CN203158221U - Child-mother intelligent marine environment detecting robot - Google Patents
Child-mother intelligent marine environment detecting robot Download PDFInfo
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- CN203158221U CN203158221U CN 201320189109 CN201320189109U CN203158221U CN 203158221 U CN203158221 U CN 203158221U CN 201320189109 CN201320189109 CN 201320189109 CN 201320189109 U CN201320189109 U CN 201320189109U CN 203158221 U CN203158221 U CN 203158221U
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- marine environment
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Abstract
The utility model relates to a child-mother intelligent marine environment detecting robot which comprises two parts, namely a water-surface supporting mother-ship and an unmanned underwater vehicle. The water-surface supporting mother-ship comprises a water-jet propeller a small arm, a small-arm rotational joint, a supporting plate, a wireless communication transceiver, a ship body, a butted holder, a central processing cabin, a front sensor, a monitoring cabin, a spring buffering layer, a big-arm rotational joint, a big arm, a wrist-foot rotational joint, a strong support and a long float bowl. The unmanned underwater vehicle comprises a tail vane, a tail fin, a fairwater, a connecting umbilical cable, a vertical propeller, a clamping port, a horizontal propeller, a machine body, a sensor, a detector and a mounting platform.
Description
Technical field
The utility model relates to a kind of robot, and especially a kind of primary-secondary type marine environment detects knowbot, belongs to the robot field.
Background technology
Along with the development of coastal cities and production, the harbour is trade contacts frequently, the exploitation of marine resources, and human marine environment is influenced is on the rise, and ocean environment observation is protected with the marine resources development utilization with investigation to marine ecology and positive role is arranged; Content and other water quality parameters by all contaminations in results of regular determination seawater, substrate and some the indicator organism body, in order to protect marine ecosystem, require to understand, monitor and detect these deleterious effects, if issue alarm when seawater, substrate or certain indicator organism internal pollution thing surpass maximum permissible concentration realizes the marine ecology protection; Traditionally, be to drive oceanographic vessel navigation purpose marine site by the staff, drop into under-water robot on the lash ship marine then, the investigation of telerobot environments such as subsea, this kind investigation method needs more human input bigger, and efficient is lower, and is dangerous under the harsh harsh environment in ocean.
The utility model content
The purpose of this utility model provides a kind of primary-secondary type marine environment and detects knowbot.
Problem to be solved in the utility model is that existing telerobot efficient is lower, the dangerous deficiency of operation under the harsh harsh environment in ocean.
For realizing the purpose of this utility model, the technical solution adopted in the utility model is:
The utility model primary-secondary type marine environment detects knowbot and is made up of the two large divisions: the water surface is supported lash ship and unmanned submersible.
The water surface is supported lash ship, comprise waterjet propulsor, forearm, forearm rotary joint, stay bearing plate, wireless communication transceiver, hull, butt joint clamper, centre stow, preposition inductor, monitoring cabin, spring buffer layer, big arm rotary joint, big arm, peduncle rotary joint, strong support and long floating drum, preposition inductor is contained in hull top, in various sensors are arranged, sea situation information such as temperature sensor, wind speed, air pressure; The monitoring cabin is located at fore-body, and the module of shooting, radio, super sonic positioning function is arranged in the monitoring cabin, is used for entire machine people's navigation and location; The centre stow is located at fore hull section, and wireless communication transceiver is located at the hull top; Hull interior is provided with driving engine and provides sufficient power for the entire machine robot system; Whole hull is uphang across the sea on the stay bearing plate, does not contact with the sea when advancing or anchoring; Big arm rotary joint, big arm, forearm rotary joint, forearm, peduncle rotary joint constitute the movable leg foot and support, according to job requirements and rotational deformation, big arm is connected with stay bearing plate by big arm rotary joint, stay bearing plate is connected with hull by the spring buffer layer, the spring buffer layer is titanium alloy material, and the spring buffer layer helps to have absorbed the vibration that produces when ploughing the waves; The strong support of arch is connected with forearm by the peduncle rotary joint, and long floating drum is contained on the strong support, a perk of long floating drum point, and long floating drum afterbody is installed waterjet propulsor; The hull below is provided with the butt joint clamper.
The unmanned submersible, comprise tail vane, tail fin, streamlined reefer housing, connection navel cable, vertical pusher, clamping port, horizontal propeller, body, inductor, detector and carry platform, concentrate the functional module that whole submersible is arranged in the body, two horizontal propellers are installed in the left and right sides of body, two vertical pusher are installed in the body both sides equally, afterbody in horizontal propeller and vertical pusher is provided with streamlined reefer housing, makes the thrust power polymerization; The afterbody of body is provided with tail vane and tail fin; The bottom of body is provided with the carry platform, and inductor and detector are installed on the carry platform; The top of body is provided with the clamping port that docks with the lash ship body; The unmanned submersible supports to link to each other by being connected the navel cable between the lash ship with the water surface, and lash ship is by connecting navel cable transmission energy and control signal, and unmanned submersible's detection signal under water passes to lash ship by connecting the navel cable, is transmitted to the base station by lash ship again.
The utility model has the advantages that: between big arm and the cabin body spring buffer layer is installed, helps to have absorbed the vibration that produces when ploughing the waves, therefore, even also can keep system's smooth running in bigger stormy waves, whole shape allows it can adapt to the motion of undaform; Big arm rotary joint, big arm, forearm rotary joint, forearm, peduncle rotary joint constitute the movable leg foot supports, and according to job requirements and rotational deformation, therefore, hull and submersible can dock easily; Unmanned submersible and the water surface are supported to link to each other by being connected the navel cable between the lash ship, and it is more stable that unmanned submersible and lash ship volume data are exchanged, while water surface support lash ship also can be realized Remote, avoided under water can't remote control drawback; The lash ship body does not contact with the sea when advancing or anchor, and can make critical elements not be subjected to marine denudation; Entire machine people is modular design, is convenient to the parts that transport and store, can assemble fast easily, and any assembly can be changed as required; Whole device is very light and handy, has the ability of passing through ocean, the efficiency height, long-distance navigation, speed is fast, integrate advantages such as voyage is far away, oil consumption is few, cost is low, loading and unloading are easy, pollution is little, transformation can all have broad application prospects in fields such as military, civilian, rescue at sea, scientific investigations through module.
Description of drawings
Fig. 1 is that the utility model primary-secondary type marine environment detects the knowbot lateral plan;
Fig. 2 is that the utility model primary-secondary type marine environment detects the knowbot front elevation;
Fig. 3 is that the utility model primary-secondary type marine environment detects the knowbot birds-eye view;
Fig. 4 is the utility model unmanned submersible part lateral plan;
Fig. 5 is the utility model unmanned submersible part front elevation;
Fig. 6 is that the utility model primary-secondary type marine environment detects knowbot commit condition scheme drawing;
Fig. 7 is that the utility model primary-secondary type marine environment detects knowbot under-water operation scheme drawing;
Among the figure: 1, waterjet propulsor 2; forearm 3; forearm rotary joint 4; stay bearing plate 5; wireless communication transceiver 6; hull 7; butt joint clamper 8; centre stow 9; preposition inductor 10; monitoring cabin 11; spring buffer layer 12; big arm rotary joint 13; big arm 14; peduncle rotary joint 15; strong support 16; long floating drum 17; tail vane 18; tail fin 19; streamlined reefer housing 20; connect navel cable 21; vertical pusher 22; clamping port 23; horizontal propeller 24; body 25; inductor 26; detector 27; carry platform.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described.
As shown in the figure, the utility model primary-secondary type marine environment detection knowbot is made up of the two large divisions: the water surface is supported lash ship and unmanned submersible;
The water surface is supported lash ship, comprise waterjet propulsor 1, forearm 2, forearm rotary joint 3, stay bearing plate 4, wireless communication transceiver 5, hull 6, butt joint clamper 7, centre stow 8, preposition inductor 9, monitoring cabin 10, spring buffer layer 11, big arm rotary joint 12, big arm 13, peduncle rotary joint 14, strong support 15 and long floating drum 16, preposition inductor 9 is contained in hull 6 tops, in various sensors are arranged, sea situation information such as temperature sensor, wind speed, air pressure; Monitoring cabin 10 is located at hull 6 front portions, and the module of shooting, radio, super sonic positioning function is arranged in the monitoring cabin 10, can be used for navigation and the location of robot; Centre stow 8 is located at hull 6 leading portions, handles sea and various data under water in real time, and wireless communication transceiver 5 is located at hull 6 tops, can communicate with the ground staff by wireless communication transceiver 5; Hull 6 inside are provided with driving engine and provide sufficient power for the entire machine robot system; Whole hull 6 is uphang across the sea on the stay bearing plate 4, does not contact with the sea when advancing or anchoring; Big arm rotary joint 12, big arm 13, forearm rotary joint 3, forearm 2, peduncle rotary joint 14 constitute the movable leg foot and support, according to job requirements and rotational deformation, big arm 13 is connected with stay bearing plate 4 by big arm rotary joint 12, stay bearing plate 4 is connected with hull 6 by spring buffer layer 11, spring buffer layer 11 is titanium alloy material, spring buffer layer 11 helps to have absorbed the vibration that produces when ploughing the waves, therefore, even in bigger stormy waves, also can keep system's smooth running; Therefore the strong support 15 of arch is connected with forearm 2 by peduncle rotary joint 14, and long floating drum 16 is contained on the strong support 15, and a perk of long floating drum 16 points is absorbed water very shallowly, can travel in shallow waters long floating drum 16 afterbodys installation waterjet propulsor 1 freely; Hull 6 belows are provided with butt joint clamper 7, can the unmanned submersible is firmly fixing;
The unmanned submersible, comprise tail vane 17, tail fin 18, streamlined reefer housing 19, connect navel cable 20, vertical pusher 21, clamping port 22, horizontal propeller 23, body 24, inductor 25, detector 26 and carry platform 27, concentrate the functional module that whole submersible is arranged in the body 24, two horizontal propellers 23 are installed in the left and right sides of body 24, two vertical pusher 21 are installed in body 24 both sides equally, by about two horizontal propellers 23 realize horizontal motions, two vertical pusher 21 provide vertical power, both are interactive cooperate make submersible can be in water free running, afterbody in horizontal propeller 23 and vertical pusher 21 is provided with streamlined reefer housing 19, makes the thrust power polymerization; The afterbody of body 24 is provided with tail vane 17 and tail fin 18, and tail fin 18 and tail vane 14 interactive control submersible service directions keep navigation stable; The bottom of body 24 is provided with carry platform 27, and inductor 25 and detector 26 are installed on the carry platform 27, and inductor 25 can be responded to the detection image data in real time with detector 26; The top of body 24 is provided with the clamping port 22 that docks with the lash ship body, and the butt joint clamper 7 on the hull 6 is chimeric with the clamping port 22 of submersible, keeps fastening during operational configuration, and arriving the purpose marine site can throw in, and rises can dock when dragging for and catches; The unmanned submersible supports to link to each other by being connected navel cable 20 between the lash ship with the water surface, and lash ship is by connecting navel cable 20 transmission energy and control signals, and unmanned submersible's detection signal under water passes to lash ship by connecting navel cable 20, is transmitted to the base station by lash ship again.
The utility model using method, the people is placed on the sea with entire machine, and the waterjet propulsor 1 of long floating drum 16 afterbodys advances whole device to advance; Under navigation delivery state, big arm 13 stretches with forearm 2, and the unmanned submersible uphangs across the sea, is not is not invaded and harassed by stormy waves; Navigation is to the purpose marine site, control big arm rotary joint 12 and rotate with forearm rotary joint 3, realize big arm 13 and forearm 2 bendings, the unmanned submersible is down to water surface floating condition, butt joint clamper 7 unclamps from unmanned submersible's clamping port 22, throws in the unmanned submersible and enters under water; Lash ship passes to the unmanned submersible with the control signal of base station by connecting navel cable 20, controls navigation, and the unmanned submersible passes to lash ship with detected data by connecting navel cable 20 cables, is transmitted to the base station by lash ship again; When task is finished, big arm 13 and forearm 2 bendings, lash ship docks with the unmanned submersible, and the unmanned submersible is upgraded.
Claims (8)
1. the primary-secondary type marine environment detects knowbot, it is characterized in that: comprise water surface support lash ship and unmanned submersible, the described water surface is supported lash ship, comprise waterjet propulsor (1); forearm (2); forearm rotary joint (3); stay bearing plate (4); wireless communication transceiver (5); hull (6); butt joint clamper (7); centre stow (8); preposition inductor (9); monitoring cabin (10); spring buffer layer (11); big arm rotary joint (12); big arm (13); peduncle rotary joint (14); strong support (15) and long floating drum (16); preposition inductor (9) is contained in hull (6) top, in various sensors are arranged; Monitoring cabin (10) is located at hull (6) front portion; Centre stow (8) is located at hull (3) leading portion, and wireless communication transceiver (5) is located at hull (6) top; Hull (6) inside is provided with driving engine; Big arm (13) is connected with stay bearing plate (4) by big arm rotary joint (12), and stay bearing plate (4) is connected with hull (6) by spring buffer layer (11); The strong support (15) of arch is connected with forearm (2) by peduncle rotary joint (14), and long floating drum (16) is contained on the strong support (15), and long floating drum (16) afterbody is installed waterjet propulsor (1); Hull (6) below is provided with butt joint clamper (7).
2. primary-secondary type marine environment according to claim 1 detects knowbot, it is characterized in that: the module that is provided with shooting, radio, super sonic positioning function in the described monitoring cabin (10).
3. primary-secondary type marine environment according to claim 1 detects knowbot, and it is characterized in that: described spring buffer layer (11) is titanium alloy material.
4. primary-secondary type marine environment according to claim 1 detects knowbot, it is characterized in that: described big arm rotary joint (12), big arm (13), forearm rotary joint (3), forearm (2), peduncle rotary joint (14) constitute the movable leg foot and support.
5. detect knowbot according to the described primary-secondary type marine environment of claim, it is characterized in that: a perk of described long floating drum (16) point.
6. primary-secondary type marine environment according to claim 1 detects knowbot, it is characterized in that: described unmanned submersible, comprise tail vane (17), tail fin (18), streamlined reefer housing (19), connect navel cable (20), vertical pusher (21), clamping port (22), horizontal propeller (23), body (24), inductor (25), detector (26) and carry platform (27), concentrate the functional module that whole submersible is arranged in the body (24), two horizontal propellers (23) are installed in the left and right sides of body (24), and two vertical pusher (21) are installed in body (24) both sides equally; The afterbody of body (24) is provided with tail vane (17) and tail fin (18), and the bottom of body (24) is provided with carry platform (27), and inductor (25) and detector (26) are installed on the carry platform (27); The top of body (24) is provided with the clamping port (22) that docks with the lash ship body.
7. detect knowbot according to claim 1 or 6 described primary-secondary type marine environment, it is characterized in that: the afterbody of described horizontal propeller (23) and vertical pusher (21) is provided with streamlined reefer housing (19).
8. detect knowbot according to claim 1 or 6 described primary-secondary type marine environment, it is characterized in that: described connection navel cable (20) connects the unmanned submersible and the water surface is supported lash ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320189109 CN203158221U (en) | 2013-04-16 | 2013-04-16 | Child-mother intelligent marine environment detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320189109 CN203158221U (en) | 2013-04-16 | 2013-04-16 | Child-mother intelligent marine environment detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203158221U true CN203158221U (en) | 2013-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320189109 Expired - Fee Related CN203158221U (en) | 2013-04-16 | 2013-04-16 | Child-mother intelligent marine environment detecting robot |
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| CN (1) | CN203158221U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213662A (en) * | 2013-04-16 | 2013-07-24 | 浙江海洋学院 | Slave-main type marine environment detection intelligent robot |
| CN103708003A (en) * | 2013-12-16 | 2014-04-09 | 浙江海洋学院 | Mother ship for submarine detection apparatus |
| CN105752299A (en) * | 2016-04-20 | 2016-07-13 | 河海大学 | Novel gliding cable underwater robot for marine profile monitoring |
| CN106641456A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | Underwater pipeline maintenance self-adaptive fixing device |
| CN107128436A (en) * | 2017-06-23 | 2017-09-05 | 海南海大信息产业园有限公司 | A kind of use catamaran increases steady platform |
| CN108917822A (en) * | 2018-04-03 | 2018-11-30 | 浙江海洋大学 | A kind of Technique of Subsea Pipeline Inspection device |
| CN109808857A (en) * | 2019-03-28 | 2019-05-28 | 王馨悦 | A kind of marine mobile diving outfit |
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN111017162A (en) * | 2019-10-29 | 2020-04-17 | 武汉大学 | A father and son robot that moves about steadily for target snatchs under water |
| CN110901841B (en) * | 2019-12-30 | 2024-04-26 | 广东海洋大学 | Underwater robot throwing and recycling device |
-
2013
- 2013-04-16 CN CN 201320189109 patent/CN203158221U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213662B (en) * | 2013-04-16 | 2015-07-15 | 浙江海洋学院 | Slave-main type marine environment detection intelligent robot |
| CN103213662A (en) * | 2013-04-16 | 2013-07-24 | 浙江海洋学院 | Slave-main type marine environment detection intelligent robot |
| CN103708003A (en) * | 2013-12-16 | 2014-04-09 | 浙江海洋学院 | Mother ship for submarine detection apparatus |
| CN103708003B (en) * | 2013-12-16 | 2016-05-04 | 浙江海洋学院 | A kind of habitata device lash ship |
| CN106641456A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | Underwater pipeline maintenance self-adaptive fixing device |
| CN105752299A (en) * | 2016-04-20 | 2016-07-13 | 河海大学 | Novel gliding cable underwater robot for marine profile monitoring |
| CN105752299B (en) * | 2016-04-20 | 2017-09-26 | 河海大学 | A kind of sliding cable underwater robot of ocean profile monitoring |
| CN107128436B (en) * | 2017-06-23 | 2023-06-06 | 海南大学 | Adopt catamaran to increase platform of steady |
| CN107128436A (en) * | 2017-06-23 | 2017-09-05 | 海南海大信息产业园有限公司 | A kind of use catamaran increases steady platform |
| CN108917822A (en) * | 2018-04-03 | 2018-11-30 | 浙江海洋大学 | A kind of Technique of Subsea Pipeline Inspection device |
| CN108917822B (en) * | 2018-04-03 | 2021-07-23 | 浙江海洋大学 | Submarine pipeline detection device |
| CN109808857B (en) * | 2019-03-28 | 2021-10-01 | 王馨悦 | Marine mobile diving device |
| CN109808857A (en) * | 2019-03-28 | 2019-05-28 | 王馨悦 | A kind of marine mobile diving outfit |
| CN111017162A (en) * | 2019-10-29 | 2020-04-17 | 武汉大学 | A father and son robot that moves about steadily for target snatchs under water |
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN110901841B (en) * | 2019-12-30 | 2024-04-26 | 广东海洋大学 | Underwater robot throwing and recycling device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130828 Termination date: 20140416 |