CN208198790U - A kind of deepwater robot - Google Patents
A kind of deepwater robot Download PDFInfo
- Publication number
- CN208198790U CN208198790U CN201820091309.XU CN201820091309U CN208198790U CN 208198790 U CN208198790 U CN 208198790U CN 201820091309 U CN201820091309 U CN 201820091309U CN 208198790 U CN208198790 U CN 208198790U
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Abstract
The utility model discloses a kind of deepwater robots, include downward putting device and hull, and the hull is equipped with industrial computer, control module and drive module；Control module is connected to industrial computer and downward putting device, and is connected by drive module with each execution unit；Deepwater robot also includes: detection vision component is connected with industrial computer, send for will test parameter and visual information and returns to the industrial computer.The utility model overcome have the poor mobility of cable deepwater robot and untethered deepwater robot, risk height, communication difficulties, it is costly the problems such as.
Description
Technical field
The utility model relates to deep-sea detecting field, in particular to a kind of deepwater robot.
Background technique
There is reserves of oil abundant in seabed, and accumulating countless mineral metal products and other resources attracts some industry hairs
Ocean development cause is competitively carried out up to country；In addition to implementing to succour to deep-sea wrecking submarine, deep-sea shipwreck is salvaged
And deep-sea is investigated, deep diving is scouted and construction or maintenance pipeline under the ocean, communication cable and oil rig etc. require to use
To deep diving robot.
Deepwater robot, which is divided into, at present has cable robot and without two class of cable robot, cable robot is by a umbilical cord
Cable is connect with lash ship, and the remote data control submersible operation operation passed back according to cable, drawback is bathyscaph mobility
Difference, cable are easy winding and break, and application risk is high；And existing no cable robot leans on gravity block dive, drawback is and lash ship
The disadvantages of communication speed is slow, is easy to interfere, and floats difficult, has a single function, and cost of use is high.
Utility model content
The purpose of the utility model is to provide a kind of deepwater robot, overcoming has cable deepwater robot and untethered deep-sea machine
The mobility of people is poor, risk height, communication difficulties, it is costly the problems such as.
In order to achieve the goal above, the utility model is achieved through the following technical solutions:
A kind of deepwater robot, include downward putting device and hull, its main feature is that, the hull be equipped with industrial computer,
Control module and drive module；
The control module is connected to industrial computer and downward putting device, and passes through drive module and each enforcement division
Part is connected；
The deepwater robot also includes:
Vision component is detected, is connected with industrial computer, for will test parameter and described in visual information send and return to
Industrial computer.
The downward putting device includes:
First frame；
First gravity block is arranged in the first base of frame；
Underwater acoustic communication antenna is arranged on the first frame；
Optical fiber connector, optical fiber cable laying frame, are mounted on the first frame facet；
The optical fiber connector is connected to control module.
The execution unit includes: one or more of submerging and surfacing device, propulsion device or manipulator.
The submerging and surfacing device includes:
Solid buoyancy block is mounted on two sides at the top of hull；
Second gravity block is fixed on hull bottom weight axis by calutron.
The propulsion device includes that the propeller on hull is arranged in several.
The detection vision component includes:
Sighting device, for providing the video image of hull front and rear part；
Detection device, it includes sonars and various sensors.
The deepwater robot also includes sentinel plant, it includes:
Emergent management module, the emergent management module are connected with control module, in case of emergency to described
Control module send gravity block release order, control the second gravity block release；
Buoy antenna, for issuing positioning signal to lash ship.
The hull also includes one second frame, the pressure-resistant cabin and battery being arranged on the second frame；
The pressure-resistant cabin is for loading industrial computer, control module, drive module and battery；
The battery is used to power to the deepwater robot.
The advantageous effects of the utility model: untethered deepwater robot uses titanium alloy pressure-resistant cabin, and depth of implements is super
3000 meters are crossed, by downward putting device dive, two kinds of floating modes, securely and reliably, and there are two types of communication modes and several operation moulds
Formula enables dive of robot to complete several work task, brings great benefit for user.Firstly, decentralization has been used to fill
Dive and recycling are set, has saved dive cost recovery, and downward putting device has underwater acoustic communication sonar and optical-fibre communications, makes deep water
Communication speed is faster more steady；Titanium alloy pressure-resistant cabin is used, submerged depth is deep, long service life；Active-passive sonar has been used,
Make to move under water safer, position more acurrate；It has used high definition Underwater Camera and illumination highlights lamp, has cooperated visual processes, allowed machine
Device people can intelligent automatic job；Automatic orientation, depthkeeping, Ding Gao and hovering and automatic obstacle-avoiding technology have been used, control is allowed simply may be used
It leans on, low energy consumption；Temperature, water depth sensor have been used, and many places leak water detdction is added, when being more than the depth of water, temperature and leak, has been sent out
It alarms and floats automatically out；Chemical sensors have been used, data analysis can be provided for offshore oil field；Solid buoyancy material is used
Material and electromagnetic attraction gravity block, in case of emergency, gravity block Automatic-falling, floating upward quickly；Modular battery group is used, electricity
It can multiple cycle operation after the replacement of pond；Six degree of freedom manipulator has been used, has made seabed operation lighter；Largely using aluminium alloy and
Engineering plastics have the advantages that small in size, light-weight, easy anti-corrosion, temperature range are wide, substantially increase service life.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of deepwater robot of the utility model.
Specific embodiment
The utility model is done and is further explained by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing
It states.
As shown in Figure 1, a kind of deepwater robot, includes downward putting device 1 and hull 2, the hull is equipped with industry and calculates
Machine 21, control module 22 and drive module 24；The control module 22 is connected to industrial computer 21 and downward putting device
1, and be connected by drive module 24 with each execution unit；The deepwater robot also includes: detection vision component, with work
Industry computer is connected, and send for will test parameter and visual information and returns to the industrial computer.
The downward putting device 1 includes: the first frame；First gravity block is arranged in the first base of frame；Underwater acoustic communication
Antenna 11 is arranged on the first frame；Optical fiber connector, optical fiber cable laying frame, are mounted on the first frame facet；Described
Optical fiber connector is connected to control module.
The execution unit includes: one or more of submerging and surfacing device 3, propulsion device 6 or manipulator 8.
The submerging and surfacing device 3 includes: solid buoyancy block, is mounted on 2 top two sides of hull；Second gravity block leads to
Calutron is crossed to be fixed on hull bottom weight axis.
The propulsion device 6 includes that the propeller on hull is arranged in several.
The detection vision component includes: sighting device 5, for providing the video image of hull front and rear part；Detection dress
4 are set, it includes sonars and various sensors.
The deepwater robot also includes sentinel plant 7, and wherein sentinel plant includes: emergent management module, described
Emergent management module is connected with control module, refers in case of emergency sending gravity block release to the control module
It enables, control the second gravity block release；Buoy antenna, for issuing positioning signal to lash ship.
The hull also includes one second frame, the pressure-resistant cabin being arranged on the second frame and battery 23；Described
Pressure-resistant cabin is for loading industrial computer, control module, drive module and battery 23；The battery is used for described
Deepwater robot power supply.
Continuing with referring to Fig. 1, the utility model when it is implemented, deep sea submarine robot by downward putting device 1, hull 2, latent
Floating device 3, detection device 4, sighting device 5, propulsion device 6, sentinel plant 7, manipulator 8 form；Downward putting device 1 by frame,
Gravity block, underwater acoustic communication antenna 11, optical fiber cable laying frame and optical fiber connector composition, concrete mode is that gravity block is fixed on framework bottom
Portion, optical fiber pay-off rack and optical fiber connector are mounted on frame facet, are connected to industrial computer 21 by optical fiber；Hull 2 by frame,
The composition such as pressure-resistant cabin, optical fiber connector, industrial computer 21, control module 22, battery 23, drive module 24, underwater sound antenna,
Concrete mode is that industrial computer 21, control module 22, battery 23,24 electrical component of drive module are mounted in pressure-resistant cabin,
Each pressure-resistant cabin is fixed in frame, is connected with each other by cable, and optical fiber connector is connected to downward putting device 1, and drive module 24 exports
It is connected with each execution unit, underwater sound antenna is connected to industrial computer 21；Submerging and surfacing device 3 is made of solid buoyancy block, gravity block,
Concrete mode is that solid buoyancy block is mounted on 2 top two sides of hull, and gravity block is fixed on 2 bottom weight axis of hull by calutron
On line, calutron is by cable connection to drive module 24；Detection device 4 is made of multiple sensors, and concrete mode is in ship
2 surrounding of body installs actively and passively sonar, ultrasonic wave, Chemical sensors, temperature sensor, water depth sensor, in pressure-resistant storehouse
Interior installation leak water detdction etc. is connected by cable with industrial computer 21；Sighting device 5 is by two high-definition cameras and floodlighting
Composition, concrete mode is that video camera is one in front and one in back mounted on 2 top of hull, by screen cable connection to computer 21, then by regarding
Feel processing software control；Propulsion device 6 includes four propellers, is horizontally arranged on hull 2 by two propellers, and floating is responsible for
And dive, in addition two propellers are vertically installed at 2 rear portion of hull, and can control and rotate by a certain angle, be responsible for advance, retreat,
It turns to, by cable connection to drive module 24；Sentinel plant 7 is made of emergent management module and buoy antenna, and specific implementation is
When an emergency situation is encountered, lay down gravity block, it is automatic on emerge, and discharge out buoy antenna, issue positioning signal to lash ship；
Manipulator 8 possesses six-freedom motion, and concrete mode is mounted in 1 front of hull and matches by cable connection to industrial computer 21
Visual processes software is closed to be controlled by computer.
Control process: being divided into three dive, operation, floating processes, and dive, with hull dive, uses light by downward putting device
Fine to communicate with lash ship, after dive to designated depth, deep sea submarine robot disengages downward putting device automatically, automatically complete according to instruction
At related job task, kept in touch using underwater acoustic communication and lash ship, moreover it is possible to downward putting device is returned to, after autopatching optical cable,
It passes screen and related data back, special job task is completed by manual operation deep sea submarine robot, after the completion of operation, return
To downward putting device, downward putting device and deep sea submarine robot are recycled by lash ship, are in an emergency, submarine robot can unload automatically
Fall gravity block, it is automatic to float.
Deep sea submarine robot uses titanium alloy pressure-resistant cabin and six axis robot and self-suspending, intelligent measurement, tight
Anxious floating, automatic orbit and barrier avoiding function etc., make deep ocean work, highly effective and safe, and modularized design makes maintenance simple and convenient, entirely
The preservative treatment in face, improves service life, and a variety of sensing module combinations enable it to meet most of deep ocean work.
It is discussed in detail although the content of the utility model has passed through above preferred embodiment, but it should be appreciated that on
The description stated is not considered as limitations of the present invention.After those skilled in the art have read above content, for
A variety of modifications and substitutions of the utility model all will be apparent.Therefore, the protection scope of the utility model should be by appended
Claim limit.
Claims (8)
- Include downward putting device and hull 1. a kind of deepwater robot, which is characterized in that the hull be equipped with industrial computer, Control module and drive module；The control module is connected to industrial computer and downward putting device, and passes through drive module and each execution unit phase Even；The deepwater robot also includes:Vision component is detected, is connected with industrial computer, send for will test parameter and visual information and returns to the work Industry computer.
- 2. deepwater robot as described in claim 1, which is characterized in that the downward putting device includes:First frame；First gravity block is arranged in the first base of frame；Underwater acoustic communication antenna is arranged on the first frame；Optical fiber connector, optical fiber cable laying frame, are mounted on the first frame facet；The optical fiber connector is connected to control module.
- 3. deepwater robot as described in claim 1, which is characterized in that the execution unit includes: submerging and surfacing device, propulsion One or more of device or manipulator.
- 4. deepwater robot as claimed in claim 3, which is characterized in that the submerging and surfacing device includes:Solid buoyancy block is mounted on two sides at the top of hull；Second gravity block is fixed on hull bottom weight axis by calutron.
- 5. deepwater robot as claimed in claim 3, which is characterized in that the propulsion device includes that several are arranged in ship Propeller on body.
- 6. deepwater robot as described in claim 1, which is characterized in that the detection vision component includes:Sighting device, for providing the video image of hull front and rear part；Detection device, it includes sonars and various sensors.
- 7. deepwater robot as described in claim 1, which is characterized in that it also include sentinel plant, it includes:Emergent management module, the emergent management module are connected with control module, in case of emergency to the control Molding block sends gravity block and releases order, control the second gravity block release；Buoy antenna, for issuing positioning signal to lash ship.
- 8. such as the described in any item deepwater robots of claim 1-7, which is characterized in that the hull also includes the second frame Frame, the pressure-resistant cabin and battery being arranged on the second frame；The pressure-resistant cabin is for loading industrial computer, control module, drive module and battery；The battery is used to power to the deepwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820091309.XU CN208198790U (en) | 2018-01-19 | 2018-01-19 | A kind of deepwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820091309.XU CN208198790U (en) | 2018-01-19 | 2018-01-19 | A kind of deepwater robot |
Publications (1)
| Publication Number | Publication Date |
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| CN208198790U true CN208198790U (en) | 2018-12-07 |
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| CN201820091309.XU Active CN208198790U (en) | 2018-01-19 | 2018-01-19 | A kind of deepwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588926A (en) * | 2019-09-17 | 2019-12-20 | 哈尔滨工程大学 | Underwater monitoring device and laying and recycling method |
-
2018
- 2018-01-19 CN CN201820091309.XU patent/CN208198790U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588926A (en) * | 2019-09-17 | 2019-12-20 | 哈尔滨工程大学 | Underwater monitoring device and laying and recycling method |
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