CN204065835U - A kind of underwater operation robot - Google Patents
A kind of underwater operation robot Download PDFInfo
- Publication number
- CN204065835U CN204065835U CN201420462586.9U CN201420462586U CN204065835U CN 204065835 U CN204065835 U CN 204065835U CN 201420462586 U CN201420462586 U CN 201420462586U CN 204065835 U CN204065835 U CN 204065835U
- Authority
- CN
- China
- Prior art keywords
- fuselage
- underwater operation
- operation robot
- front plate
- plate
- 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.)
- Expired - Fee Related
Links
- 241000950638 Symphysodon discus Species 0.000 claims description 4
- HOQADATXFBOEGG-UHFFFAOYSA-N isofenphos Chemical compound CCOP(=S)(NC(C)C)OC1=CC=CC=C1C(=O)OC(C)C HOQADATXFBOEGG-UHFFFAOYSA-N 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000007935 neutral effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of underwater operation robot.The utility model to comprise with the fuselage of seal hatch, described fuselage built with the control circuit for receiving wireless instructions, this control circuit also with motor-drive circuit; Described motor-drive circuit is for driving screw propeller before and after four vertical spin oar thrusters and two, and four wherein said vertical spin oar thruster vertical symmetry are fixed on base plate four boss, and base plate is positioned at below fuselage; Before and after described two, screw propeller horizontal symmetrical is fixed on front plate, front plate is corresponding with rear plate, be fuselage between the two, between described front plate, rear plate, be also provided with weight device, in the seal hatch of described fuselage, be mounted with power supply and sensor.The utility model is good airproof performance on the whole, and statical stability is high, workable, and has certain extensibility.
Description
Technical field
The utility model relates to a kind of robot, and particularly relating to one can carry out underwater operation, can meet the underwater robot of the needs such as engineering test, scientific research, unmanned investigation, environment investigation and monitoring.
Background technology
In China, underwater operation mainly depends on people and simple underwater vehicle, the life security of complicated, dangerous marine environment to people causes very large threat, and the exploitation dynamics of country to ocean resources continues to increase, this just must need a kind of intelligentized machinery and equipment newly to perform the lower job task in sea to replace people to go, and underwater robot produces at this point.
Underwater robot, also known as Autonomous Underwater Vehicle (AUV), is the one of underwater unmanned vehicle (UUV).Existing submarine formula AUV robot, rises and dive realizes by changing the buoyancy of body in water mostly, and usually only has one to two powered devices, reaction time is slow, and inadequate maneuverability, although robot can realize the rotation of certain angle, but control loaded down with trivial details, poor stability.
Summary of the invention
The utility model overcomes shortcoming and defect of the prior art, a kind of underwater operation robot providing water-tight, can realize five degree of freedom motions, operate steadily under water.
The utility model solves technical scheme that its technical matters adopts mainly:
The utility model to comprise with the fuselage of seal hatch, described fuselage built with the control circuit for receiving wireless instructions, this control circuit also with motor-drive circuit; Described motor-drive circuit is for driving screw propeller before and after four vertical spin oar thrusters and two, and four wherein said vertical spin oar thruster vertical symmetry are fixed on base plate four boss, and base plate is positioned at below fuselage; Before and after described two, screw propeller horizontal symmetrical is fixed on front plate, front plate is corresponding with rear plate, be fuselage between the two, between described front plate, rear plate, be also provided with weight device, in the seal hatch of described fuselage, be mounted with power supply and sensor.
Furtherly, underwater operation robot is connected with buoy by neutral buoyancy cable, and buoy is built-in with and can carries out the blue-tooth device of communication with the mobile phone of far-end.
Furtherly, the motor of four described vertical spin oar thrusters and two front and back screw propellers is all placed in cask, described little cylinder two ends are bolted by upper end cover and bottom end cover tightens sealing, fills insulating oil, seal motor in bucket.
Furtherly, described little cylinder is all bolted and is fixed on described base plate or front plate.
Furtherly, described weight device is made up of the discus of hollow, is connected with front plate by screw rod with rear plate, and wherein discus can move freely front and back on screw rod.
Furtherly, described sensor comprises gyro sensor, depth transducer, nine axle attitude sensor and speed pickups.。
The beneficial effects of the utility model are: owing to adopting technique scheme, screw propeller pusher provides power for underwater robot, and it produces thrust by driven by motor blade rotary, are swift in response, control flexibly, to find broad application under water in robot.Underwater robot fuselage adopts organic glass to make, and each pressurized capsule is separate, and locus meets flow dynamics.Built-in space has considered heat radiation, center of gravity, balance, load-carrying, electrically the problem such as to have laid.Good airproof performance on the whole, statical stability is high, workable, and has certain extensibility.
Accompanying drawing explanation
Fig. 1 is the structural representation of this underwater operation robot;
Fig. 2 is the system connection layout of this underwater operation robot;
Fig. 3 is the structural representation of screw propeller;
In figure: 1, fuselage; 2, four vertical spin oar thrusters; 3, two front and back screw propellers; 4, base plate; 5, front plate; 6, rear plate; 7, little cylinder; 8, smart mobile phone; 9, buoy; 10, underwater operation robot; 11, connecting line; 12, bolt; 13, bottom end cover; 14, screw propeller; 15, upper end cover; 16, plastic circle ring.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is further described.
As shown in Figure 1, Figure 2 and Figure 3, the utility model provides a kind of underwater robot 10, by with the fuselage 1 of seal hatch, described fuselage 1 built with the control circuit for receiving wireless instructions, this control circuit also with motor-drive circuit; This robot also comprises screw propeller 3 before and after four vertical spin oar thrusters 2 and two, and base plate 4, front plate 5 and rear plate 6, four described vertical spin oar thruster 2 vertical symmetry are fixed on described underwater robot base plate 4 four boss.Before and after described two, screw propeller 3 horizontal symmetrical is placed on front plate 5 both sides; The weight device of described underwater robot is connected between front plate 5 and rear plate 6 by bolt; Power supply, sensor is mounted with in the pressurized capsule of described underwater robot fuselage 1; The motor of described screw propeller is all placed in cask 7, and described little cylinder 7 two ends to be connected by bolt 12 by upper end cover 15 and bottom end cover 13 by plastic circle ring 16 tightens sealing, fills insulating oil, seal motor in bucket; Described six the little cylinders 7 that described screw propeller is housed all are bolted and are fixed on described base plate 4 or front plate 5.
Fuselage 1 is packaged with power supply, sensor, control circuit etc., direct current generator, screw propeller 14 is packaged with in little cylinder 7, wherein 4 little cylinders 7 vertical symmetry on base 4 is placed and can be realized rolling, trim, course deviation and liter and dive, and 2 little cylinders are placed in front plate 5 both sides horizontal symmetrical and can be realized, turn right, move forward and backward.The water surface blue-tooth device buoy 9 of described underwater robot 10 is connected to by cable 11 in succession by sending instructions to the control end APP that Android intelligent 8 is installed on the coast, realize the distant control function to described underwater robot, motion can realize depthkeeping motion and hovering.
Claims (6)
1. a underwater operation robot, is characterized in that: to comprise with the fuselage (1) of seal hatch, described fuselage (1) built with the control circuit for receiving wireless instructions, this control circuit also with motor-drive circuit; Described motor-drive circuit is for driving screw propeller (3) before and after four vertical spin oar thrusters (2) and two, four wherein said vertical spin oar thruster (2) vertical symmetry are fixed on base plate (4) four boss, and base plate is positioned at fuselage (1) below; Before and after described two, screw propeller (3) horizontal symmetrical is fixed on front plate (5), front plate (5) is corresponding with rear plate (6), be fuselage (1) between the two, described front plate (5), rear plate are also provided with weight device between (6), are mounted with power supply and sensor in the seal hatch of described fuselage (1).
2. a kind of underwater operation robot according to claim 1, be is characterized in that: be connected with buoy (9) by neutral buoyancy cable (11), and buoy (9) is built-in with and can carries out the blue-tooth device of communication with the mobile phone of far-end.
3. a kind of underwater operation robot according to claim 1, it is characterized in that: the motor of four described vertical spin oar thrusters (2) and two front and back screw propeller (3) is all placed in cask (7), described little cylinder (7) two ends are bolted by upper end cover (15) and bottom end cover (13) and tighten sealing, fill insulating oil in bucket, motor is sealed.
4. a kind of underwater operation robot according to claim 3, is characterized in that: described little cylinder (7) is all bolted and is fixed on described base plate (4) or front plate (5).
5. a kind of underwater operation robot according to claim 1, is characterized in that: described weight device is made up of the discus of hollow, is connected with front plate (5) by screw rod with rear plate (6), and wherein discus can move freely front and back on screw rod.
6. a kind of underwater operation robot according to claim 1, is characterized in that: described sensor comprises gyro sensor, depth transducer, nine axle attitude sensor and speed pickups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420462586.9U CN204065835U (en) | 2014-08-15 | 2014-08-15 | A kind of underwater operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420462586.9U CN204065835U (en) | 2014-08-15 | 2014-08-15 | A kind of underwater operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204065835U true CN204065835U (en) | 2014-12-31 |
Family
ID=52207300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420462586.9U Expired - Fee Related CN204065835U (en) | 2014-08-15 | 2014-08-15 | A kind of underwater operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204065835U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113899250A (en) * | 2021-09-15 | 2022-01-07 | 精兵特种装备(福建)有限公司 | Underwater target robot |
| CN113932088A (en) * | 2021-10-22 | 2022-01-14 | 武汉中仪物联技术股份有限公司 | Submersible pipeline robot |
-
2014
- 2014-08-15 CN CN201420462586.9U patent/CN204065835U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113899250A (en) * | 2021-09-15 | 2022-01-07 | 精兵特种装备(福建)有限公司 | Underwater target robot |
| CN113932088A (en) * | 2021-10-22 | 2022-01-14 | 武汉中仪物联技术股份有限公司 | Submersible pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20200815 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |