CN208198788U - A kind of underwater holder robot that can vertically monitor and system - Google Patents
A kind of underwater holder robot that can vertically monitor and system Download PDFInfo
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- CN208198788U CN208198788U CN201820798786.XU CN201820798786U CN208198788U CN 208198788 U CN208198788 U CN 208198788U CN 201820798786 U CN201820798786 U CN 201820798786U CN 208198788 U CN208198788 U CN 208198788U
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- sealed compartment
- holder
- underwater
- robot
- supporting plate
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Abstract
The utility model discloses the underwater holder robots that one kind can be monitored vertically, the robot includes the upper of oval streamline construction, lower supporting plate, on, it is fixedly connected between lower supporting plate by four arc brackets, the transparent sealed compartment in bottom is also fixedly installed between upper and lower support plate, the position opposite with sealed compartment bottom offers the through-hole not less than sealed compartment bottom on lower supporting plate, headlamp is installed in the bottom of lower supporting plate, Subsea Control Systems are installed in sealed compartment, bottom in sealed compartment is installed by head-down holder, video camera is installed on holder, one main body battery is respectively installed in the two sides of sealed compartment, floating dive propeller, one propeller is respectively installed in transverse direction, main body battery is robot power supply.Underwater holder robot disclosed in the utility model, monnolithic case is in narrow high oval pattern, which can reduce underwater holder robot laterally and when vertical motion and the contact area of water flow, to reduce resistance, vertical direction can flexibly be turned with floating upward quickly dive in transverse direction.
Description
Technical field
The utility model relates to underwater monitoring robot fields, can vertically monitor more particularly to one kind in the field
Underwater holder robot and system.
Background technique
Underwater environment is complicated, and there are various X factors, and the dive ability of diver is limited always, therefore underwater machine
The appearance of device people seeks the underwater world for the mankind and provides huge help.It is specific that underwater robot is that one kind can execute under water
The underwater movable fixture of task, also known as submersible.Either in ocean shallow water area or blue water, underwater is per capita
It can pull the plug instead of people, sub-marine situations are shot by camera, the cooperation of light is also needed in this course, then will obtain
The data obtained transfer back to the associate device of land by wireless device.Most of underwater robot of existing market, is being observed
Video camera used in aspect is single non-rotatable video camera, and this video camera installation direction is fixed, and it is limited to can only see front
Visual angle, and its bottom is then observation blind area.
Utility model content
Technical problem to be solved in the utility model, be just to provide a kind of underwater holder robot that can vertically monitor and
System.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution:
A kind of underwater holder robot that can vertically monitor, the improvement is that: the robot includes elliptic flow
The upper and lower support plate of cable architecture is fixedly connected between upper and lower support plate, in upper and lower support plate by four narrow high trestles of arc
Between be also fixedly installed with the transparent sealed compartment in bottom, the position opposite with sealed compartment bottom offers on lower supporting plate
Not less than the through-hole of sealed compartment bottom, headlamp is installed in the bottom of lower supporting plate, Subsea Control Systems are installed in sealed compartment,
Total cable of Subsea Control Systems is connected through sealed compartment with the external world to receive extraneous instruction, the bottom mounting head in sealed compartment
Holder directed downwardly installs video camera on holder, respectively installs a main body battery in the two sides of sealed compartment, respectively installs in the vertical direction
One floating dive propeller, each one forward-reverse propeller of installation in transverse direction, headlamp, holder, video camera, floating
Dive propeller, forward-reverse propeller are electrically connected to be controlled by it with Subsea Control Systems, and main body battery is robot
Power supply.
Further, floating body material is installed at the top of upper backup pad.
Further, four pedestals are installed in the bottom of lower supporting plate.
Further, upper and lower support plate and four narrow high trestles of arc are engineering plastics.
Further, the sealed compartment is cylindrical seal cabin.
Further, holder can be swung in transverse direction 360 degree rotation in vertical direction 180 degree.
Further, two main body batteries are mounted on the two sides of sealed compartment in the vertical direction respectively.
Further, main body battery, floating dive propeller and forward-reverse propeller are installed by stationary fixture respectively
On sealed compartment.
A kind of underwater holder robot system that can vertically monitor is theed improvement is that using above-mentioned robot: hand
One end plug terminal of dynamic gypsy winch is electrically connected with control system waterborne, other end plug terminal and Subsea Control Systems it is total
Cable electrical connection.
Further, control system waterborne is the Portable suitcase of built-in single-chip microcontroller.
The beneficial effects of the utility model are:
The underwater holder robot disclosed in the utility model that can vertically monitor changes the shape of traditional underwater robot
Structure, for monnolithic case in narrow high oval pattern (similar one piece of egg placed vertically), this structure can reduce underwater holder machine
People laterally with vertical motion when and water flow contact area, to reduce water resistance, so robot can be fast in vertical direction
Fast floating dive can flexibly turn in transverse direction.
The underwater holder robot disclosed in the utility model that can vertically monitor, holder and Subsea Control Systems are integrated
In a sealed compartment, using vertical arrangement mode, space is both saved, is conducive to reduce robot volume, and can provide more
Buoyancy.Upper and lower support plate is directly connect with sealed compartment both ends, and streamline frame type combined structure, structure are formed centered on sealed compartment
Simply, not only can fixing seal cabin, but also bracing reinforcement can be played to robot body's frame.Main body battery, floating dive promote
Device and forward-reverse propeller be also it is symmetrical centered on sealed compartment, guarantee robot be in equilibrium state, be conducive to adjust
Center of gravity.Stationary fixture can be dismantled flexibly, to adjust the installation of main body battery, floating dive propeller and forward-reverse propeller
Position.Upper and lower support plate and four narrow high trestles of arc are all made of high-strength engineering plastic production, not only sturdy and durable, but also can
To mitigate robot weight, processing cost is reduced.
Cloud is installed in the underwater holder robot disclosed in the utility model that can vertically monitor, the bottom in sealed compartment
Platform, holder use pedestal level, head-down mounting means, and the scene immediately below energy robot visible in detail is eliminated and seen
Survey blind area.Holder can be swung, so that video camera has great visual angle in transverse direction 360 degree rotation in vertical direction 180 degree
Range realizes 360 degrees omnidirection observation, is clear that the scene in front of robot with underface, eliminates because of shooting visual angle
Problem and caused by observe not comprehensively, thus more intuitive, comprehensive observation water bottom situation.
The underwater holder robot system disclosed in the utility model that can vertically monitor, easy to use, manual small twists
Folding and unfolding hawser efficiency can be improved in vehicle, avoids manually arranging cable bring trouble.
Detailed description of the invention
Fig. 1 is the upper and lower support plate of robot disclosed in the utility model embodiment 1 and the installation of the narrow high trestle of arc
Schematic diagram；
Fig. 2 is the schematic view of the front view of robot disclosed in the utility model embodiment 1；
Fig. 3 is the schematic perspective view of robot disclosed in the utility model embodiment 1；
Fig. 4 is the composition schematic diagram of robot system disclosed in the utility model embodiment 1.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.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.
Embodiment 1, as shown in Figure 1-3, present embodiment discloses the underwater holder robot that one kind can be monitored vertically, it is described
Robot include oval streamline construction upper and lower support plate 1, it is solid by the narrow high trestle 2 of four arcs between upper and lower support plate
Fixed connection, is also fixedly installed with the transparent sealed compartment in bottom 3 between upper and lower support plate, on lower supporting plate with sealed compartment
The opposite position in bottom offers the through-hole not less than sealed compartment bottom, installs headlamp 4 in the bottom of lower supporting plate, is sealing
Subsea Control Systems are installed in cabin, total cable of Subsea Control Systems is connected through sealed compartment with the external world to receive extraneous instruction,
Head-down holder 5 is installed in bottom in sealed compartment, installs video camera on holder, respectively installs a master in the two sides of sealed compartment
One body battery 6, one floating dive propeller 7 of each installation in the vertical direction, each installation in transverse direction forward-reverse promote
Device 8, headlamp, holder, video camera, floating dive propeller, forward-reverse propeller be electrically connected with Subsea Control Systems with
Just it is controlled by it, main body battery is robot power supply.
In the present embodiment, floating body material 12 is installed at the top of upper backup pad.Four are installed in the bottom of lower supporting plate
Pedestal 11.Upper and lower support plate and four narrow high trestles of arc are engineering plastics.The sealed compartment is cylindrical seal
Cabin.Holder can be swung in transverse direction 360 degree rotation in vertical direction 180 degree.Two main body batteries are pacified in the vertical direction respectively
Mounted in the two sides of sealed compartment.Main body battery, floating dive propeller and forward-reverse propeller are installed by stationary fixture respectively
On sealed compartment.
Robot is in neutral buoyancy state under water, and Subsea Control Systems are realized by two floating dive propellers of manipulation
Floating dive realizes forward-reverse by two forward-reverse propellers of manipulation, penetrates transparent sealed compartment bottom by video camera
Portion's real-time monitoring sub-marine situations open headlamp when necessary to improve monitoring shooting effect, control holder in lateral side when necessary
It to 360 degree rotation, is swung in vertical direction 180 degree, so as to the scene of in front of 360 degrees omnidirection observation robot and underface.
As shown in figure 4, the present embodiment also discloses a kind of underwater holder robot system that can vertically monitor, use is above-mentioned
Robot, one end plug terminal of manual small winch is electrically connected with control system waterborne, other end plug terminal and underwater
Total cable of control system is electrically connected.In the present embodiment, control system waterborne is the Portable suitcase of built-in single-chip microcontroller.
Control system waterborne to Subsea Control Systems send instruct, control robot float under water dive, forward-reverse,
Holder rotary oscillation makes in front of camera lens 360 degrees omnidirection observation robot and the scene of underface, and real-time reception water
The monitoring picture that lower control system is sent back to.
Claims (10)
1. the underwater holder robot that one kind can be monitored vertically, it is characterised in that: the robot includes oval streamline construction
Upper and lower support plate, be fixedly connected by four narrow high trestles of arc between upper and lower support plate, between upper and lower support plate also
It is fixedly installed with the transparent sealed compartment in bottom, the position opposite with sealed compartment bottom, which offers, on lower supporting plate is not less than
The through-hole of sealed compartment bottom installs headlamp in the bottom of lower supporting plate, Subsea Control Systems is installed in sealed compartment, underwater to control
Total cable of system processed is connected through sealed compartment with the external world to receive extraneous instruction, and the bottom installation in sealed compartment is head-down
Holder installs video camera on holder, respectively installs a main body battery in the two sides of sealed compartment, each installs on one in the vertical direction
Floating dive propeller, each one forward-reverse propeller of installation in transverse direction, headlamp, holder, video camera, floating dive push away
It is electrically connected to be controlled by it with Subsea Control Systems into device, forward-reverse propeller, main body battery is robot power supply.
2. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: on the top of upper backup pad
Portion is installed by floating body material.
3. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: at the bottom of lower supporting plate
Portion is installed by four pedestals.
4. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: upper and lower support plate with
And four narrow high trestles of arc are engineering plastics.
5. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: the sealed compartment is
Cylindrical seal cabin.
6. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: holder can be in lateral side
To 360 degree rotation, swung in vertical direction 180 degree.
7. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: two main body batteries point
It is not mounted on the two sides of sealed compartment in the vertical direction.
8. the underwater holder robot according to claim 1 that can vertically monitor, it is characterised in that: main body battery floats
Dive propeller and forward-reverse propeller pass through stationary fixture respectively and are mounted on sealed compartment.
9. the underwater holder robot system that one kind can be monitored vertically, using robot described in claim 1, feature exists
In: one end plug terminal of manual small winch is electrically connected with control system waterborne, other end plug terminal and underwater control system
Total cable electrical connection of system.
10. the underwater holder robot system according to claim 9 that can vertically monitor, it is characterised in that: control waterborne
System is the Portable suitcase of built-in single-chip microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820798786.XU CN208198788U (en) | 2018-05-25 | 2018-05-25 | A kind of underwater holder robot that can vertically monitor and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820798786.XU CN208198788U (en) | 2018-05-25 | 2018-05-25 | A kind of underwater holder robot that can vertically monitor and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208198788U true CN208198788U (en) | 2018-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820798786.XU Active CN208198788U (en) | 2018-05-25 | 2018-05-25 | A kind of underwater holder robot that can vertically monitor and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116792A (en) * | 2019-06-24 | 2019-08-13 | 自然资源部第二海洋研究所 | Cable robot is climbed at a kind of deep-sea for carrying self-tolerant sensor |
| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
-
2018
- 2018-05-25 CN CN201820798786.XU patent/CN208198788U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116792A (en) * | 2019-06-24 | 2019-08-13 | 自然资源部第二海洋研究所 | Cable robot is climbed at a kind of deep-sea for carrying self-tolerant sensor |
| CN110116792B (en) * | 2019-06-24 | 2024-03-15 | 自然资源部第二海洋研究所 | Deep sea cable climbing robot for carrying self-contained sensor |
| CN110944153A (en) * | 2019-12-03 | 2020-03-31 | 杭州电子科技大学 | Underwater four-eye stereoscopic vision imaging system and imaging method |
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