CN205366025U - Underwater monitoring robot - Google Patents
Underwater monitoring robot Download PDFInfo
- Publication number
- CN205366025U CN205366025U CN201620030797.4U CN201620030797U CN205366025U CN 205366025 U CN205366025 U CN 205366025U CN 201620030797 U CN201620030797 U CN 201620030797U CN 205366025 U CN205366025 U CN 205366025U
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- control cabinet
- monitoring robot
- underwater monitoring
- underwater
- robot according
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Abstract
The utility model provides an underwater monitoring robot, includes oval shape frame, suspended substance, control cabinet, sensing instrument capsule, the middle part symmetry of both sides is equipped with two spinal branch vaulting poles around the oval shape frame, the control cabinet is installed between the bracing piece, sensing instrument capsule is located the below of control cabinet, the suspended substance is fixed the upper and lower both ends of oval shape frame. The utility model discloses can greatly reduce the resistance that the underwater robot navigated by water under water to adopt the propellers of the positive and negative installation of four group's screws, very big improvement the flexibility when underwater operation can, data transmission is stable, compact structure.
Description
Technical field
This utility model relates to underwater navigation equipment technical field, particularly relates to a kind of underwater monitoring robot.
Background technology
In China, underwater performance depends primarily on people and simple submersible, the life security of people is caused very big threat by complicated, dangerous marine environment, and the exploitation dynamics of marine resources is continued to increase by country, this is necessary for needing a kind of new intelligentized machinery equipment to replace people to go to perform job task under sea, and underwater robot produces with regard to this.
Underwater robot, also referred to as unmanned remotely controlled submersible vehicle, is a kind of limit operation robot worked under water.Underwater environment is badly dangerous, and the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean.Unmanned remotely controlled submersible vehicle mainly has: have cable remote-controlled vehicle and untethered remotely operated vehicle two kinds, wherein have cable keep away control submersible be divided into again self-propulsion type in water, towage formula and can on seafloor structure creeping-type three kinds.
Existing submarine formula robot, rises and dive realizes by changing body buoyancy in water mostly, and generally only has one to two powered devices, response time is slow, inadequate maneuverability, although robot can realize the rotation of certain angle, but control loaded down with trivial details, poor stability.
In ocean water quality data is measured, the method for employing can be divided into two big classes: a class is to adopt buoy, subsurface buoy or pull-type platform, installs different measurement modules herein above according to different tasks；Another kind of is utilize underwater robot as monitoring platform.Until the environmental data in seabed extremely lacks below top layer, China marine site time, particularly the mesoscale spatial characteristics of parameter and the variation property data of different cycles are particularly precious.Underwater robot absorbs the strong point of current various different observation methods as underwater observation platform, both the underwater section observation pinpointed can have been done as anchor system buoy, sectional observation can be done again as drifting buoy, can cruise as research vessel observation, but the marine site that research vessel cannot arrive can be entered into, its operating cost and efficiency are much better than again towed body.
Summary of the invention
The technical problems to be solved in the utility model is how to overcome the deficiencies in the prior art, it is provided that a kind of underwater monitoring robot.
This utility model the technical scheme is that a kind of underwater monitoring robot for achieving the above object, including kidney ellipsoid framework, suspended substance, control cabinet, sensor apparatus cabin, before and after described kidney ellipsoid framework, the middle part of both sides is arranged with two support bars, described control cabinet is arranged between described support bar, described sensor apparatus freight space is in the lower section of described control cabinet, and described suspended substance is fixed on the two ends up and down of described kidney ellipsoid framework.
Further, the upper end, the left and right sides of described kidney ellipsoid framework is additionally provided with photographic head and LED spotlight.
Further, described LED spotlight has four, is divided into two groups, is fixed on the left and right sides of described kidney ellipsoid framework, and described photographic head has two, is placed in and often organizes between described LED spotlight.
Further, the material of described suspended substance is macromolecule floating body material, and the surface of described suspended substance is provided with circular hole.
Further, described control cabinet both sides are provided with arc-shaped notch, described control cabinet is provided externally with four groups of propellers, inside is provided with motor control module and drives module, it is used for driving four groups of propellers, wherein two groups of propellers are vertically arranged in described arc-shaped notch place, all the other the two groups both sides being horizontally fixed on described control cabinet, are provided with compound water quality sensor in described sensor apparatus cabin.
Further, power transfer module and data acquisition module it is additionally provided with in described control cabinet, described power transfer module is connected with the reference power supply of land by umbilical cables, it is converted into described control module and the running voltage driving module to use, described compound water quality sensor is connected with described data acquisition module by serial ports, and described data transmission module transmits a signal to land by optical fiber/photoelectric compound cable.
Further, the two ends in described sensor apparatus cabin are provided with hemispherical protective cover.
Further, described underwater robot also includes bank base control chamber, and described bank base control chamber is communicated by RS-485 serial bus standard and described control cabinet.
Further, it is additionally provided with lowering equipment in the upper end being positioned at described kidney ellipsoid framework.
This utility model can greatly reduce the resistance that underwater robot navigates by water under water, and adopts the propeller of four groups of positive and negative installations of propeller, greatly improves flexible performance during operation under water, and data transmission is stable, compact conformation.
Accompanying drawing explanation
Fig. 1 this utility model overall structure schematic diagram.
Fig. 2 this utility model control cabinet and propeller structure schematic diagram.
Fig. 3 this utility model sensor apparatus cabin structure schematic diagram.
Detailed description of the invention
A kind of underwater monitoring robot, including kidney ellipsoid framework 1, suspended substance 2, control cabinet 3, sensor apparatus cabin 4, before and after described kidney ellipsoid framework 1, the middle part of both sides is arranged with two support bars 11, described control cabinet 3 is arranged between described support bar 11, described sensor apparatus cabin 4 is positioned at the lower section of described control cabinet 3, and described suspended substance 2 is fixed on the two ends up and down of described kidney ellipsoid framework 1.
The upper end, the left and right sides of described kidney ellipsoid framework 1 is additionally provided with photographic head 12 and LED spotlight 13; described LED spotlight 13 has four; it is divided into two groups; it is fixed on the left and right sides of described kidney ellipsoid framework 1; described photographic head 12 has two, is placed in and often organizes between described LED spotlight 13, and kidney ellipsoid framework 1 can protect control cabinet 3; prevent control cabinet 3 from being clashed into, additionally it is possible to protection photographic head 12 and LED spotlight 13.
The material of described suspended substance 2 is macromolecule floating body material, and the surface of described suspended substance 2 is provided with circular hole 21, can effectively reduce the current disturbing influence to underwater robot.
Described control cabinet 3 both sides are provided with arc-shaped notch 31, described control cabinet 3 is provided externally with four groups of propellers 32, inside is provided with motor control module and drives module, it is used for driving four groups of propellers, wherein two groups of propellers 32 are vertically arranged in described arc-shaped notch place 31, the water currents produced between propeller 32 can be effectively reduced, all the other the two groups both sides being horizontally fixed on described control cabinet 3, four groups of propellers 32 are capable of the advance of underwater robot, retreat and rotate, four groups of propellers, and adopt the direct current generator of same model, speed governing can be carried out by PWM, rotating speed can reach 5000rpm.With two groups of propellers 32 being distributed horizontally to described control cabinet 3 both sides, and the propeller within two groups of propellers 32 adopts the mounting design of positive and negative oar, it is possible to active balance side force, it is ensured that underwater robot direct of travel not necessarily departs from.It is provided with compound water quality sensor in described sensor apparatus cabin 4, is used for gathering the water quality data such as PH, salinity, temperature and dissolved oxygen under water.
It is additionally provided with power transfer module and data acquisition module in described control cabinet 3, described power transfer module is connected with the reference power supply of land by umbilical cables, it is converted into described control module and the running voltage driving module to use, data acquisition module is mainly used in gathering the sensing data in sensor apparatus cabin 4, and transmitting a signal to land by optical fiber/photoelectric compound cable, described compound water quality sensor is connected with described data acquisition module by serial ports.
The two ends in described sensor apparatus cabin 4 are provided with hemispherical protective cover 41, are fixed by female thread and sensor apparatus cabin 4, when not being monitored; the effect of protection compound water quality sensor can be played; when detecting water quality, hemispherical protective cover 41 is unloaded, cruelly spills compound water quality sensor.
Described underwater robot also includes bank base control chamber, and described bank base control chamber is communicated by RS-485 serial bus standard and described control cabinet 3, wherein can control propeller 32 and realize the advance of underwater robot, retrogressing and rotation.
It is additionally provided with lowering equipment 14, in order to hang underwater robot in the upper end being positioned at described kidney ellipsoid framework 1.
Above-described embodiment, simply to illustrate that technology of the present utility model design and feature, its objective is to be in that to allow one of ordinary skilled in the art will appreciate that content of the present utility model and to implement according to this, can not limit protection domain of the present utility model with this.The change of every equivalence done by the essence of this utility model content or modification, all should be encompassed in protection domain of the present utility model.
Claims (9)
1. a underwater monitoring robot, it is characterized in that: include kidney ellipsoid framework, suspended substance, control cabinet, sensor apparatus cabin, before and after described kidney ellipsoid framework, the middle part of both sides is arranged with two support bars, described control cabinet is arranged between described support bar, described sensor apparatus freight space is in the lower section of described control cabinet, and described suspended substance is fixed on the two ends up and down of described kidney ellipsoid framework.
2. a kind of underwater monitoring robot according to claim 1, it is characterised in that: the upper end, the left and right sides of described kidney ellipsoid framework is additionally provided with photographic head and LED spotlight.
3. a kind of underwater monitoring robot according to claim 2, it is characterised in that: described LED spotlight has four, is divided into two groups, is fixed on the left and right sides of described kidney ellipsoid framework, and described photographic head has two, is placed in and often organizes between described LED spotlight.
4. a kind of underwater monitoring robot according to claim 1, it is characterised in that: the material of described suspended substance is macromolecule floating body material, and the surface of described suspended substance is provided with circular hole.
5. a kind of underwater monitoring robot according to claim 1, it is characterized in that: described control cabinet both sides are provided with arc-shaped notch, described control cabinet is provided externally with four groups of propellers, inside is provided with motor control module and drives module, it is used for driving four groups of propellers, wherein two groups of propellers are vertically arranged in described arc-shaped notch place, all the other the two groups both sides being horizontally fixed on described control cabinet, are provided with compound water quality sensor in described sensor apparatus cabin.
6. a kind of underwater monitoring robot according to claim 5, it is characterized in that: in described control cabinet, be additionally provided with power transfer module and data acquisition module, described power transfer module is connected with the reference power supply of land by umbilical cables, it is converted into described control module and the running voltage driving module to use, described compound water quality sensor is connected with described data acquisition module by serial ports, and described data transmission module transmits a signal to land by optical fiber/photoelectric compound cable.
7. a kind of underwater monitoring robot according to claim 1 or 5, it is characterised in that: the two ends in described sensor apparatus cabin are provided with hemispherical protective cover.
8. a kind of underwater monitoring robot according to claim 1, it is characterised in that: described underwater robot also includes bank base control chamber, and described bank base control chamber is communicated by RS-485 serial bus standard and described control cabinet.
9. a kind of underwater monitoring robot according to claim 1, it is characterised in that: the upper end being positioned at described kidney ellipsoid framework is additionally provided with lowering equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620030797.4U CN205366025U (en) | 2016-01-13 | 2016-01-13 | Underwater monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620030797.4U CN205366025U (en) | 2016-01-13 | 2016-01-13 | Underwater monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205366025U true CN205366025U (en) | 2016-07-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620030797.4U Expired - Fee Related CN205366025U (en) | 2016-01-13 | 2016-01-13 | Underwater monitoring robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205366025U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564616A (en) * | 2016-01-13 | 2016-05-11 | 山东省科学院海洋仪器仪表研究所 | Underwater monitoring robot |
| CN107554731A (en) * | 2017-10-12 | 2018-01-09 | 上海遨拓深水装备技术开发有限公司 | A kind of ROV appliance stands suitable for underwater complex landform |
| CN110281251A (en) * | 2019-07-24 | 2019-09-27 | 胡勇 | A kind of high water flow long range duct detection robot system |
-
2016
- 2016-01-13 CN CN201620030797.4U patent/CN205366025U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564616A (en) * | 2016-01-13 | 2016-05-11 | 山东省科学院海洋仪器仪表研究所 | Underwater monitoring robot |
| CN105564616B (en) * | 2016-01-13 | 2018-03-13 | 山东省科学院海洋仪器仪表研究所 | A kind of underwater monitoring robot |
| CN107554731A (en) * | 2017-10-12 | 2018-01-09 | 上海遨拓深水装备技术开发有限公司 | A kind of ROV appliance stands suitable for underwater complex landform |
| CN110281251A (en) * | 2019-07-24 | 2019-09-27 | 胡勇 | A kind of high water flow long range duct detection robot system |
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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: 20160706 Termination date: 20170113 |
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| CF01 | Termination of patent right due to non-payment of annual fee |