal motor (75) is mounted on the vehicle body, a turntable is fixedly connected to an output shaft of the horizontal motor (75), the vertical motor (76) is mounted on the turntable, and the output shaft of the vertical motor is connected with the first support arm (72).
8. Subsea equipment according to claim 6, characterized in that the third support arm (74) is provided with a first telescopic drive (77) for relative telescopic movement of the gripper (71) into the third support arm (74).
9. The seafloor surveying device of claim 8, wherein an auxiliary support (78) is further arranged in the third support arm (74), the auxiliary support (78) comprises a second connecting seat in the third support arm, a second support plate which is turned outwards relative to the second connecting seat, and a second telescopic driver for driving the second connecting seat to relatively telescope into the third support arm (74), and an output shaft of the first telescopic driver (77) penetrates through the connecting seat and is connected with the gripper.
10. A seafloor surveying instrument as claimed in claim 1, the vehicle body (1) further being provided with a surveillance camera (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110602523.3A CN113465580A (en) | 2021-05-31 | 2021-05-31 | Submarine exploration equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110602523.3A CN113465580A (en) | 2021-05-31 | 2021-05-31 | Submarine exploration equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113465580A true CN113465580A (en) | 2021-10-01 |
Family
ID=77871762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110602523.3A Pending CN113465580A (en) | 2021-05-31 | 2021-05-31 | Submarine exploration equipment |
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| Country | Link |
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| CN (1) | CN113465580A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054588A (en) * | 2017-01-22 | 2017-08-18 | 浙江大学 | A kind of crawl stroke formula robot and its method of work under water |
| CN108382731A (en) * | 2018-03-20 | 2018-08-10 | 长安大学 | A kind of damping self-balancing anti-spilling wine transport device |
| CN108469256A (en) * | 2018-05-28 | 2018-08-31 | 中地装（重庆）地质仪器有限公司 | A kind of sea floor exploration device |
| CN109975064A (en) * | 2019-04-04 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of seabed ore scout carrier and its acquisition ore method |
| CN111845230A (en) * | 2020-07-27 | 2020-10-30 | 成都科锐志科技有限公司 | Special equipment for marsh oil exploration |
| CN212272022U (en) * | 2020-06-04 | 2021-01-01 | 张慕宇 | Survey drilling equipment for coal mine geological engineering |
-
2021
- 2021-05-31 CN CN202110602523.3A patent/CN113465580A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054588A (en) * | 2017-01-22 | 2017-08-18 | 浙江大学 | A kind of crawl stroke formula robot and its method of work under water |
| CN108382731A (en) * | 2018-03-20 | 2018-08-10 | 长安大学 | A kind of damping self-balancing anti-spilling wine transport device |
| CN108469256A (en) * | 2018-05-28 | 2018-08-31 | 中地装（重庆）地质仪器有限公司 | A kind of sea floor exploration device |
| CN109975064A (en) * | 2019-04-04 | 2019-07-05 | 南京涵铭置智能科技有限公司 | A kind of seabed ore scout carrier and its acquisition ore method |
| CN212272022U (en) * | 2020-06-04 | 2021-01-01 | 张慕宇 | Survey drilling equipment for coal mine geological engineering |
| CN111845230A (en) * | 2020-07-27 | 2020-10-30 | 成都科锐志科技有限公司 | Special equipment for marsh oil exploration |
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Application publication date: 20211001 |