CN206307256U - Underwater robot and underwater robot system - Google Patents
Underwater robot and underwater robot system Download PDFInfo
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- CN206307256U CN206307256U CN201621363321.9U CN201621363321U CN206307256U CN 206307256 U CN206307256 U CN 206307256U CN 201621363321 U CN201621363321 U CN 201621363321U CN 206307256 U CN206307256 U CN 206307256U
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- underwater robot
- fixed
- robot
- underwater
- power
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Abstract
The utility model is related to a kind of underwater robot, including robot body, also includes：First fixing device, is fixed on the robot body, for fixing target job equipment；Buoyancy compartment, is fixed on the top of the robot body, for providing buoyancy；Buoyant equilibrium device, is fixed on the robot body；The buoyant equilibrium device is used to adjust the weight of the underwater robot, to cause the gravity sum of the underwater robot and the target job equipment more than the buoyancy of the buoyancy compartment；And power set, it is fixed on the robot body, for providing the power needed for the underwater robot carries out horizontal and vertical movement.The characteristics of above-mentioned underwater robot has low energy consumption.The utility model further relates to a kind of underwater robot system.
Description
Technical field
The utility model is related to robotics, more particularly to a kind of underwater robot and underwater robot system
System.
Background technology
As ocean engineering is increasing, underwater operation demand is increasing.Only rely on manpower and simple diving apparatus
It is difficult to the environments such as subsea in face of complicated and danger.Underwater robot can go to perform various seabed operations instead of people.Traditional water
Power during lower robot raising and lowering is generally provided by propeller, causes the power consumption of whole underwater robot larger.
Utility model content
Based on this, it is necessary to provide the underwater robot and underwater robot system of a kind of low power consuming.
A kind of underwater robot, including robot body, also include：First fixing device, is fixed on the robot sheet
On body, for fixing target job equipment；Buoyancy compartment, is fixed on the top of the robot body, for providing buoyancy；Buoyancy
Bascule, is fixed on the robot body；The buoyant equilibrium device is used to adjust the weight of the underwater robot,
To cause the gravity sum of the underwater robot and the target job equipment more than the buoyancy of the buoyancy compartment；And power
Device, is fixed on the robot body, for provide the underwater robot carry out it is dynamic needed for horizontal and vertical movement
Power.
Above-mentioned underwater robot, target job equipment is fixed by the first fixing device, and target job equipment is used to perform
Target job task.Buoyancy compartment is arranged on the top of robot body, for providing buoyancy.Buoyant equilibrium device can be under water
The weight of robot is adjusted, to cause what the gravity sum of underwater robot and target job equipment was provided more than buoyancy compartment
Buoyancy, so that robot provides power always during declining without power set under water, reduces energy consumption.
Wherein in one embodiment, the buoyant equilibrium device includes being fixed on fixed single on the robot body
Unit and weight cell；Multiple FX are provided with the fixed cell；Each FX is used to fix a weight
Amount unit.
Wherein in one embodiment, the weight cell is lead.
Wherein in one embodiment, the robot body includes base plate and the body frame being fixed on the base plate
Frame；The buoyancy compartment is fixed on the top of the main body frame；The buoyant equilibrium device, the power set and described first
Fixing device is each attached on the base plate.
Wherein in one embodiment, the power set include horizontal propulsion unit；The horizontal propulsion unit includes
Four horizontal propeller propellers；Four horizontal propeller propellers are symmetrically distributed on the main body frame.
Wherein in one embodiment, the power set include vertical thrust unit；The vertical thrust unit includes
Vertical spin oar propeller；The centre position of the buoyancy compartment is provided with through hole；The vertical spin oar propeller is located at described
It is fixedly connected in through hole and with the main body frame.
Wherein in one embodiment, the second fixing device is further fixed on the base plate, second fixing device is used
In the underwater robot is fixed on into target job region.
Wherein in one embodiment, it is further fixed on the base plate：Searchlight, the light needed for for providing underwater operation
Source；And camera head, for carrying out underwater photograph technical to obtain the environmental information in target job region.
A kind of underwater robot system, including：Underwater robot as described in foregoing any embodiment；Operation ship, including
Hull and the boat-carrying control device being arranged on the hull, boat-carrying power set and boom hoisting；And relay,
The underwater robot is connected with the boom hoisting by cable；The cable is by signal cable, power cable and metallic bond
Stranded cable；The signal cable is used to realize that the signal between the boat-carrying control device and the underwater robot to be passed
It is defeated；The power transmission that the power cable is used to realize between the boat-carrying power set and the underwater robot.
Wherein in one embodiment, the relay includes signal amplifying apparatus；The signal amplifying apparatus are used for
Signal to signal cable transmission is amplified treatment.
Brief description of the drawings
Fig. 1 is the structural representation of the underwater robot in an embodiment；
Fig. 2 is the structured flowchart of the underwater robot system in an embodiment；
Fig. 3 is the structural representation of the underwater robot system in an embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and implementation
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only used to explain
The utility model, is not used to limit the utility model.
Fig. 1 is the structural representation of the underwater robot in an embodiment.The underwater robot 100 includes robot body
110th, the first fixing device (not shown), buoyancy compartment 120, buoyant equilibrium device 130 and power set 140.
Robot body 110 is used to fix each part of underwater robot 100.In the present embodiment, robot body 110
Including base plate 112 and main body frame 114.Main body frame 114 is fixed on base plate 112.Main body frame 114 is cube frame.
Because main body frame 114 is Open architecture (namely non-close structure), shadow of the current to underwater robot 100 can be reduced
Ring, so as to improve the stability of the work of underwater robot 100.It is additionally provided with main body frame 114 for installing other functions portion additional
The fixed support 116 of part, to facilitate the function of extension underwater robot.
First fixing device is arranged on base plate 112.First fixing device is used to fix target job equipment 10.Target is made
Industry equipment 10 is the equipment for performing current task.Therefore, target job equipment 10 can be selected according to real work requirement
Different equipment.
Buoyancy compartment 120 is fixed on the top of main body frame 114.Buoyancy compartment 120 is used to provide the rising of underwater robot 100 institute
The part buoyancy for needing.The buoyancy size that buoyancy compartment 120 is provided is fixed, and more than the gravity of of underwater robot 100 itself.
Buoyant equilibrium device 130 is fixed on robot body, the weight for adjusting underwater robot 100, to cause
The gravity sum of underwater robot 100 and target job equipment is more than the buoyancy that buoyancy compartment 120 can be provided.Buoyant equilibrium device
130 buoyancy of the gravity sum slightly larger than buoyancy compartment 120 for needing only assure that underwater robot 100 and target job equipment.
Therefore during robot 100 declines under water, power of the power set 140 needed for without providing decline always；And rising
During, power set 140 only need to provide the floating that a little lift is capable of achieving underwater robot 100, so as to drop significantly
Low power consuming.Buoyant equilibrium device 130 includes the fixed cell (not shown) and weight cell 132 that are fixed on base plate 112.Gu
Multiple FX are provided with order unit, each FX is used to fix a weight cell 132.Weight cell 132
The size of the power that number can be balanced as needed determines.Weight cell 132 can be larger and corrosion-resistant for lead isodensity
Mass.
Power set 140 are fixed on robot body 110, for provide underwater robot 100 carry out it is horizontal and vertical
Power needed for motion.In the present embodiment, power set 140 include horizontal deployment unit and vertical thrust unit.Wherein, water
Flat propulsion unit includes four horizontal propeller propellers 142.Four horizontal propeller propellers 142 are symmetrically distributed in body frame
On frame 114.Specifically, four horizontal propeller propellers 142 are separately positioned on four root posts of main body frame 114, in " X "
Type is distributed.Horizontal propulsion unit is used to provide the power needed for underwater robot 100 moves horizontally process.Vertical thrust unit bag
Include vertical spin oar propeller 144.In the present embodiment, the middle position of buoyancy compartment 120 sets through hole 122.Vertical spin
Oar propeller 144 is fixed on main body frame 114 and in through hole 122.Vertical spin oar propeller 144 is used to provide under water
Robot 100 rises or declines required power, so as to easily control the sink-float of robot.Screw propeller passes through motor
Blade rotation is driven to produce thrust and then for robot provides power.
Above-mentioned underwater robot 100, target job equipment 10 is fixed by the first fixing device, and target job equipment 10 is used
In performance objective job task.Buoyancy compartment 120 is arranged on the top of robot body 110, for providing buoyancy.Buoyant equilibrium is filled
Putting 130 can be adjusted to the weight of underwater robot 100, to cause the weight of underwater robot 100 and target job equipment
Power sum is more than the buoyancy that buoyancy compartment 120 is provided, so that without power set during robot 100 declines under water
140 provide power always, reduce energy consumption.
In the present embodiment, above-mentioned underwater robot 100 also includes the second fixing device 150, camera head 160 and searchlighting
Lamp 170.Second fixing device 150 is fixed on base plate 112 and positioned at the outside of main body frame 114.Second fixing device 150 is used for will
Underwater robot 100 is fixed on target job region, so that it is guaranteed that underwater robot 100 will not be because of current etc. during operation
Ectocine and be shifted over.Second fixing device 150 can be robot arm device.Camera head 160 includes camera harmony
Camera, for carrying out underwater photograph technical to obtain the environmental information in target job region.Searchlight 170 and camera head 160 are equal
It is fixed on base plate 112.The light source that searchlight 170 is used for needed for providing underwater operation.In one embodiment, on base plate 112 also
Implement can be fixed with.Implement is used to complete common underwater operation task.For example, implement can be machinery
Arm assembly 180.
The utility model also provides a kind of underwater robot system.Fig. 2 is the underwater robot system in an embodiment
Structured flowchart, Fig. 3 is the structural representation of the underwater robot system in an embodiment.Referring to Fig. 2 and Fig. 3, the underwater
People's system includes the underwater robot 100 in previous embodiment, also including operation ship 200 and relay 300.
Operation ship 200 includes hull 210 and the boat-carrying control device (not shown), the boat-carrying that are arranged on hull 210
Power set (not shown) and boom hoisting 220.Boat-carrying control device can enter row data communication with remote terminal, so that real
Existing remote control.Boat-carrying control device is used to send control signal to underwater robot 100 by signal cable and receive machine under water
The various data-signals of the passback of device people 100.The power that boat-carrying power set are used for needed for providing whole system work, and by dynamic
Power cable transmits to underwater robot 100 power, and power is provided to underwater robot 100.Boom hoisting 220 passes through relay
300 are connected with underwater robot 100.
Relay 300 realizes the connection between operation ship 200 and underwater robot 100 by cable 310.In this implementation
In example, cable 310 is by signal cable, power cable and metallic bond is stranded forms, so that cable 310 can either transmission signal and dynamic
Power, additionally it is possible to bear the weight of underwater robot 100 and implement.Relay 300 includes take-up and pay-off device 320.
In the present embodiment, signal amplifying apparatus (not shown) is additionally provided with relay 300.Signal amplifying apparatus are used for signal
The signal transmitted in cable is amplified treatment, the transmission demand big to meet deep ocean work signal transmission distance, and reduces cable
310 pairs of interference of the motion of underwater robot 100.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of underwater robot, including robot body, it is characterised in that also include：
First fixing device, is fixed on the robot body, for fixing target job equipment；
Buoyancy compartment, is fixed on the top of the robot body, for providing buoyancy；
Buoyant equilibrium device, is fixed on the robot body；The buoyant equilibrium device is used to adjust the underwater
The weight of people, to cause the gravity sum of the underwater robot and the target job equipment floating more than the buoyancy compartment
Power；And
Power set, are fixed on the robot body, and horizontal and vertical movement is carried out for providing the underwater robot
Required power.
2. underwater robot according to claim 1, it is characterised in that the buoyant equilibrium device includes being fixed on described
Fixed cell and weight cell on robot body；Multiple FX are provided with the fixed cell；Each is consolidated
Region is determined for fixing a weight cell.
3. underwater robot according to claim 1, it is characterised in that the weight cell is lead.
4. underwater robot according to claim 1, it is characterised in that the robot body includes base plate and fixation
Main body frame on the base plate；The buoyancy compartment is fixed on the top of the main body frame；The buoyant equilibrium device, institute
State power set and first fixing device is each attached on the base plate.
5. underwater robot according to claim 4, it is characterised in that the power set include horizontal propulsion unit；
The horizontal propulsion unit includes four horizontal propeller propellers；Four horizontal propeller propellers are symmetrically distributed in institute
State on main body frame.
6. underwater robot according to claim 4, it is characterised in that the power set include vertical thrust unit；
The vertical thrust unit includes vertical spin oar propeller；The centre position of the buoyancy compartment is provided with through hole；It is described vertical
Screw propeller is located in the through hole and is fixedly connected with the main body frame.
7. underwater robot according to claim 4, it is characterised in that the second fixation dress is further fixed on the base plate
Put, second fixing device is used to for the underwater robot to be fixed on target job region.
8. underwater robot according to claim 7, it is characterised in that be further fixed on the base plate：
Searchlight, the light source needed for for providing underwater operation；And
Camera head, for carrying out underwater photograph technical to obtain the environmental information in target job region.
9. a kind of underwater robot system, it is characterised in that including：
Underwater robot as described in claim 1~8 any claim；
Operation ship, including hull and be arranged on the hull boat-carrying control device, boat-carrying power set and rise lifting
Put；And
, with the boom hoisting be connected the underwater robot by cable by relay；The cable is by signal cable, moves
Power cable and the stranded cable of metallic bond；The signal cable is used to realize the boat-carrying control device and the underwater robot
Between signal transmission；The power cable is used to realize that the power between the boat-carrying power set and the underwater robot to be passed
It is defeated.
10. underwater robot system according to claim 9, it is characterised in that the relay includes that signal amplifies
Device；The signal amplifying apparatus are used to be amplified treatment to the signal of signal cable transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363321.9U CN206307256U (en) | 2016-12-12 | 2016-12-12 | Underwater robot and underwater robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363321.9U CN206307256U (en) | 2016-12-12 | 2016-12-12 | Underwater robot and underwater robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206307256U true CN206307256U (en) | 2017-07-07 |
Family
ID=59252272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363321.9U Expired - Fee Related CN206307256U (en) | 2016-12-12 | 2016-12-12 | Underwater robot and underwater robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206307256U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108933826A (en) * | 2018-06-29 | 2018-12-04 | 河南聚合科技有限公司 | A kind of bionic machine based on team control mode can autonomous scout cloud platform |
| CN110920834A (en) * | 2019-12-18 | 2020-03-27 | 青岛滴都生命保障救援设备科技有限公司 | Be used for submarine rescue corpse to salvage robot |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN114408116A (en) * | 2021-12-23 | 2022-04-29 | 北京海科智机器人科技有限公司 | Underwater robot for cleaning marine biological pollutants of ship |
-
2016
- 2016-12-12 CN CN201621363321.9U patent/CN206307256U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108933826A (en) * | 2018-06-29 | 2018-12-04 | 河南聚合科技有限公司 | A kind of bionic machine based on team control mode can autonomous scout cloud platform |
| CN110920834A (en) * | 2019-12-18 | 2020-03-27 | 青岛滴都生命保障救援设备科技有限公司 | Be used for submarine rescue corpse to salvage robot |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN114408116A (en) * | 2021-12-23 | 2022-04-29 | 北京海科智机器人科技有限公司 | Underwater robot for cleaning marine biological pollutants of ship |
| CN114408116B (en) * | 2021-12-23 | 2022-09-09 | 北京海科智机器人科技有限公司 | Underwater robot for cleaning marine biological pollutants of ship |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170707 Termination date: 20201212 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |