CN114435563A - Underwater creeping cable detection robot - Google Patents
Underwater creeping cable detection robot Download PDFInfo
- Publication number
- CN114435563A CN114435563A CN202111617996.7A CN202111617996A CN114435563A CN 114435563 A CN114435563 A CN 114435563A CN 202111617996 A CN202111617996 A CN 202111617996A CN 114435563 A CN114435563 A CN 114435563A
- Authority
- CN
- China
- Prior art keywords
- respectively fixed
- bolts
- support
- underwater
- air bag
- 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
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a submarine crawling cable detection robot, which comprises a control device loading platform, wherein the left side and the right side of the bottom of the control device loading platform are respectively fixed with a compression air bag through bolts, the adjacent sides of the front end and the rear end of the bottom of the compression air bag are respectively fixed with a hydraulic suspension cylinder through bolts, the far side of the front end and the rear end of the bottom of the compression air bag is respectively fixed with a crawler connecting support through bolts, the top of each crawler connecting support is respectively fixed with an upper support rod through a connecting shaft, the middle of each crawler connecting support is respectively fixed with a lower support through bolts, the top of each lower support is respectively fixed with a connecting rod through bolts, the top of each connecting rod is respectively fixed with a triangular support plate through bolts, the far side of the bottom of each crawler connecting support is respectively fixed with crawler walking equipment through bolts, and the front of the bottom of the control device loading platform is provided with a measurement device loading support; the underwater crawling cable detection robot has the advantages of small size, high stability, recycling and strong adaptability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a submarine creeping cable detection robot.
Background
In the underwater cable detection mode, the traditional mode is that an ROV is adopted to carry a camera to detect the submarine cable, a small ROV suitable for a shallow water area can only load small-size equipment and sensors, the underwater stress state of the equipment needs to be evaluated in order to ensure the underwater flight capacity of the equipment when the equipment is mounted, the steps are complex, the operation difficulty is high, the walking function can be realized in a motion mode of mounting external crawler walking equipment, but the underwater walking function of the motion mode is poor, and the underwater cable detection mode is difficult to cross the underwater with a higher gradient only through the walking function. For a large-scale working-grade ROV, in order to mount various large-scale equipment, the self weight and the volume of the ROV are correspondingly increased, and the ROV can also cope with severe sea condition working conditions, but the minimum working depth of the ROV is correspondingly increased, and the ROV is not suitable for shallow water detection. And the ROV must be equipped with DP power boat to cooperate and finish the underwater detection operation, but the working height of ROV needs above 5 meters at least, DP power positioning ship's draft at this moment is above 3 meters at least, the safe distance that keeps between the two needs above 15 meters at least, under the operating condition of the shallow water (20-15m), the adaptability of this kind of detection mode is poor, and in the complete system, different operation grades of ROV need carry on DP power boat's configuration according to the demand, with the improvement of operation grade, DP power boat's length and draft also increase correspondingly, the degree of applicability to the shallow water is lower and lower.
The underwater crawling cable detection robot is small in size, high in stability and strong in adaptability, recycling is also very convenient, and the problems that adaptability is not strong and deep water equipment cannot be applied to shallow water detection in the prior art are solved.
Disclosure of Invention
The invention aims to provide a cable detection robot crawling at the bottom of water, which has the advantages of small size, high stability and strong adaptability and solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the underwater crawling cable detection robot comprises a control equipment loading platform, wherein the left side and the right side of the bottom of the control equipment loading platform are respectively fixed with a compression air bag through bolts, the adjacent sides of the front end and the rear end of the bottom of the compression air bag are respectively fixed with a hydraulic suspension cylinder through bolts, the far side of the front end and the rear end of the bottom of the compression air bag is respectively fixed with a crawler connecting bracket through bolts, the top of each crawler connecting bracket is respectively fixed with an upper support rod through a connecting shaft, the middle of each crawler connecting bracket is respectively fixed with a lower bracket through bolts, the top of each lower bracket is respectively fixed with a connecting rod through bolts, the top of each connecting rod is respectively fixed with a triangular support plate through bolts, the far side of the bottom of each crawler connecting bracket is respectively fixed with crawler walking equipment through bolts, and the front of the bottom of the control equipment loading platform is provided with a measuring equipment loading bracket, the measuring equipment loading support is fixed in front of the bottom of the control equipment loading platform through bolts.
Preferably, the four crawler traveling devices are independent and related to each other, each device can rotate independently, and the turning mode is that turning is performed in a differential rotation mode.
Preferably, the measuring device loading stand is foldable.
Preferably, the compressed air bag can be inflated underwater by carrying compressed air after the creeper car completes the detection task.
Preferably, the upper support, the lower support, the connecting rod, the triangular supporting plate, the hydraulic suspension cylinder and the crawler connecting rod form a suspension system.
Compared with the prior art, the invention has the following beneficial effects:
1. this submarine cable detection robot of crawling pulls high the height of automobile body through built-in suspension, strengthens the hindrance throughput capacity of automobile body, and built-in suspension through link structure equally places suspension inside the automobile body, reduces the volume width of automobile body. The additionally arranged suspension system can also reduce the influence of vibration on the detection equipment while ensuring the stability of the vehicle body in the running process.
In equipment recovery, after the externally-hung compressed air bag is inflated through the mounted compressed air bottle, the volume of the air bag is increased, when the buoyancy force borne by the air bag is larger than the gravity of the vehicle body, the vehicle body floats upwards under the driving of the air bag, and the floating water surface process of the vehicle body is realized after the detection project is finished.
Drawings
Fig. 1 is a schematic view of the overall structure of the underwater crawling cable detection robot of the present invention.
The figures are labeled as follows: 1. a measuring device loading support; 2. a hydraulic suspension cylinder; 3. a triangular support plate; 4. an upper support rod; 5. a connecting rod; 6. a lower bracket; 7. the crawler belt is connected with the bracket; 8. a crawler traveling apparatus; 9. controlling the equipment loading platform; 10. the balloon is compressed.
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 embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to fig. 1, the underwater crawling cable detection robot comprises a control device loading platform 9, wherein the left side and the right side of the bottom of the control device loading platform 9 are respectively fixed with a compression air bag 10 through bolts, the adjacent sides of the front end and the rear end of the bottom of the compression air bag 10 are respectively fixed with a hydraulic suspension cylinder 2 through bolts, the far sides of the front end and the rear end of the bottom of the compression air bag 10 are respectively fixed with a track connecting bracket 7 through bolts, the top of each track connecting bracket 7 is respectively fixed with an upper support rod 4 through a connecting shaft, the middle of each track connecting bracket 7 is respectively fixed with a lower support 6 through bolts, the top of each lower support 6 is respectively fixed with a connecting rod 5 through bolts, the top of each connecting rod 5 is respectively fixed with a triangular support plate 3 through bolts, the far side of the bottom of each track connecting bracket 7 is respectively fixed with a track walking device 8 through bolts, the front of the bottom of the control device loading platform 9 is provided with a measurement device loading bracket 1, the measuring device loading bracket 1 is fixed in front of the bottom of the control device loading platform 9 through bolts.
Specifically, through built-in suspension, the height of automobile body is drawn high, the hindrance throughput of reinforcing automobile body, same built-in suspension, through the connecting rod structure, place suspension inside the automobile body, reduce the volume width of automobile body, suspension who installs additional is when guaranteeing the stability of automobile body travel process, also can alleviate the influence of vibrations to check out test set, in equipment recycling, after outer hanging compressed air bag 10 aerifys through the compressed air cylinder of carry, the gasbag volume increases, buoyancy that receives when the gasbag is greater than the gravity of automobile body, the automobile body is under the drive of gasbag, the come-up, realize the surface of water come-up process of automobile body after the detection project finishes.
The working principle is as follows: the invention relates to a submarine creeping cable detecting robot, which walks close to the water bottom through crawler walking devices 8, four crawler walking devices 8 are independent and related to each other, each device can rotate independently, the turning mode is to turn in a differential rotation mode, in order to ensure walking in a rugged water bottom, a suspension system is required to be carried, meanwhile, in order to compress the width of a vehicle body, the suspension system is compressed in the vehicle body, the exposed part of the suspension system is reduced, environmental influence factors are reduced, the height of the vehicle body is increased, the overall shape is in a parallelogram structure, when a crawler connecting rod 5 drives an upper bracket and a lower bracket, the connecting rod 5 pushes a triangular supporting plate 3, the triangular supporting plate 3 is connected with a hydraulic cylinder, the damping effect of the hydraulic cylinder inhibits the shaking of the crawler walking devices 8, and the fluctuation of a rugged road surface is realized, the working principle of the invention is that the body is balanced and stable, the foldable measuring support at the front part of the crawling vehicle can carry various measuring instruments and add various measuring functions, after the crawling vehicle is folded, the volume of the vehicle body is reduced, the compression air bags 10 at the side edges can carry compressed air to carry compressed air for underwater inflation after the crawling vehicle completes a detection task, and after the air bags are full, the crawling vehicle floats to the water surface by itself to realize the floating water surface process of the vehicle body.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. Submarine cable detection robot of crawling, its characterized in that: the device comprises a control equipment loading platform (9), wherein the left side and the right side of the bottom of the control equipment loading platform (9) are respectively fixed with a compression air bag (10) through bolts, the adjacent sides of the front end and the rear end of the bottom of the compression air bag (10) are respectively fixed with a hydraulic suspension cylinder (2) through bolts, the front end and the rear end of the bottom of the compression air bag (10) are respectively fixed with a track connecting bracket (7) through bolts at the far side, the top of the track connecting bracket (7) is respectively fixed with an upper supporting rod (4) through a connecting shaft, the middle of the track connecting bracket (7) is respectively fixed with a lower bracket (6) through bolts, the top of the lower bracket (6) is respectively fixed with a connecting rod (5) through bolts, the top of the connecting rod (5) is respectively fixed with a triangular supporting plate (3) through bolts, the far side of the bottom of the track connecting bracket (7) is respectively fixed with a track walking device (8) through bolts, the measuring equipment loading support is characterized in that a measuring equipment loading support (1) is arranged in front of the bottom of the control equipment loading platform (9), and the measuring equipment loading support (1) is fixed in front of the bottom of the control equipment loading platform (9) through a bolt.
2. The underwater crawling cable detection robot of claim 1, wherein: the four crawler traveling devices (8) are independent and related to each other, each device can rotate independently, and the turning mode is that turning is performed in a differential rotation mode.
3. The underwater crawling cable detection robot of claim 1, wherein: the measuring device loading support (1) can be folded.
4. The underwater crawling cable detection robot of claim 1, wherein: the compressed air bag (10) can be used for carrying compressed air to carry out underwater inflation after the creeper truck finishes a detection task.
5. The underwater crawling cable detection robot of claim 1, wherein: the upper support (4), the lower support (6), the connecting rod (5), the triangular supporting plate (3), the hydraulic suspension cylinder (2) and the crawler connecting rod form a suspension system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111617996.7A CN114435563A (en) | 2021-12-27 | 2021-12-27 | Underwater creeping cable detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111617996.7A CN114435563A (en) | 2021-12-27 | 2021-12-27 | Underwater creeping cable detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114435563A true CN114435563A (en) | 2022-05-06 |
Family
ID=81366649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111617996.7A Pending CN114435563A (en) | 2021-12-27 | 2021-12-27 | Underwater creeping cable detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114435563A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| KR102047456B1 (en) * | 2018-09-21 | 2019-11-21 | 주식회사 에프알티 | Crawler type running gear |
| US20200086705A1 (en) * | 2018-02-02 | 2020-03-19 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| CN111114722A (en) * | 2020-01-19 | 2020-05-08 | 长沙矿山研究院有限责任公司 | Deep sea four-crawler hydraulic direct-drive self-adaptive all-terrain chassis |
| CN211466408U (en) * | 2019-12-10 | 2020-09-11 | 深圳前海壹路科技有限公司 | Offshore cable feeding robot |
| CN212980507U (en) * | 2020-08-06 | 2021-04-16 | 威海浦鲸智能设备有限公司 | Adjustable submerged operation robot |
| CN112874735A (en) * | 2021-02-03 | 2021-06-01 | 华中科技大学鄂州工业技术研究院 | Underwater robot crawler walking chassis and underwater robot |
-
2021
- 2021-12-27 CN CN202111617996.7A patent/CN114435563A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521643A (en) * | 2017-07-21 | 2017-12-29 | 长沙矿山研究院有限责任公司 | Undersea mining chassis, undersea mining car and its control method |
| US20200086705A1 (en) * | 2018-02-02 | 2020-03-19 | Shanghai Jiao Tong University | Special suspension-type tracked underwater robot adaptable to ultra-soft geological conditions |
| KR102047456B1 (en) * | 2018-09-21 | 2019-11-21 | 주식회사 에프알티 | Crawler type running gear |
| CN211466408U (en) * | 2019-12-10 | 2020-09-11 | 深圳前海壹路科技有限公司 | Offshore cable feeding robot |
| CN111114722A (en) * | 2020-01-19 | 2020-05-08 | 长沙矿山研究院有限责任公司 | Deep sea four-crawler hydraulic direct-drive self-adaptive all-terrain chassis |
| CN212980507U (en) * | 2020-08-06 | 2021-04-16 | 威海浦鲸智能设备有限公司 | Adjustable submerged operation robot |
| CN112874735A (en) * | 2021-02-03 | 2021-06-01 | 华中科技大学鄂州工业技术研究院 | Underwater robot crawler walking chassis and underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202242837U (en) | Robot electric running gear with independent suspension | |
| CN109130739A (en) | Running method and its device in a kind of land vehicle water | |
| CN114435563A (en) | Underwater creeping cable detection robot | |
| KR101154514B1 (en) | 6-axis road simulator test apparatus | |
| CN210101213U (en) | Unmanned platform | |
| CN107386044B (en) | The mobile horizontal runway of aggregation type | |
| CN216508287U (en) | Leveling mechanism for supporting all-region target detection vehicle | |
| CN217350605U (en) | Rapid assembling, disassembling and carrying equipment for container units | |
| US11766912B2 (en) | Kneeling position for electric medium-duty vehicle | |
| CN101823483B (en) | External type air-cushion vehicle | |
| CN213772937U (en) | Lifting device for bridge detection | |
| CN112918204B (en) | Motor-driven carrying equipment and floating crawler lifting mechanism thereof | |
| JP4744021B2 (en) | Underwater travel device | |
| CN209584834U (en) | A kind of automobile-used air suspension vehicle bridge support device of bridge machinery | |
| CN2207575Y (en) | Mobile detecting device for automobile and motorcycle | |
| CN207842760U (en) | A kind of mine dump truck | |
| CN220517960U (en) | Water flooding preventing bag for automobile | |
| CN220390889U (en) | Swing arm type bearing axle | |
| CN220135151U (en) | Detection scooter | |
| CN213472674U (en) | Movable chassis device | |
| CN204659698U (en) | Automobile lifesaving air-cushion device | |
| CN221316511U (en) | All-terrain four-wheel electric vehicle | |
| CN220390888U (en) | Swing arm type driving axle | |
| CN216761370U (en) | Air bag trailer wrecker | |
| CN216969259U (en) | Air suspension system and vehicle |
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 |