CN205661637U - Underwater robot that possesses duplexing mode switch function - Google Patents
Underwater robot that possesses duplexing mode switch function Download PDFInfo
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- CN205661637U CN205661637U CN201620558648.5U CN201620558648U CN205661637U CN 205661637 U CN205661637 U CN 205661637U CN 201620558648 U CN201620558648 U CN 201620558648U CN 205661637 U CN205661637 U CN 205661637U
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Abstract
The utility model discloses an underwater robot that possesses duplexing mode switch function, including generator, surface of water power supply unit, umbilical cable winch, surface of water cable, water surface control unit, umbilical cable and the robot under water, wherein, still hang including receiving and releasing the A type, to receive and release one end that the A type hung and pass through umbilical cable and connect the umbilical cable winch, surface of water cable junction water surface control unit is passed through to the one end of umbilical cable winch, and the other end of umbilical cable winch passes through surface of water cable and connects generator and surface of water power supply unit simultaneously, it passes through umbilical cable and connects the robot under water to receive and release the other end that the A type hung. The utility model discloses possess two kinds of mode of ROV and AUV, can pass through umbilical cable by surface of water equipment and accomplish the robot's power supply and function control under water, carry out the complicated operation task under water that opens the waters, again can by the robot under water from taking the storage battery power supply, accomplish self function control from the hypertape control unit by the robot under water, carry out narrow waters's simple underwater operation task.
Description
Technical field
This utility model relates to a kind of underwater robot, particularly relates to a kind of machine under water possessing dual-mode handoff functionality
Device people, belongs to underwater performance robotics.
Background technology
At present, job engineering technical field under water, use underwater robot to complete various underwater performance widely and appoint
Business.Traditional underwater robot has two kinds by mode of operation division, has cable underwater robot ROV (Remote Operated
Vehicle) with without cable underwater robot AUV (Autonomous Underwater Vehicle).
Having cable underwater robot ROV to be completed power supply and function control by surface facilities by umbilical cables, operation is by water surface control
Personnel processed complete, and have activity duration length, control the advantages such as reliable, flexible movements and be suitable for carrying out the underwater performance of complexity and appoint
Business.But, umbilical cables is susceptible to be wound around under water, is not suitable for the region that underwater environment is complicated and working space is limited.
AUV without cable underwater robot is battery-powered by carrying, and independently completes underwater performance task, and range of activity is by space
Limit less.But, being limited by battery capacity, its flying power and performance capacity are limited, are suitable for carrying out short distance simple
Job task.
Summary of the invention
The technical problems to be solved in the utility model is the deficiency how overcoming two kinds of work on hand patterns of underwater robot,
Advantage in conjunction with two kinds of mode of operations, it is provided that a kind of underwater robot possessing dual-mode handoff functionality.
This utility model is the technical scheme is that a kind of possesses dual-mode handoff functionality
Underwater robot, controls single including electromotor (1), water surface power supply unit (2), umbilical cables winch (3), water surface cable (4), the water surface
Unit (5), umbilical cables (7) and underwater human body (8), also include that folding and unfolding A type hangs (6), and folding and unfolding A type hangs the one end of (6) to be passed through
Umbilical cables (7) connects umbilical cables winch (3), and one end of umbilical cables winch (3) connects water surface control unit by water surface cable (4)
(5), the other end of umbilical cables winch (3) is simultaneously connected with electromotor (1) and water surface power supply unit (2) by water surface cable (4)；Receive
Put A type and hang the other end of (6) by umbilical cables (7) connection underwater human body (8).
Preferably, described underwater human body (8) is by umbilical cables arming mechanism (81), control cabinet (82) and battery flat
(83) constitute, wherein, the prominent upper center being arranged on underwater human body (8) of umbilical cables arming mechanism (81), umbilical cables
Arming mechanism (81) is connected with umbilical cables (7), and control cabinet (82) and battery flat (83) are arranged on underwater human body's (8)
Internal.
Preferably, this underwater robot is set to ROV mode of operation and AUV mode of operation two kinds, wherein, ROV Working mould
It is set between formula and AUV mode of operation mutually to switch over.
Preferably, described ROV mode of operation is first to be connected umbilical cables by water surface power supply unit (2) by water surface cable (4)
Powered to underwater human agent (8) by the upper umbilical cables (7) connected of umbilical cables winch (3) again after winch (3).
Preferably, described ROV mode of operation is first to be connected umbilical cables by water surface control unit (5) by water surface cable (4)
The function control to underwater human body (8) is completed by the upper umbilical cables (7) connected of umbilical cables winch (3) again after winch (3)
System.
Preferably, described AUV mode of operation is by the internal battery of the battery flat (83) on underwater human body (8)
Group power supply.
Preferably, described AUV mode of operation is by the internal controller of the control cabinet (82) on underwater human body (8)
Independently complete the function to underwater human body (8) to control.
Operation principle is: include electromotor (1), water surface power supply unit (2), umbilical cables winch (3), water surface cable (4), water
Face control unit (5), umbilical cables (7) and underwater human body (8) and folding and unfolding A type hang the one that (6) form and possess duplex
The underwater robot of mode switch function, wherein, underwater human body (8) is by umbilical cables arming mechanism (81), control cabinet
(82) constituting with battery flat (83), umbilical cables arming mechanism (81) is prominent is arranged on underwater human body (8) top interposition
Putting, umbilical cables (7) is linked into umbilical cables arming mechanism (81), a kind of water possessing dual-mode handoff functionality of this design structure
Lower robot, when ROV mode of operation is switched to AUV mode of operation, opens umbilical cables arming mechanism (81), umbilical cables (7) together with
Umbilical cables arming mechanism (81) departs from from underwater human body (8), and underwater human body (8) is automatically converted to by battery
Cabin (83) powers, control cabinet (82) complete autonomic function control；Underwater robot is switched to ROV work from AUV mode of operation
During pattern, umbilical cables (7) is linked into umbilical cables arming mechanism (81), umbilical cables arming mechanism (81) is linked into underwater
The upper middle position of human body (8), underwater human body (8) is automatically converted to water surface power supply unit (2) power supply, accepts water
The function of face control unit (5) controls.
This utility model compared with prior art produced by provide the benefit that: the one designed by this utility model possesses
The underwater robot of dual-mode handoff functionality possesses two kinds of mode of operations of ROV and AUV, can be passed through umbilical cables by surface facilities
The power supply and the function that complete underwater human body control, and perform the underwater complex job task of open waters；Again can be by under water
Robot body carries accumulator battery and powers, underwater human body carry controller and complete the control of self function, perform narrow
The simple underwater performance task in narrow waters, simple in construction, easy to operate.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in further detail, wherein:
Fig. 1 is this utility model overall structure schematic diagram；
Wherein, figure indicates: 1 electromotor, 2 water surface power supply units, 3 umbilical cables winches, 4 water surface cables, 5
Water surface control unit, 6 folding and unfolding A types hang, 7 umbilical cables, 8 underwater human bodies；
81 umbilical cables kickoff mechanisms, 82 control cabinets, 83 battery flats.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the technical solution of the utility model is further described in detail by embodiment.
As it is shown in figure 1, a kind of underwater robot possessing dual-mode handoff functionality designed by this utility model is arranged
Having water surface power supply unit 2 and 83 two supply modules of battery flat under water of the water surface, the water surface being simultaneously disposed with the water surface controls single
Unit 5 and 82 two control modules of control cabinet under water.This design overcomes the deficiency of two kinds of work on hand patterns of underwater robot,
The advantage combining two kinds of mode of operations, obtains a kind of underwater robot possessing dual-mode handoff functionality.
Such as Fig. 1, a kind of underwater robot possessing dual-mode handoff functionality, including electromotor 1, water surface power supply unit 2,
Umbilical cables winch 3, water surface cable 4, water surface control unit 5, umbilical cables 7 and underwater human body 8, it also includes folding and unfolding A type
Hanging 6, folding and unfolding A type hangs one end of 6 and connects umbilical cables winch 3 by umbilical cables 7, and water surface cable 4 is passed through in one end of umbilical cables winch 3
Connect water surface control unit 5, the other end of umbilical cables winch 3 is simultaneously connected with electromotor 1 by water surface cable 4 and the water surface is powered list
Unit 2；Folding and unfolding A type hangs the other end of 6 and connects underwater human body 8 by umbilical cables 7.
Underwater human body 8 is to be made up of umbilical cables arming mechanism 81, control cabinet 82 and battery flat 83, wherein, and umbilical cord
The prominent upper center being arranged on underwater human body 8 of cable arming mechanism 81, umbilical cables arming mechanism 81 is connected with umbilical cables 7
Connecing, control cabinet 82 and battery flat 83 are arranged on the inside of underwater human body 8.
In this utility model, electromotor 1 is for providing power supply supply to whole underwater robot system；
Under water surface power supply unit 2 water supply, robot body 8 provides power supply supply；
Umbilical cables winch 3 is used for discharging and reclaim umbilical cables 7；
Water surface cable 4 is used for connecting electromotor 1, water surface power supply unit 2, umbilical cables winch 3 and water surface control unit 5 also
Power supply and communication port is provided for described surface facilities；
Water surface control unit 5 controls for completing the function to underwater human body 8 under ROV mode of operation；
Folding and unfolding A type hang 6 for carry out underwater human body 8 from the water surface under water hang work；
Umbilical cables 7 for give under ROV mode of operation robot body 8 under water transmit power supply and
Control signal；Underwater human body 8 realizes the observation of underwater robot, navigates, navigates
The major functions such as row, operation；
Umbilical cables kickoff mechanism 81 is for realizing underwater robot from ROV mode of operation to the conversion of AUV mode of operation；
Control cabinet 82 is for completing the autonomous of underwater human body 8 under AUV mode of operation
Function controls；Battery flat 83 is used for being underwater human body under AUV mode of operation
8 provide power supply supply.
Underwater human body 8 is to be made up of umbilical cables arming mechanism 81, control cabinet 82 and battery flat 83, and umbilical cables is freed
Mechanism 81 is prominent is arranged on underwater human body 8 upper middle position, and umbilical cables 7 is linked into umbilical cables arming mechanism 81.
This underwater robot, when ROV mode of operation is switched to AUV mode of operation, opens umbilical cables arming mechanism 81, umbilicus
Band cable 7 departs from from underwater human body 8 together with umbilical cables arming mechanism 81, underwater human body 8 be automatically converted to by
Battery flat 83 is powered, control cabinet 82 complete autonomic function control.
Umbilical cables 7, when AUV mode of operation is switched to ROV mode of operation, is linked into umbilical cables and frees by underwater robot
Mechanism 81, is linked into the upper middle position of underwater human body 8, underwater human body 8 by umbilical cables arming mechanism 81
Being automatically converted to water surface power supply unit 2 power, the function accepting water surface control unit 5 controls.
Claims (7)
1. the underwater robot possessing dual-mode handoff functionality, it is characterised in that: include that electromotor (1), the water surface are powered
Unit (2), umbilical cables winch (3), water surface cable (4), water surface control unit (5), umbilical cables (7) and underwater human body
(8), also including that folding and unfolding A type hangs (6), folding and unfolding A type hangs the one end of (6) and connects umbilical cables winch (3), umbilical cord by umbilical cables (7)
One end of cable winch (3) connects water surface control unit (5) by water surface cable (4), and the other end of umbilical cables winch (3) passes through water
Face cable (4) is simultaneously connected with electromotor (1) and water surface power supply unit (2)；Folding and unfolding A type hangs the other end of (6) by umbilical cables (7)
Connect underwater human body (8).
A kind of underwater robot possessing dual-mode handoff functionality the most according to claim 1, it is characterised in that: described
Underwater human body (8) is to be made up of umbilical cables arming mechanism (81), control cabinet (82) and battery flat (83), wherein, and umbilical cord
The prominent upper center being arranged on underwater human body (8) of cable arming mechanism (81), umbilical cables arming mechanism (81) and umbilical cord
Cable (7) is connected, and control cabinet (82) and battery flat (83) are arranged on the inside of underwater human body (8).
A kind of underwater robot possessing dual-mode handoff functionality the most according to claim 1, it is characterised in that: this water
Lower robot is set to ROV mode of operation and AUV mode of operation two kinds, wherein, between ROV mode of operation and AUV mode of operation
It is set to mutually to switch over.
A kind of underwater robot possessing dual-mode handoff functionality the most according to claim 3, it is characterised in that: described
ROV mode of operation is to be passed through to pass through umbilical cord again after water surface cable (4) first connects umbilical cables winch (3) by water surface power supply unit (2)
The upper umbilical cables (7) connected of cable winch (3) is powered to underwater human body (8).
5. according to a kind of underwater robot possessing dual-mode handoff functionality described in claim 3 or claim 4, its
It is characterised by: described ROV mode of operation is first to be connected umbilical cables winch (3) by water surface control unit (5) by water surface cable (4)
After complete the function to underwater human body (8) by the upper umbilical cables (7) connected of umbilical cables winch (3) again and control.
A kind of underwater robot possessing dual-mode handoff functionality the most according to claim 3, it is characterised in that: described
AUV mode of operation is to be powered by the internal batteries of the battery flat (83) on underwater human body (8).
7. possesses dual-mode handoff functionality according to a kind of described in claim 3 or claim or claim 6
Underwater robot, it is characterised in that: described AUV mode of operation is interior by the control cabinet (82) on underwater human body (8)
Portion's controller independently completes the function to underwater human body (8) and controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558648.5U CN205661637U (en) | 2016-06-08 | 2016-06-08 | Underwater robot that possesses duplexing mode switch function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620558648.5U CN205661637U (en) | 2016-06-08 | 2016-06-08 | Underwater robot that possesses duplexing mode switch function |
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| CN205661637U true CN205661637U (en) | 2016-10-26 |
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| CN201620558648.5U Active CN205661637U (en) | 2016-06-08 | 2016-06-08 | Underwater robot that possesses duplexing mode switch function |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106639955A (en) * | 2016-12-15 | 2017-05-10 | 江苏科技大学 | Self-locking type oil recovery tree torsion auxiliary tool |
| CN108045531A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | For the underwater robot control system and method for submarine cable inspection |
| CN108045530A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of submarine cable detection underwater robot and operational method |
| WO2018090615A1 (en) * | 2016-11-16 | 2018-05-24 | 深圳潜行创新科技有限公司 | Remotely-operated underwater vehicle and remotely-operated underwater vehicle system |
| CN108799689A (en) * | 2017-04-28 | 2018-11-13 | 中国石油天然气集团公司 | A kind of underwater boring device and method |
| CN110261932A (en) * | 2019-06-10 | 2019-09-20 | 哈尔滨工程大学 | A kind of polar region AUV acousto-optic detection system |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
-
2016
- 2016-06-08 CN CN201620558648.5U patent/CN205661637U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018090615A1 (en) * | 2016-11-16 | 2018-05-24 | 深圳潜行创新科技有限公司 | Remotely-operated underwater vehicle and remotely-operated underwater vehicle system |
| CN106639955A (en) * | 2016-12-15 | 2017-05-10 | 江苏科技大学 | Self-locking type oil recovery tree torsion auxiliary tool |
| CN106639955B (en) * | 2016-12-15 | 2019-03-29 | 江苏科技大学 | A kind of self-locking production tree torsion auxiliary tool |
| CN108799689A (en) * | 2017-04-28 | 2018-11-13 | 中国石油天然气集团公司 | A kind of underwater boring device and method |
| CN108799689B (en) * | 2017-04-28 | 2024-03-26 | 中国石油天然气集团公司 | Underwater perforating device and method |
| CN108045531A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | For the underwater robot control system and method for submarine cable inspection |
| CN108045530A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of submarine cable detection underwater robot and operational method |
| CN110261932A (en) * | 2019-06-10 | 2019-09-20 | 哈尔滨工程大学 | A kind of polar region AUV acousto-optic detection system |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191119 Address after: Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494 Co-patentee after: CHINA SHIPBUILDING INDUSTRY CORPORATION, 750 TEST SITE Patentee after: Guangzhou peak frequency modulation technology development Co.,Ltd. Address before: 510635 Guangdong energy storage building, No. 32, Longkou East Road, Guangzhou City, Guangdong Province Co-patentee before: NO.750 TEST FIELD, CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: China Southern Power Grid Tiaofeng Frequency Modulation Power Generation Company |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494 Co-patentee after: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. Patentee after: Guangzhou peak frequency modulation technology development Co.,Ltd. Address before: Room 208, No. 100, Dongxing Road, Donghuan street, Panyu District, Guangzhou, Guangdong 511494 Co-patentee before: CHINA SHIPBUILDING INDUSTRY CORPORATION, 750 TEST SITE Patentee before: Guangzhou peak frequency modulation technology development Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 510000 room 208, 100 Dongxing Road, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: China Southern power grid peak shaving and frequency modulation (Guangdong) energy storage technology Co.,Ltd. Patentee after: China Shipbuilding Group Co.,Ltd. No 750 Testing Ground Address before: Room 208, No. 100, Dongxing Road, Donghuan Street, Panyu District, Guangzhou, Guangdong 511494 Patentee before: Guangzhou peak frequency modulation technology development Co.,Ltd. Patentee before: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. |