CN204568035U - A kind of multi-function operation type under-water robot - Google Patents
A kind of multi-function operation type under-water robot Download PDFInfo
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- CN204568035U CN204568035U CN201520204600.XU CN201520204600U CN204568035U CN 204568035 U CN204568035 U CN 204568035U CN 201520204600 U CN201520204600 U CN 201520204600U CN 204568035 U CN204568035 U CN 204568035U
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Abstract
A kind of multi-function operation type under-water robot, comprise pickup device, actuating device, shooting and illumination equipment, sink-float device, running gear and housing, described pickup device is placed in case top, and housing corner and afterbody are equipped with actuating device; Described sink-float device divides and is arranged in housing corner and both sides; Described shooting and illumination equipment are fixed on pickup device and housing; Described running gear is placed in the bottom of housing.Under-water robot of the present utility model, has seabed and accurately locates; It is convenient to salvage, the feature that scope is large, simultaneously can dynamic adjustments buoyancy, and cross country power is strong.
Description
Technical field
The utility model designs a kind of under-water robot, a kind of multi-function operation type of specific design under-water robot.
Background technology
In China, under-water operation mainly depends on people and simple submersible, the life security of complicated, dangerous marine environment to people causes very large threat, and the exploitation dynamics of country to marine 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 under-water robot produces at this point.The artificial water-bed operation type of underwater, main paste ground mode of operation of creeping, abbreviation seabed is dragged for.Submarine mining, salvaging aircraft black box, submarine fishing marine life such as sea cucumber, conch, abalone, shell all belong to the object sunk to the bottom of the sea, because the existence of reef, sea grass etc., can only adopt the mode feeling salvaging.But existing robot can not well be fixed, drift about by ocean current or counteractive impact of self action.
Utility model content
For the deficiency that prior art exists, technical problem to be solved in the utility model is, provides a kind of under-water robot, has seabed and accurately locates; It is convenient to salvage, the feature that scope is large, simultaneously can dynamic adjustments buoyancy, and cross country power is strong.
For solving the problems of the technologies described above, technical solution adopted in the utility model is: a kind of multi-function operation type under-water robot, comprise pickup device, actuating device, shooting and illumination equipment, sink-float device, running gear and housing, described pickup device is placed in case top, and housing corner and afterbody are equipped with actuating device; Described sink-float device divides and is arranged in housing corner and both sides; Described shooting and illumination equipment are fixed on pickup device and housing; Described running gear is placed in the bottom of housing.
Further, described pickup device comprise with gather basket with the use of manipulator and arrange and the suction strainer case of housing upper, the mechanical arm that described manipulator comprises mechanical gripper and is connected with mechanical gripper, described mechanical arm is hydraulic structure, hydraulic actuating cylinder is pneumatic type or hydrodynamic, and described mechanical gripper can be bucket or hand vice; Described suction strainer case comprises filter box body, suction pump and suction pipe, case lid, and the space that its suction pump is placed in the bottom of filter box body lower part projection, suction pipe is formed by suction strainer case, case lid is connected in suction pump.
Further, described actuating device comprises 4 the vertical thrust screw propellers being placed in housing corner respectively and 2 the horizontal propelling screws be placed on rear side of housing.
Further, described sink-float device comprises a ballast water pot with compressing gasbag and the buoyant mass be arranged between vertical thrust screw propeller; Described compressing gasbag is connected with high-pressure hydraulic pump by electromagnetic valve; Described buoyant mass is placed in the left and right sides of upper body respectively.
Further, described running gear comprises a crawler-mounted crawler body, and described crawler body comprises the crawler belt guide frame of a hollow out, and crawler belt guide frame is equipped with sliding guide.
Further, shooting and illumination equipment comprise and to be arranged on manipulator matching used camera, illuminating lamp and to be arranged at matching used multiple camera, illuminating lamp on front side of housing.
Further, the master control storehouse be arranged in housing, flood valve module, battery compartment, secondary control storehouse, outlet valve module, high pressure diving pump is also comprised.
Under-water robot of the present utility model, has seabed and accurately locates; It is convenient to salvage, the feature that scope is large, simultaneously can dynamic adjustments buoyancy, and cross country power is strong.
Accompanying drawing explanation
The structural representation of Fig. 1 the utility model embodiment multi-function operation type under-water robot;
Fig. 2 the utility model embodiment multi-function operation type under-water robot removes the structural representation of housing upper;
The structural representation of Fig. 3 the utility model embodiment multi-function operation type under-water robot actuating device crawler body;
The structural representation of Fig. 4 the utility model embodiment multi-function operation type under-water robot suction strainer case;
The structural representation of Fig. 5 the utility model embodiment multi-function operation type under-water robot ballast water pot;
Fig. 6 the utility model embodiment multi-function operation type under-water robot flight climb mode figure;
Fig. 7 the utility model embodiment multi-function operation type under-water robot flight dish rises constitution diagram;
Fig. 8 the utility model embodiment multi-function operation type under-water robot looks up constitution diagram;
Fig. 9 the utility model embodiment multi-function operation type under-water robot is possessed a person and is felt constitution diagram;
Figure 10 the utility model embodiment multi-function operation type under-water robot climbing state figure.
Detailed description of the invention
As shown in the figure, a kind of multi-function operation type under-water robot, comprise pickup device 1, actuating device 2, shooting and illumination equipment 3, rise and fall device 4, running gear 5 and housing 6, described pickup device 1 is placed in housing 6 top, and housing 6 four jiaos and afterbody are equipped with actuating device 2; 4 points, described sink-float device is arranged in housing 6 four jiaos and both sides; Described shooting and illumination equipment 3 are fixed on pickup device 1 and housing 6; Described running gear 5 is placed in the bottom of housing 1.
Further, described pickup device 1 comprise with gather basket 11 with the use of manipulator 12 and arrange and the suction strainer case 13 on housing 6 top, the mechanical arm 122 that described manipulator 12 comprises mechanical gripper 121 and is connected with mechanical gripper 121, described mechanical arm 122 is hydraulic structure, hydraulic actuating cylinder is pneumatic type or hydrodynamic, and described mechanical gripper 121 can be bucket or hand vice; Described suction strainer case 13 comprises filter box body 131, suction pump 132 and suction pipe 133, suction pipe connecting panel 134, case lid 135, and its suction pump 132 is placed in the bottom of filter box body 131 lower lobes, suction pipe 133 is connected in suction pump 132 by suction pipe connecting panel 134.
Further, described actuating device 2 comprises 4 the vertical thrust screw propellers 21,22,23,24 being placed in housing 6 four jiaos respectively and 2 the horizontal propelling screws 25,26 be placed on rear side of housing; Described screw propeller all can independent role, and all positive and negative both direction of screw propeller rotates and can speed governing arbitrarily separately.
Further, described sink-float device 4 comprises a ballast water pot 41 with compressing gasbag 411 and the buoyant mass 42 be arranged between vertical thrust screw propeller 21,22,23,24; Described compressing gasbag 411 is connected with flood valve module 14, outlet valve module 15 by electromagnetic valve; Described buoyant mass 42 is placed in the left and right sides of upper body 6 respectively.This sink-float device 4 can control separately each air content and keep any attitude to control under-water robot, and carrys out the upper and lower buoyancy size of dynamic conditioning according to cargo capacity.
Further, described running gear 5 comprises a crawler-mounted crawler body 51, and described crawler body 51 comprises the crawler belt guide frame 52 of a hollow out, and crawler belt guide frame 52 is equipped with sliding guide 53.This crawler body 51 increases the ground Clearance by chain drive structure.Running gear 5 also comprises the compositions such as actuator 54, driving box shell 55, driving minor sprocket 56, chain drive-belt 57, passive Dalian wheel 58, track wheel shaft 59, Athey wheel 50.
Further, shooting and illumination equipment 3 comprise and to be arranged on manipulator 12 matching used camera 31, illuminating lamp 32 and to be arranged at matching used camera 31, illuminating lamp 32 on front side of housing 6.
Further, also comprise the master control storehouse 7 be arranged in housing 6, flood valve module 8, battery compartment 9, secondary control storehouse 10, outlet valve module 11, high pressure diving pump 12, described master control storehouse 7 is equipped with attitude gyroscope.
Under-water robot establishes the larger horizontal propeller 25,26 of four vertical pusher 21,22,23,24 and two, and can realize six-freedom degree motion under water during state of flight, namely three motion of translations are retreated, are elevated and sidesway; Namely three gyroscopic movements turn to, pitching and rolling.Design and make it push up to crawler belt direction by four vertical propelling unit 21,22,23,24 reverse propulsion, enable crawler belt secure fit on sea bed, arbitrarily slope or shell.Simultaneously when there is larger reef or larger obstacle above, can realize climbing by controlling vertical pusher 21,22,23,24 combination, vertical lift, rolling carry out obstacle detouring.When horizontal motion, the main two larger horizontal propellers 25,26 by horizontal arrangement realize.
Four vertical pusher 21,22,23,24 are allowed upwards to spray water, form the antagonistic force that presses to crawler body 51, crawler belt failure-free can be made to be adjacent to seabed or slope, even turn and be adjacent to hull bottom, such driving crawler belt, can drive under-water robot left-right and front-back and turning motion by crawler belt by failure-free very much.
Ballast water pot 11 can according to description of the goods, the own buoyancy of dynamic adjustments (compressing gasbag 411 established by ballast water pot 41 li), according to underwater penetration, can the gas of the different air pressure of charge and discharge, and come the pressure under suitable water, ballast water.In seabed along with the increase of fisher, buoyancy in water can be more and more less, will be painstaking when running into the larger gradient or obstacle, this to open electromagnetic valve, compressing gasbag 411 will get rid of appropriate ballast water, the weight of compensatory goods, continues to make under-water robot keep neutral buoyancy, such under-water robot can continue to move flexibly, till fully loaded.
Adopt compressing gasbag 411 to also have two benefits: one is that compressed gas and the ballast water of compressing gasbag 411 li is isolated, and can not overturn cause because of under-water robot attitude to be vented not draining phenomenon, whatsoever attitude, eliminating be all ballast water.Compare with common water tank, inside it, there is no air bag, so during rollover states, open water valve and will discharge lighter compressed gas, and ballast water is stayed in water tank, cause under-water robot not only can not float like this, accelerate on the contrary.Two is according to operating depth, can the compressed gas of the different air pressure of charge and discharge, remains that in compressing gasbag 411, ballast water exceeds extraneous suitable work water pressure.Air pressure is too low, the motionless extraneous hydraulic pressure in compressing gasbag 411 gas top, and ballast water row do not go out, and floating will lose efficacy.Compressing gasbag 411 air pressure is too high can increase cost, even damages air bag water valve etc.Ballast water tank shell 41, compressing gasbag 411, airbag cover 412, flood valve 413, sluicing valve 414.By the weight controlling compressing gasbag 411, flood valve 413, sluicing valve 414 can control under-water robot well, and then control cargo capacity well.
Simultaneously can as required, separately regulate separately ballast water pot 41 ballast water number, the different attitudes of under-water robot in water can be kept.An attitude gyroscope 71 is set in master control storehouse 7, experiences attitudes vibration angle, any setup parameter.As allowed left-front corner tilt, ballast water pot 41 ballast water of left-front corner can be made less, its excess-three is individual constant; For another example tail is lifted, nose drop state, whole fuselage is vertical state in water, so can by more for the first two ballast water pot 11 water-filling, two, rear end ballast water pot 41 water-filling is less, when under-water robot is at underwater exercise, regulate the combined action of buoyancy, propeller thrust and current by ballast water pot 41 under, under-water robot can make various motion under water.
Adopt hydraulically driven advantage to be draw materials everywhere, there is not leakage pollution, pressure medium is water, and structure is open cycle, internal and external pressure balance when not working, and during work, interior external pressure is little, and work area can random shallow sea, deep-sea; And oilgear must adopt closed cycle, pressure medium is hydraulic oil, once leakage can cause water pollution, internal and external pressure balance when not working, during work, interior external pressure is large, and deep-sea is more obvious, and deep-sea is easy to damage.Abyssopelagic organism is all the expert of hydraulic balance in fact, and their healths are all soft structures, and interior external pressure pressure of cancelling out each other can be zero, and they are imperceptible pressure just.
Mechanical gripper 121 is grabbed and is not limited to diagramatic mode, can be replaced with the several work such as bucket, hand vice instrument.
Manipulator 12 is configured in equipment top, and that can design is more longer, does not just receive space constraint during such rotation process, and the zone of action of salvaging collection is just larger, and production efficiency is just high a lot.When seabed is in state of flight, rear end can be rotated to and carry advance, reduce upstream face; When at submarine fishing, then to rotate and expansion operates.
Suction pipe 133 front end is fixed on mechanical gripper 121, follows manipulator 12 and moves and rotate, and gently little or soft object can start suction strainer function to gather.Block heavier object is placed on after can being captured by mechanical gripper 121 and gathers inside basket 11.Gather basket 11 upper cover and carry out opening and closing by Driven by Hydraulic Cylinder.
With the under-water robot of pre-structure, special employing simulation camera technology, communication mode is by transmission of video quantitative limitation, pixel is low, therefore camera designs camera as far as possible less, increases the spinfunction of camera, to reach the effect of panorama as far as possible, such as only design is simple eye one by one, obtains panoramic effect by installing slewing arrangement additional.And the lifting of present digital transmission mode, the development of large pixel high-definition digital network technology, adopts multiple camera lens to carry out picture and is switching to simple thing.General rotation of lens has two kinds: a kind of is camera lens and turning unit are enclosed in a transparent cover, and it is larger that this transparent cover does, and compression resistance is also larger; Another kind is enclosed in separately by camera lens in a little hyaline test, and the rotating machine of waterproof drives rotation of lens, and such water-proff packing partial pressure is just transferred on the motor of outside.No matter which kind of structure, the cost that mechanical movement part increases is far longer than the cost that electronic equipment increases, and Electrical Parts volume can compare that mechanical parts does little, reduce the resistance in water and pressure, service life is also reliable.
Claims (7)
1. a multi-function operation type under-water robot, it is characterized in that: comprise pickup device, actuating device, shooting and illumination equipment, sink-float device, running gear and housing, described pickup device is placed in case top, and housing corner and afterbody are equipped with actuating device; Described sink-float device divides and is arranged in housing corner and both sides; Described shooting and illumination equipment are fixed on pickup device and housing; Described running gear is placed in the bottom of housing.
2. multi-function operation type under-water robot according to claim 1, it is characterized in that: described pickup device comprise with gather basket with the use of manipulator and arrange and the suction strainer case of housing upper, the mechanical arm that described manipulator comprises mechanical gripper and is connected with mechanical gripper, described mechanical arm is hydraulic structure, hydraulic actuating cylinder is pneumatic type or hydrodynamic, and described mechanical gripper is bucket or hand vice; Described suction strainer case comprises filter box body, suction pump and suction pipe, suction pipe connecting panel and case lid, and its suction pump is placed in the bottom of filter box body lower part projection, suction pipe is connected in suction pump by suction pipe connecting panel.
3. multi-function operation type under-water robot according to claim 1, is characterized in that: described actuating device comprises 4 the vertical thrust screw propellers being placed in housing corner respectively and 2 the horizontal propelling screws be placed on rear side of housing.
4. multi-function operation type under-water robot according to claim 1, is characterized in that: described sink-float device comprises a ballast water pot with compressing gasbag and the buoyant mass be arranged between vertical thrust screw propeller; Described compressing gasbag is connected with high-pressure hydraulic pump by electromagnetic valve; Described buoyant mass is placed in the left and right sides of upper body respectively.
5. multi-function operation type under-water robot according to claim 1, it is characterized in that: described running gear comprises a crawler-mounted crawler body, described crawler body comprises the crawler belt guide frame of a hollow out, and crawler belt guide frame is equipped with sliding guide.
6. multi-function operation type under-water robot according to claim 1, is characterized in that: shooting and illumination equipment comprise and to be arranged on manipulator matching used camera, illuminating lamp and to be arranged at matching used multiple camera, illuminating lamp on front side of housing.
7. multi-function operation type under-water robot according to claim 1, is characterized in that: also comprise the master control storehouse be arranged in housing, flood valve module, battery compartment, secondary control storehouse, outlet valve module, high pressure diving pump.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520204600.XU CN204568035U (en) | 2015-04-08 | 2015-04-08 | A kind of multi-function operation type under-water robot |
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| CN201520204600.XU CN204568035U (en) | 2015-04-08 | 2015-04-08 | A kind of multi-function operation type under-water robot |
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| CN201520204600.XU Expired - Fee Related CN204568035U (en) | 2015-04-08 | 2015-04-08 | A kind of multi-function operation type under-water robot |
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| CN105123637A (en) * | 2015-06-23 | 2015-12-09 | 山东科技大学 | Underwater absorption type catching apparatus and working method thereof |
| CN105361983A (en) * | 2015-09-14 | 2016-03-02 | 张英华 | Prosthesis mechanical arm, robot and robot control method |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN105460179A (en) * | 2015-12-24 | 2016-04-06 | 上海交通大学 | Rock-cutting stranding-prevention auxiliary equipment for ship |
| CN105500386A (en) * | 2016-01-12 | 2016-04-20 | 上海海事大学 | Grab device for remotely operated vehicle |
| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
| CN106002913A (en) * | 2016-05-24 | 2016-10-12 | 界首市华盛塑料机械有限公司 | Robot capable of operating over water |
| CN106043631A (en) * | 2016-06-15 | 2016-10-26 | 青岛赶海机器人有限公司 | Manipulator backpack type underwater robot |
| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
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| CN107855294A (en) * | 2017-10-11 | 2018-03-30 | 深圳市雷凌广通技术研发有限公司 | A kind of intelligent robot for being used to clear up marine biological polution based on Internet of Things |
| CN107914846A (en) * | 2017-12-11 | 2018-04-17 | 武汉大学 | A kind of robot for being adapted to underwater fishing operation |
| CN108248776A (en) * | 2018-01-17 | 2018-07-06 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent marine salvage equipment and its method of work for clearing up water-bed discarded metal |
| CN108284926A (en) * | 2018-01-17 | 2018-07-17 | 苏州亮磊知识产权运营有限公司 | A kind of water-bed pendant object marine salvage equipment and its working method of sediment prevention |
| CN108382550A (en) * | 2018-02-02 | 2018-08-10 | 上海交通大学 | Robot device and working method under a kind of multifunctional water |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108438178A (en) * | 2018-03-05 | 2018-08-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of glding type manned device for deep water face dam preservation ＆ testing |
| CN109398651A (en) * | 2018-12-10 | 2019-03-01 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot |
| CN109515655A (en) * | 2018-12-03 | 2019-03-26 | 江苏科技大学 | A kind of multi-functional six crawler types underwater robot |
| CN110406649A (en) * | 2019-07-19 | 2019-11-05 | 惠安网信通技术开发有限公司 | A kind of underwater educational robot |
| WO2020034400A1 (en) * | 2018-08-14 | 2020-02-20 | 深圳潜水侠创新动力科技有限公司 | Remote-controlled underwater intelligent robot |
| CN111502667A (en) * | 2020-05-09 | 2020-08-07 | 大连海洋大学 | Autonomous deep sea mining robot |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
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2015
- 2015-04-08 CN CN201520204600.XU patent/CN204568035U/en not_active Expired - Fee Related
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| CN105123637A (en) * | 2015-06-23 | 2015-12-09 | 山东科技大学 | Underwater absorption type catching apparatus and working method thereof |
| CN105361983A (en) * | 2015-09-14 | 2016-03-02 | 张英华 | Prosthesis mechanical arm, robot and robot control method |
| CN105361983B (en) * | 2015-09-14 | 2017-05-10 | 张英华 | Robot and robot control method |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN105460179A (en) * | 2015-12-24 | 2016-04-06 | 上海交通大学 | Rock-cutting stranding-prevention auxiliary equipment for ship |
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| CN106005312A (en) * | 2016-06-17 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Underwater operation device for micro-tunnel excavation based on remote operated vehicle (ROV) and operation method thereof |
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| CN107264749A (en) * | 2017-06-21 | 2017-10-20 | 上海电机学院 | A kind of Qu Wu robots under water |
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| CN107914846A (en) * | 2017-12-11 | 2018-04-17 | 武汉大学 | A kind of robot for being adapted to underwater fishing operation |
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| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108438178A (en) * | 2018-03-05 | 2018-08-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of glding type manned device for deep water face dam preservation ＆ testing |
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| WO2020034400A1 (en) * | 2018-08-14 | 2020-02-20 | 深圳潜水侠创新动力科技有限公司 | Remote-controlled underwater intelligent robot |
| CN109515655A (en) * | 2018-12-03 | 2019-03-26 | 江苏科技大学 | A kind of multi-functional six crawler types underwater robot |
| CN109398651A (en) * | 2018-12-10 | 2019-03-01 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot |
| CN109398651B (en) * | 2018-12-10 | 2024-01-26 | 美钻深海能源科技研发（上海）有限公司 | Intelligent underwater crawler robot |
| CN110406649A (en) * | 2019-07-19 | 2019-11-05 | 惠安网信通技术开发有限公司 | A kind of underwater educational robot |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111559476B (en) * | 2020-01-20 | 2021-02-12 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111502667A (en) * | 2020-05-09 | 2020-08-07 | 大连海洋大学 | Autonomous deep sea mining robot |
| CN112282762A (en) * | 2020-10-26 | 2021-01-29 | 中国海洋大学 | High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking |
| CN112282762B (en) * | 2020-10-26 | 2021-10-22 | 中国海洋大学 | High-efficient environmental protection deep sea manganese nodule mining robot of spud leg walking |
| CN113619755A (en) * | 2021-08-13 | 2021-11-09 | 杭州华能工程安全科技股份有限公司 | Cutting fishing device for underwater construction |
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