CN208181382U - It is a kind of to hang robot under water - Google Patents
It is a kind of to hang robot under water Download PDFInfo
- Publication number
- CN208181382U CN208181382U CN201820274628.4U CN201820274628U CN208181382U CN 208181382 U CN208181382 U CN 208181382U CN 201820274628 U CN201820274628 U CN 201820274628U CN 208181382 U CN208181382 U CN 208181382U
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- China
- Prior art keywords
- underwater
- underwater robot
- winch
- robot
- control system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Robot, including deck control system, winch, umbilical cables, underwater robot are hung under water the utility model discloses a kind of；One end of the umbilical cables is connected with deck control system, and the other end and underwater robot upper end are hinged, realizes electric energy supply and data connection；The middle section of the umbilical cables is wrapped on winch, and the winch is connected by signal wire with deck control system, realizes that deck control system controls winch folding and unfolding, is driven umbilical cables to be further driven to underwater robot by winch and is moved up and down.What the utility model can realize underwater instrument equipment accurately and fast, reliably lays and recycles operation, has the characteristics that loading capacity is big, strong antijamming capability.
Description
Technical field
The utility model relates to a kind of robots, lay hanging under water for recycling more particularly to a kind of underwater equipment that can be used for
Put robot.
Background technique
Underwater robot all plays in terms of marine environment investigation, marine resources development and Underwater Engineering focuses on
It acts on, the research and development of underwater robot are paid much attention in countries in the world at present.Cable remote underwater robot (ROV) is water
The important branch of lower robot, oil gas play vital effect in fields such as marine resources development, ocean engineering construction.
Currently having cable remote underwater robot is mostly versatility ROV, and propeller arrangement form mostly uses vector arrangement,
Thrust to realize the flexible motion in multiple directions, but thus in a forward direction is insufficient, in turn results in underwater robot and exists
Anti-current ability is on the weak side in direction of advance；Having cable remote control underwater is mostly neutral buoyancy in water, and the movement of vertical direction relies on
Impeller driven arranged in a vertical direction, thus there is cable remote control underwater to be up to vertical arrangement in the driving force of vertical direction
The sum of propeller thrust.The maximum thrust of the propeller of current underwater robot application is limited in hundred kilograms of magnitudes
The carrying ability of underwater robot.
Need to lay and recycle a large amount of underwater instrument in the construction of marine environment investigation, marine resources development and Underwater Engineering
Device equipment is not suitable for underwater instrument equipment due to there is cable remote underwater robot 4 in the limitation of carrying ability and anti-current ability
Lay recycling, especially heavy instrument and equipment lays recycling.
Utility model content
The purpose of the utility model is to overcome deficiency in the prior art, provide it is a kind of hang robot under water, it can be achieved that
Underwater instrument equipment accurately and fast, reliably lays and recycles operation, has the characteristics that loading capacity is big, strong antijamming capability.
The technical scheme adopted by the utility model is a kind of hang robot, including deck control system, strand under water
Vehicle, umbilical cables, underwater robot；One end of the umbilical cables is connected with deck control system, the other end and underwater robot
Upper end is hinged, realizes electric energy supply and data connection；The middle section of the umbilical cables is wrapped on winch, and the winch passes through
Signal wire is connected with deck control system, realize deck control system control winch folding and unfolding, by winch drive umbilical cables into
One step drives underwater robot to move up and down.
Further, the underwater robot includes main frame, propeller, the sealing control cabinet for providing control signal, mentions
For sealing feed cabin, the docking skirt for docking apparatus frame of electric energy, for grabbing and discharging the docking needle on apparatus frame
Pick-and-place device, underwater searchlight, Underwater Camera, detection sonar, altimeter, depth gauge, acoustic marker；A left side for the main frame
Right two sides box front and rear sides are respectively arranged with propeller；The front side and bottom of the main frame be respectively arranged with underwater searchlight and
Underwater Camera；Front side setting detection sonar, altimeter, depth gauge and the beacon of the main frame；The bottom of the main frame
It is fixedly connected with the lower end for docking skirt, the pick-and-place device is fixedly connected with the upper end for docking skirt；The main frame is provided with close
Seal control cabinet and sealing feed cabin, the propeller, underwater searchlight, Underwater Camera, detection sonar, altimeter, depth gauge,
Acoustic marker, pick-and-place device are connected with the sealing control cabinet and sealing feed cabin respectively, the sealing control cabinet and sealing feedback
Electric cabin is connected with each other, also, is connected respectively by umbilical cables with deck control system.
Wherein, the propeller is divided into horizontal propeller and vertical propeller；The horizontal propeller is arranged in the master
The movement in underwater robot horizontal plane is realized in the left and right sides of frame；The main frame is arranged in the vertical propeller
The pose adjustment of underwater robot is realized in front and rear sides.
Wherein, the docking skirt uses conical structure, and the docking needle on apparatus frame slides in docking skirt, and enters and grab
Put device；The pick-and-place device realizes the crawl and release to docking needle, to realize that underwater robot grabs apparatus frame
It takes and discharges.
The beneficial effects of the utility model are:
Underwater robot compared with the prior art, does not use pressure-resistant floating block to adjust natural buoyancy, underwater robot is in water
Larger negative buoyancy force is presented, makes underwater robot that there is higher stability.
The movement of underwater robot vertical direction is realized by winch and self gravity, (utilizes propeller with the prior art
Realize robot vertical motion) compared to having stronger carrying ability and anti-current ability, it is suitable for laying for deep water heavy equipment
With recycling operation.It is provided with propeller at left and right sides of underwater robot, the thrust direction of propeller and underwater robot bow are to one
It causes, can obtain maximum anti-current ability on direction in bow, can make to hang robot under water and worked normally under high current environment.
Underwater robot is provided with docking skirt and pick-and-place device, may be implemented and the equipment of apparatus frame similar structures or existing
Have and be installed in the similar docking structure of apparatus frame in equipment, and then realizes that instrument and equipment lays and recycle operation.Using pair
The underwater robot for connecing the dedicated docking structure such as skirt and pick-and-place device is special underwater robot, of the utility model
Recycling machine people is laid under water has filled up the technological gap that domestic equipment under water lays recycling aspect.
The utility model is a kind of underwater robot that recycling is laid applied to underwater equipment, the simple, Gao Wen with structure
Qualitative, the carrying feature that ability is strong, depth of implements is big, lays and recycles operation especially suitable for deep water heavy equipment, can be wide
It is general to be applied to the fields such as sea-bottom oil-gas exploitation, ocean bottom station construction and abyssal environment monitoring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for hanging robot under water；
Fig. 2 is the mechanism map of underwater robot；
Fig. 3 is propeller arrangement schematic diagram；
Fig. 4 is apparatus frame structure chart；
Attached drawing mark: the deck 1- control system, 2- winch, 3- umbilical cables, 4- underwater robot, 5- main frame, 6- are horizontal
Propeller, 7- sealing control cabinet, 8- dock skirt, 9- pick-and-place device, the underwater searchlight of 10-, 11- Underwater Camera, 12- detection sound
, 13- altimeter, 14- depth gauge, 15- acoustic marker, 16- dock needle, 17- apparatus frame, the vertical propeller of 18-；19- sealing
Feed cabin.
Specific embodiment
For the utility model content, feature and effect that can further appreciate that the utility model, the following examples are hereby given, and
It is described in detail with the accompanying drawings as follows:
It is a kind of to hang robot under water if attached drawing 1 is to shown in Fig. 3, including deck control system 1, winch 2, umbilical cables 3,
Underwater robot 4, the deck control system 1 are arranged on lash ship with winch 2.
One end of the umbilical cables 3 is connected with deck control system 1, and the other end and 4 upper end of underwater robot are hinged, real
Existing electric energy supply and data connection.Deck control system 1 realizes electric energy supply and data by umbilical cables 3 and underwater robot 4
Connection.The status information of underwater robot 4 is uploaded into deck control system 1 by umbilical cables 3, deck control system 1 will be controlled
Signal processed descends into underwater robot 4, to realize that the motion control of underwater robot 4 and data acquire.
The middle section of the umbilical cables 3 is wrapped on winch 2, and the winch 2 passes through signal wire and deck control system 1
It is connected, realizes that deck control system 1 controls 2 folding and unfolding of winch, drives umbilical cables 3 to be further driven to underwater by winch 2
People 4 moves up and down.Horizontal propulsion device is provided at left and right sides of underwater robot 4 can realize movement in horizontal plane, underwater machine
4 front and rear sides of device people, which are provided with vertical propeller 18, can realize the pose adjustment of underwater robot 4.
The underwater robot 4 includes main frame 5, propeller, the sealing control cabinet 7 for providing control signal, provides electric energy
Sealing feed cabin 19, the docking skirt 8 for docking apparatus frame 17, for grabbing and discharging the docking needle on apparatus frame 17
16 pick-and-place device 9, underwater searchlight 10, Underwater Camera 11, detection sonar 12, altimeter 13, depth gauge 14, acoustic marker
15.The left and right sides and front and rear sides of the main frame 5 are respectively arranged with propeller, and the propeller is divided into horizontal propeller 6
With vertical propeller 18, the left and right sides of the main frame 5 is arranged in the horizontal propeller 6, realizes that underwater robot 4 is horizontal
Movement in face；The front and rear sides of the main frame 5 are arranged in the vertical propeller 18, realize the posture of underwater robot 4
Adjustment；The front side and bottom of the main frame 5 are respectively arranged with underwater searchlight 10 and Underwater Camera 11；The main frame 5
Front side setting detection sonar 12, altimeter 13, depth gauge 14 and beacon 15；The bottom of the main frame 5 with dock under skirt 8
End is fixedly connected, and the pick-and-place device 9 is fixedly connected with the upper end for docking skirt 8；The main frame 5 is provided with sealing control cabinet 7
Cabin 19, the propeller, underwater searchlight 10, Underwater Camera 11, detection sonar 12, altimeter 13, depth are fed with sealing
Meter 14, acoustic marker 15, pick-and-place device 9 are connected with the sealing control cabinet 7 and sealing feed cabin 19 respectively, the sealing control
Cabin 7 and sealing feed cabin 19 are connected with each other, also, are connected respectively by umbilical cables 3 with deck control system 1.
Underwater robot 4 is provided with docking skirt 8 and pick-and-place device 9, and the docking skirt 8 uses conical structure, apparatus frame
Docking needle 16 on 17 slides in docking skirt 8, and enters pick-and-place device 9；The pick-and-place device 9 realizes grabbing to docking needle 16
It takes and discharges, to realize crawl and release of the underwater robot 4 to apparatus frame 17.
Deployment process: underwater robot 4 is placed on apparatus frame 17, and pick-and-place device 9 grabs on apparatus frame 17
Docking needle 16, complete underwater robot 4 and apparatus frame 17 connection；Deck control system 1 passes through on underwater robot 4
Acoustic marker 15 determines position in 4 water of underwater robot；Deck control system 1 controls the propeller of winch 2 and underwater robot 4,
Manipulation underwater robot 4 moves to predetermined placement；Deck control system 1 acquires Underwater Camera 11, detection sonar 12, height
The sensing datas such as degree meter 13, depth gauge 14, determine the environment of placement；Deck control system 1 controls underwater robot 4
On pick-and-place device 9 release docking needle 16, realize underwater robot 4 separated with apparatus frame 17；Deck control system 1 controls
Winch 2 recycles underwater robot 4.
Recycle operation process: deck control system 1 controls the propeller of winch 2 and underwater robot 4, manipulates underwater
People 4 moves to predetermined placement；Deck control system 1 acquires Underwater Camera 11, detection sonar 12, altimeter 13, depth
The sensing datas such as meter 14, acoustic marker 15, determine the position of apparatus frame 17；Underwater robot 4 is placed on apparatus frame 17,
Pick-and-place device 9 grabs the docking needle 16 on apparatus frame 17, completes the connection of underwater robot 4 and apparatus frame 17；Deck control
System 1 processed controls winch 2 and recycles underwater robot 4.
Although being described above in conjunction with preferred embodiment of the attached drawing to the utility model, the utility model is not
It is confined to above-mentioned specific embodiment, the above mentioned embodiment is only schematical, is not restrictive, ability
The those of ordinary skill in domain is not departing from the utility model aims and claimed under the enlightenment of the utility model
Under ambit, many forms can also be made, these are belonged within the protection scope of the utility model.
Claims (4)
1. a kind of hang robot under water, which is characterized in that including deck control system, winch, umbilical cables, underwater robot；
One end of the umbilical cables is connected with deck control system, and the other end and underwater robot upper end are hinged, realizes electric energy supply
And data connection；The middle section of the umbilical cables is wrapped on winch, and the winch passes through signal wire and deck control system
It is connected, realizes that deck control system controls winch folding and unfolding, drives umbilical cables to be further driven on underwater robot by winch
Lower movement.
2. one kind according to claim 1 hangs robot under water, which is characterized in that the underwater robot includes main frame
Frame, the sealing control cabinet for providing control signal, provides sealing the feed cabin, pair for docking apparatus frame of electric energy at propeller
Connect skirt, pick-and-place device, underwater searchlight, Underwater Camera, detection sound for grabbing and discharging the docking needle on apparatus frame
, altimeter, depth gauge, acoustic marker；The left and right sides box front and rear sides of the main frame are respectively arranged with propeller；The master
The front side and bottom of frame are respectively arranged with underwater searchlight and Underwater Camera；Detection sound is arranged in the front side of the main frame
, altimeter, depth gauge and beacon；The bottom of the main frame is fixedly connected with the lower end for docking skirt, the pick-and-place device with
The upper end of docking skirt is fixedly connected；The main frame is provided with sealing control cabinet and sealing feed cabin, and the propeller is visited under water
Illuminator, Underwater Camera, detection sonar, altimeter, depth gauge, acoustic marker, pick-and-place device respectively with the sealing control cabinet and
Sealing feed cabin is connected, and the sealing control cabinet and sealing feed cabin are connected with each other, also, pass through umbilical cables and deck respectively
Control system is connected.
3. one kind according to claim 2 hangs robot under water, which is characterized in that the propeller is divided into horizontal propulsion
Device and vertical propeller；The left and right sides of the main frame is arranged in the horizontal propeller, realizes underwater robot horizontal plane
Interior movement；The front and rear sides of the main frame are arranged in the vertical propeller, realize the pose adjustment of underwater robot.
4. one kind according to claim 2 hangs robot under water, which is characterized in that the docking skirt uses circular cone knot
Structure, the docking needle on apparatus frame slides in docking skirt, and enters pick-and-place device；The pick-and-place device is realized to docking needle
Crawl and release, to realize crawl and release of the underwater robot to apparatus frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274628.4U CN208181382U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to hang robot under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274628.4U CN208181382U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to hang robot under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208181382U true CN208181382U (en) | 2018-12-04 |
Family
ID=64440673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820274628.4U Expired - Fee Related CN208181382U (en) | 2018-02-27 | 2018-02-27 | It is a kind of to hang robot under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208181382U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248801A (en) * | 2018-02-27 | 2018-07-06 | 天津大学 | One kind hangs robot under water |
| CN109677574A (en) * | 2018-12-29 | 2019-04-26 | 中国船舶重工集团公司第七一九研究所 | Life support system for big depth underwater target |
| CN111470013A (en) * | 2020-04-20 | 2020-07-31 | 中国科学院声学研究所 | Underwater equipment retracting device based on ROV, and deploying and recovering method |
| CN114802659A (en) * | 2022-03-21 | 2022-07-29 | 深之蓝海洋科技股份有限公司 | High-flow-resistance underwater cabled robot and control method thereof |
-
2018
- 2018-02-27 CN CN201820274628.4U patent/CN208181382U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248801A (en) * | 2018-02-27 | 2018-07-06 | 天津大学 | One kind hangs robot under water |
| CN108248801B (en) * | 2018-02-27 | 2020-02-21 | 天津大学 | Underwater hoisting robot |
| CN109677574A (en) * | 2018-12-29 | 2019-04-26 | 中国船舶重工集团公司第七一九研究所 | Life support system for big depth underwater target |
| CN109677574B (en) * | 2018-12-29 | 2020-08-04 | 中国船舶重工集团公司第七一九研究所 | Life support system for large depth underwater targets |
| CN111470013A (en) * | 2020-04-20 | 2020-07-31 | 中国科学院声学研究所 | Underwater equipment retracting device based on ROV, and deploying and recovering method |
| CN111470013B (en) * | 2020-04-20 | 2021-04-09 | 中国科学院声学研究所 | Underwater equipment retracting device based on ROV, and deploying and recovering method |
| CN114802659A (en) * | 2022-03-21 | 2022-07-29 | 深之蓝海洋科技股份有限公司 | High-flow-resistance underwater cabled robot and control method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 Termination date: 20190227 |