CN204659998U - A kind of under-water operation robot device - Google Patents
A kind of under-water operation robot device Download PDFInfo
- Publication number
- CN204659998U CN204659998U CN201520196502.6U CN201520196502U CN204659998U CN 204659998 U CN204659998 U CN 204659998U CN 201520196502 U CN201520196502 U CN 201520196502U CN 204659998 U CN204659998 U CN 204659998U
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- buoyancy
- buoyancy aid
- adapter plate
- platform body
- watertight
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Abstract
The utility model belongs to under-water robot technical field, is specifically related to the work such as one can carry out in environment monitoring under water, detection, and the small underwater robot platform that the position, centre of buoyancy of whole device and buoyancy size can conveniently regulate.It comprises main platform body; Be arranged at two horizontal propellers of the described main platform body left and right sides; Be arranged at the vertical pusher of described main platform body middle part; Be arranged at the observation module in described main platform body, watertight equipment box and watertight power supply box; The top of described main platform body is provided with buoyancy regulating device, described buoyancy regulating device comprises main buoyancy aid, secondary buoyancy aid and centre of buoyancy position adjusting mechanism, described secondary buoyancy aid is arranged on the two opposite sides of main buoyancy aid, and described centre of buoyancy position adjusting mechanism is arranged on the side of main buoyancy aid and secondary buoyancy aid.The utility model structure is simple, reasonable in design, adopts modular design, makes to carry out dismounting maintenance to this platform, to change or install additional functional module all very convenient.
Description
Technical field
The utility model belongs to under-water robot technical field, is specifically related to the work such as one can carry out in environment monitoring under water, detection, and the small underwater robot platform that the position, centre of buoyancy of whole device and buoyancy size can conveniently regulate.
Background technology
The mankind are faced with population, resources and environment Three Difficult Issues today.Along with the develop rapidly of various countries' economy and the continuous increase of world population, mankind's consumption of natural resources gets more and more, the resource of land reduces day by day, in order to survival and development, people start to march to ocean, march to other celestial bodies, exploitation this skirmish marched greatly just of offshore oil.Ocean takes up an area 71% of ball face area, and it has the volume of 1,400,000,000 cubic kilometers.In seabed and ocean, contain the mineral resources of extremely abundant living resources and 6,000 hundred million hundred million tons, the reserve of seabed manganese is 68 times of land, the reserve of copper is 22 times, nickel is 274 times, manufacture the reserves of the uranium of nuclear bomb up to 4,000,000,000 tons, it is 2000 times of land, ocean or an incomparable huge energy depot, 2,800 hundred million tons of oil are stored, the natural fuels of nearly 140 billion cubic meters, therefore in ocean, the whole world, detection and the deep space probing of ocean floor are similar, have extremely strong attractive force and challenge equally.
As everyone knows, sea floor world not only pressure is very large, and it is pitch-dark, environment very severe, no matter be wreck salvage, sea rescue, optical cable laying, or resource exploration and exploitation, general equipment has been difficult to, so sight has focused on it robot by people, wishing the fan being untied sea by robot, is the living space that mankind's developing is more wide.
Also there is a lot of shortcoming in current under-water robot product, current a lot of under-water robot is because the position of buoyant module is fixing, sometimes need with when changing other functional module element, reach balance to buoyancy time under water and gravity under being difficult to ensure robot, this just makes troubles to operation.So, need a kind of underwater robot platform that conveniently can regulate robot buoyancy size and position of invention badly.
Utility model content
The purpose of this utility model is to provide a kind of underwater robot platform that conveniently can regulate robot buoyancy size and position.This platform structure is simple, reasonable in design, adopts modular design, makes to carry out dismounting maintenance to this platform, to change or install additional functional module all very convenient.
The technical scheme that the utility model adopts is:
A kind of under-water operation robot device, it comprises:
Main platform body;
Be arranged at two horizontal propellers of the described main platform body left and right sides;
Be arranged at the vertical pusher of described main platform body middle part;
Be arranged at the observation module in described main platform body, watertight equipment box and watertight power supply box;
Described in it, the top of main platform body is provided with buoyancy regulating device, described buoyancy regulating device comprises main buoyancy aid, secondary buoyancy aid and centre of buoyancy position adjusting mechanism, described secondary buoyancy aid is arranged on the two opposite sides of main buoyancy aid, described centre of buoyancy position adjusting mechanism is arranged on the side of main buoyancy aid and secondary buoyancy aid, and the adjustment of buoyancy realizes mainly through the size or position changing secondary buoyancy aid;
Horizontal propeller and vertical pusher can select propeller, and vertical spin oar propelling unit can the sink-float of light control by being combined with centre of buoyancy position adjusting mechanism;
Preferably, described main platform body comprises frame plate, the first adapter plate and the second adapter plate, described first adapter plate and the second adapter plate are arranged between two frame plates by aluminum corner brace attaching parts, described watertight equipment box and watertight power supply box are arranged on described second adapter plate, described observation module installation is on described first adapter plate, described buoyancy regulating device is arranged between the first adapter plate and two frame plates, and it is close on the first adapter plate;
Preferably, described frame plate, first adapter plate and the second adapter plate are provided with multiple mounting hole and multiple wire inserting slot, described centre of buoyancy position adjusting mechanism is by bolt of rear end plate, regulating tank and scale composition, described regulating tank is arranged on frame plate, described bolt of rear end plate is flexibly connected with the nut that main buoyancy aid is offered by regulating tank, nut in bolt of rear end plate and main buoyancy aid screws and is fixed together, scale is provided with between described often pair of regulating tank arranged side by side up and down, the centre of frame plate is also provided with fixing buckle, horizontal propeller is installed in main platform body by fixing buckle,
Preferably, described fixing buckle is welded on frame plate, also can be fixed by alternate manner, needs closely to fix;
Preferably, the side of described secondary buoyancy aid is provided with projection, the both sides of main buoyancy aid are provided with the groove matched with secondary buoyancy aid, the middle part of described main buoyancy aid also offers through hole, described vertical pusher is arranged in described through hole, under secondary buoyancy aid and main buoyancy aid are arranged on main platform body state, the outer side edges above it is designed to arc;
Described buoyancy regulating device mainly changes the distance between secondary buoyancy aid and main buoyancy aid by the position of mobile bolt of rear end plate, thus reach state center of gravity and centre of buoyancy balanced each other, can also by changing the secondary buoyancy aid of long-pending size according to actual conditions, change center of gravity and centre of buoyancy, thus according to circumstances regulating the underwater buoyancy of main platform body, main buoyancy aid and secondary buoyancy aid adopt micro glass bead solid buoyancy material to make;
Preferably, upper end, both sides midway location adjacent with groove on described main buoyancy aid is also provided with handle groove, the relative handle groove of described frame plate upper middle position is provided with handle aperture, after described main platform body and regulating mechanism of buoyancy are installed, handle groove and handle aperture coordinate and form handgrips, handgrips mainly conveniently operating personal use or maintenance and repair time staff fetch;
Preferably, described observation module comprises camera head and light equipment, described camera head and light equipment are disposed in parallel in the below of described first adapter plate, and respectively near the frame plate of both sides, there is certain distance between described camera head and light equipment, and be screwed on the first adapter plate;
Preferably, described watertight power supply box and watertight equipment box are disposed in parallel in above the second adapter plate, have certain distance between described watertight power supply box and watertight equipment box, and are screwed on the second adapter plate;
First adapter plate, the second connecting panel are provided with multiple mounting hole, are mainly used in installing observation module, watertight power supply box and watertight equipment box;
Preferably, described watertight equipment box is connected with umbilical cables, described umbilical cables is used for carrying out communication with bank base or sea-based platform, described watertight power supply box is provided with water proof switch, described watertight equipment box and the underwater electrical connector prevented when watertight power supply box is also provided with and is connected with external circuit into water;
Preferably, described two horizontal propellers, vertical pusher, light equipments, camera head, be all connected with underwater electrical connector by cable between watertight power supply box and watertight equipment box, and the connection of each external circuit is all connected by underwater electrical connector.
The utility model compared with prior art tool has the following advantages and good effect:
The utility model by change main platform body be connected and fixed mode, make whole robot device more convenient in maintenance; The utility model adopts modular design, makes to carry out dismounting maintenance to this platform, to change or install additional functional module all very convenient; The utility model can not carry out regulating according to actual conditions for the buoyant module of prior art and carry out actv. improvement, and actv. solves under-water robot and changes buoyancy size and position in all cases; Platform structure of the present utility model is simple, reasonable in design, adopts modular design, makes to carry out dismounting maintenance to this platform, to change or install additional functional module all very convenient.
Accompanying drawing explanation
Fig. 1 is the perspective view seeing direction from bottom to top of the utility model under-water operation robot device;
Fig. 2 is the perspective view seeing direction from the top down of the utility model under-water operation robot device;
Fig. 3 be the utility model under-water operation robot device from the perspective view viewed from positive side surface direction;
Fig. 4 is the front view of the utility model under-water operation robot device;
Fig. 5 is the lateral plan of the utility model under-water operation robot device;
Fig. 6 is the birds-eye view of the utility model under-water operation robot device;
Fig. 7 is the perspective view of buoyancy aid regulating mechanism;
Fig. 8 is watertight equipment box schematic perspective view;
Fig. 9 is watertight power supply box schematic perspective view;
Figure 10 is the connection mode schematic diagram of horizontal propeller and fixing buckle.
Wherein, 1 is main platform body, 11 is frame plate, 110 is handle aperture, 111 is mounting hole, 112 is wire inserting slot, 113 is fixing buckle, 12 is the first adapter plate, 13 is the second adapter plate, 2 is buoyancy regulating device, 21 is main buoyancy aid, 210 is groove, 211 is handle groove, 212 is through hole, 22 is secondary buoyancy aid, 220 is projection, 23 is centre of buoyancy position adjusting mechanism, 230 is bolt of rear end plate, 231 is regulating tank, 232 is scale, 24 is handgrips, 3 is horizontal propeller, 4 is vertical pusher, 5 is observation module, 51 is camera head, 52 is light equipment, 6 is watertight equipment box, 61 is umbilical cables, 7 is watertight power supply box, 71 is water proof switch, 8 is aluminum corner brace attaching parts, 9 is underwater electrical connector, 10 is cable.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail:
Embodiment one
As Fig. 1,2,3,4,5, a kind of under-water operation robot device shown in 6 and 10 is one of embodiment of the present utility model, it comprises: main platform body 1; Be arranged at two horizontal propellers 3 of described main platform body 1 left and right sides; Be arranged at the vertical pusher 4 of described main platform body middle part; Be arranged at the observation module 5 in described main platform body 1, watertight equipment box 6 and watertight power supply box 7; The top of described main platform body 1 is provided with buoyancy regulating device 2, described buoyancy regulating device 2 comprises main buoyancy aid 21, secondary buoyancy aid 22 and centre of buoyancy position adjusting mechanism 23, the design of centre of buoyancy position adjusting mechanism 23 ensure that the accuracy of buoyancy adjustment, buoyancy size can be accurately regulated according to the needs of varying environment or condition, described secondary buoyancy aid 22 is arranged on the two opposite sides of main buoyancy aid 21, and described centre of buoyancy position adjusting mechanism 23 is arranged on the side of main buoyancy aid 21 and secondary buoyancy aid 22.
Embodiment two
A kind of under-water operation robot device is embodiment two of the present utility model, the present embodiment two and embodiment difference are: described main platform body 1 comprises frame plate 11, first adapter plate 12 and the second adapter plate 13, described first adapter plate 12 and the second adapter plate 13 are arranged between two frame plates 11 by aluminum corner brace attaching parts 8, described watertight equipment box 6 and watertight power supply box 7 are arranged on described second adapter plate 13, described observation module 5 is arranged on described first adapter plate 12, described buoyancy regulating device 2 is arranged between the first adapter plate 12 and two frame plates 11.
Embodiment three
A kind of under-water operation robot device is embodiment three of the present utility model, the present embodiment three and embodiment two differences are: described frame plate 11, first adapter plate 12 and the second adapter plate 13 are provided with multiple mounting hole 111 and multiple wire inserting slot 112, described centre of buoyancy position adjusting mechanism 23 is by bolt of rear end plate 230, regulating tank 231 and scale 232 form, described regulating tank 231 is arranged on frame plate 11, described bolt of rear end plate 230 is flexibly connected with the nut that main buoyancy aid 21 is offered by regulating tank 231, scale 232 is provided with between described often pair of regulating tank 231 arranged side by side up and down, the centre of frame plate 11 is also provided with fixing buckle 113, horizontal propeller 3 is installed in main platform body 1 by fixing buckle 113, described fixing buckle 113 is welded on frame plate 11.
Embodiment four
A kind of under-water operation robot device is as shown in Figure 7 embodiment four of the present utility model, the present embodiment four and embodiment three differences are: the side of described secondary buoyancy aid 22 is provided with projection 220, the both sides of main buoyancy aid 21 are provided with the groove 210 matched with secondary buoyancy aid 22, the middle part of described main buoyancy aid 21 also offers through hole 212, and described vertical pusher 4 is arranged in described through hole 212.
Embodiment five
A kind of under-water operation robot device is embodiment five of the present utility model, the present embodiment five and embodiment four differences are: upper end, both sides midway location adjacent with groove 210 on described main buoyancy aid 21 is also provided with handle groove 211, the relative handle groove 211 of described frame plate 11 upper middle position is provided with handle aperture 110, after described main platform body 1 and regulating mechanism of buoyancy 2 are installed, handle groove 211 and handle aperture 110 coordinate formation handgrips 24.
Embodiment six
A kind of under-water operation robot device is embodiment six of the present utility model, the present embodiment six and embodiment five differences are: described observation module 5 comprises camera head 51 and light equipment 52, described camera head 51 and light equipment 52 are disposed in parallel in the below of described first adapter plate 12, and respectively near the frame plate 11 of both sides, there is certain distance between described camera head 51 and light equipment 52, and be screwed on the first adapter plate 12.
Embodiment seven
A kind of under-water operation robot device is embodiment seven of the present utility model, the present embodiment seven and embodiment six differences are: described watertight power supply box 7 and watertight equipment box 6 are disposed in parallel in above the second adapter plate 13, there is certain distance between described watertight power supply box 7 and watertight equipment box 6, and be screwed on the second adapter plate 13.
Embodiment eight
A kind of under-water operation robot device is as shown in FIG. 8 and 9 embodiment eight of the present utility model, the present embodiment eight and embodiment seven differences are: described watertight equipment box 6 is connected with umbilical cables 61, described umbilical cables 61 is for carrying out communication with bank base or sea-based platform, described watertight power supply box 7 is provided with water proof switch 71, described watertight equipment box 6 and the underwater electrical connector 9 prevented when watertight power supply box 7 is also provided with and is connected with external circuit into water;
Described two horizontal propellers 3, vertical pusher 4, camera head 51, light equipment 52, to be all connected with underwater electrical connector 9 by cable 10 between watertight power supply box 7 and watertight equipment box 6.
Obviously, above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here cannot give exhaustive to all embodiments.Every belong to the technical solution of the utility model the apparent change of extending out or variation be still in the row of protection domain of the present utility model.
Claims (8)
1. a under-water operation robot device, comprises
Main platform body;
Be arranged at two horizontal propellers of the described main platform body left and right sides;
Be arranged at the vertical pusher of described main platform body middle part;
Be arranged at the observation module in described main platform body, watertight equipment box and watertight power supply box;
It is characterized in that: the top of described main platform body is provided with buoyancy regulating device, described buoyancy regulating device comprises main buoyancy aid, secondary buoyancy aid and centre of buoyancy position adjusting mechanism, described secondary buoyancy aid is arranged on the two opposite sides of main buoyancy aid, and described centre of buoyancy position adjusting mechanism is arranged on the side of main buoyancy aid and secondary buoyancy aid.
2. under-water operation robot device according to claim 1, it is characterized in that: described main platform body comprises frame plate, the first adapter plate and the second adapter plate, described first adapter plate and the second adapter plate are arranged between two frame plates by aluminum corner brace attaching parts, described watertight equipment box and watertight power supply box are arranged on described second adapter plate, described observation module installation is on described first adapter plate, and described buoyancy regulating device is arranged between the first adapter plate and two frame plates.
3. under-water operation robot device according to claim 2, it is characterized in that: described frame plate, first adapter plate and the second adapter plate are provided with multiple mounting hole and multiple wire inserting slot, described centre of buoyancy position adjusting mechanism is by bolt of rear end plate, regulating tank and scale composition, described regulating tank is arranged on frame plate, described bolt of rear end plate is flexibly connected with the nut that main buoyancy aid is offered by regulating tank, scale is provided with between often pair of regulating tank arranged side by side up and down, the centre of frame plate is also provided with fixing buckle, horizontal propeller is installed in main platform body by fixing buckle.
4. under-water operation robot device according to claim 3, is characterized in that: described fixing buckle is welded on frame plate.
5. the under-water operation robot device according to claim 4 any one, it is characterized in that: the side of described secondary buoyancy aid is provided with projection, the both sides of main buoyancy aid are provided with the groove matched with secondary buoyancy aid, the middle part of described main buoyancy aid also offers through hole, and described vertical pusher is arranged in described through hole.
6. under-water operation robot device according to claim 5, it is characterized in that: upper end, both sides midway location adjacent with groove on described main buoyancy aid is also provided with handle groove, the relative handle groove of described frame plate upper middle position is provided with handle aperture, after described main platform body and regulating mechanism of buoyancy are installed, handle groove and handle aperture coordinate formation handgrips.
7. under-water operation robot device according to claim 6, it is characterized in that: described observation module comprises camera head and light equipment, described camera head and light equipment are disposed in parallel in the below of described first adapter plate, and respectively near the frame plate of both sides, there is certain distance between described camera head and light equipment, and be screwed on the first adapter plate.
8. under-water operation robot device according to claim 7, it is characterized in that: described watertight power supply box and watertight equipment box are disposed in parallel in above the second adapter plate, there is certain distance between described watertight power supply box and watertight equipment box, and be screwed on the second adapter plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520196502.6U CN204659998U (en) | 2015-04-02 | 2015-04-02 | A kind of under-water operation robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520196502.6U CN204659998U (en) | 2015-04-02 | 2015-04-02 | A kind of under-water operation robot device |
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| Publication Number | Publication Date |
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| CN204659998U true CN204659998U (en) | 2015-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520196502.6U Expired - Fee Related CN204659998U (en) | 2015-04-02 | 2015-04-02 | A kind of under-water operation robot device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599880A (en) * | 2015-12-16 | 2016-05-25 | 浙江大学 | Autonomous underwater vehicle and docking device thereof |
| CN105836080A (en) * | 2016-03-22 | 2016-08-10 | 天津深之蓝海洋设备科技有限公司 | Power system for underwater robot and underwater robot |
| CN106347609A (en) * | 2016-11-23 | 2017-01-25 | 哈尔滨工业大学 | Dish-shaped underwater gliding robot |
| CN106891073A (en) * | 2015-12-18 | 2017-06-27 | 上海航士海洋装备有限公司 | Mobile platform in six degree of freedom water |
| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN108341039A (en) * | 2018-01-12 | 2018-07-31 | 吴博恩 | Universal underwater crawling suspension workbench |
| CN109814111A (en) * | 2019-03-06 | 2019-05-28 | 中国科学院南京地理与湖泊研究所 | Echo sounder floating monitoring platform device |
-
2015
- 2015-04-02 CN CN201520196502.6U patent/CN204659998U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599880A (en) * | 2015-12-16 | 2016-05-25 | 浙江大学 | Autonomous underwater vehicle and docking device thereof |
| CN106891073A (en) * | 2015-12-18 | 2017-06-27 | 上海航士海洋装备有限公司 | Mobile platform in six degree of freedom water |
| CN106891073B (en) * | 2015-12-18 | 2019-07-30 | 智真海洋科技(威海)有限公司 | Mobile platform in six degree of freedom water |
| CN105836080A (en) * | 2016-03-22 | 2016-08-10 | 天津深之蓝海洋设备科技有限公司 | Power system for underwater robot and underwater robot |
| CN106347609A (en) * | 2016-11-23 | 2017-01-25 | 哈尔滨工业大学 | Dish-shaped underwater gliding robot |
| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN108341039A (en) * | 2018-01-12 | 2018-07-31 | 吴博恩 | Universal underwater crawling suspension workbench |
| CN109814111A (en) * | 2019-03-06 | 2019-05-28 | 中国科学院南京地理与湖泊研究所 | Echo sounder floating monitoring platform device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20160402 |