CN209023085U - The deep autonomous remote underwater robot physique structure in the full sea of detecting - Google Patents
The deep autonomous remote underwater robot physique structure in the full sea of detecting Download PDFInfo
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- CN209023085U CN209023085U CN201821853319.9U CN201821853319U CN209023085U CN 209023085 U CN209023085 U CN 209023085U CN 201821853319 U CN201821853319 U CN 201821853319U CN 209023085 U CN209023085 U CN 209023085U
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- robot
- underwater robot
- robot body
- full sea
- autonomous remote
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Abstract
The utility model relates to underwater robot technical field, in particular to the deep autonomous remote underwater robot physique structure in the full sea of a kind of detecting.Including robot body and the empennage being set on rear side of robot body, robot body is that vertical flat body is streamlined and two sides are equipped with main thruster, and empennage is vertically laid.Robot body includes frame keel and envelope in the buoyant material shell of frame keel periphery.The utility model realizes the rapidity that robot is moved in big depth section snorkeling, improves Quan Haishen diving plane efficiency, is conducive to the stability for improving underwater robot movement；From bionic angle, the overall coordination of underwater robot function and appearance is realized, ensures that robot has good maneuvering performance under water, while having ensured compact-sizedization, stress quantity to the neglect of qualityization and the volume miniaturization of underwater robot.
Description
Technical field
The utility model relates to underwater robot technical field, in particular under the deep autonomous remote-controlled water in the full sea of a kind of detecting
Robot physique structure.
Background technique
Autonomous remote underwater robot (Autonomous and Remotely-operated Vehicle, abbreviation ARV)
It is a kind of towards extreme marine environment or special mission task, collection autonomous underwater robot AUV and remote underwater robot ROV
Partial function and feature are in the mixed type new concept underwater robot of one.Quan Haishen is a kind of embodiment of depth capability, and referring to can
It is maximum up to 11000 meters with all depth in ocean covering the whole world.Conventional underwater robot, since submerged depth is limited, usually
It is had ignored in dive to designated depth and snorkeling efficiency during floating up to the water surface, and mostly with the navigation performance of its horizontal plane
The optimal design work for carrying out physique structure for target.Quan Haishen underwater robot is towards depth capacity up to 11000 meters of depth
Deep habitata target, in the snorkeling distance and run duration of vertical plane, can be greater than or be equivalent to the cruise of its horizontal plane away from
From and run duration.Therefore, the big depth snorkeling efficiency of vertical plane becomes its primary design factor that must be taken into consideration, conventional water
Lower robot physique structure can no longer meet the demand of efficient snorkeling movement under myriametre depth.Carry out efficient with big depth section
The physique structure design that snorkeling movement matches, it is important by playing the overall test efficiency for promoting Quan Haishen underwater robot
Effect.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of deep autonomous remote control underwaters in the full sea of detecting
Human-shaped body structure, with realize its with time cost as small as possible, energy consumption as few as possible, rapidly and efficiently pass through big depth
Vertical section is spent, myriametre abyss seabed destination is accurately arrived at, realizes higher abyss seabed overall test efficiency.
To achieve the above object, the utility model uses following technical scheme:
A kind of deep autonomous remote underwater robot physique structure in the full sea of detecting, including robot body and be set to described
Empennage on rear side of robot body, the robot body are that vertical flat body is streamlined and two sides are equipped with main thruster, the tail
The wing is vertically laid.
The cross section of the robot body is ellipsoidal structure, and the empennage is set to longitudinal end.
The robot body includes frame keel and envelope in the buoyant material shell of the frame keel periphery.
The frame keel use aluminum alloy material.
The top of the robot body is equipped with iridium satellite beacon, stroboscopic lamp, hoisting ring and optic fibre guide pipe, the iridium satellite letter
Mark is used for GPS positioning and iridium communication.
The front end of the robot body is equipped with the thermohaline for detecting water temperature, salinity and depth information and senses deeply
Device.
The front lower portion of the robot body is equipped with video camera and searchlight.
Upper layer is equipped with navigation control cabinet inside the robot body, and bottom is equipped with battery pack, the navigation control cabinet with
Compensator, featured slewing equipment and optical fiber group are equipped between battery pack, wherein featured slewing equipment and two main thrusters
Connection, for driving the main thruster to rotate.
The advantages of the utility model and beneficial effect are:
1. the utility model realizes the rapidity that robot is moved in big depth section snorkeling, it is vertical to improve Quan Haishen
Face sport efficiency: from the angle of underwater robot profile optimization, the streamlined contour of perpendicular Gao Libian effectively reduces heave resistance,
It is aided with inhibition of the vertical tail to robot additional roll motion, it can be with the snorkeling speed of hoisting machine National People's Congress depth section
Degree ensures robot in the sport efficiency of vertical plane；
2. the stability that the utility model is conducive to improve underwater robot movement: the body of perpendicular Gao Libian can satisfy
Robot architecture is laid out the requirement for realizing that big metancenter is high, effectively inhibits its additional pitching movement in horizontal navigation and is hanging down
It faces additional roll motion when heave directly, effective control of divertical motion is added when being aided with vertical tail to horizontal navigation, it can
To realize the motion stabilization of robot omnibearing；
3. the harmony that the utility model realizes underwater robot entirety: from bionic angle, streamlined contour is auxiliary
With bionical empennage, the overall coordination of robot function and appearance is realized, ensures that robot has good maneuverability under water
Energy；
4. compact-sizedization and volume miniaturization that the physique structure of the utility model has ensured underwater robot: built-in frame
The structure type of frame keel and peripheral buoyancy material envelope, is advantageously implemented underwater robot to the need of internal space-efficient
It asks, convenient for the layout optimization of various equipment, keeps robot overall structure compact, it is light-weight, it is small in size.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the cross-sectional view of the utility model；
Fig. 4 is the side view of Fig. 3.
In figure: 1 is robot body, and 2 be empennage, and 3 be frame keel, and 4 be floating dead-wood, and 5 be lower buoyancy material, before 6 are
Buoyancy material, 7 be rear buoyancy material, and 8 be right buoyancy material, and 9 be left buoyancy material, and 10 be hanging ring, and 11 be iridium satellite beacon, and 12 be stroboscopic lamp,
13 be thermohaline depth sensor, and 14 be navigation control cabinet, and 15 be compensator, and 16 be video camera, and 17 be battery pack, pushes back and turns based on 18
Device, 19 be optical fiber group, and 20 be optic fibre guide pipe, and 21 be main thruster, and 22 be searchlight.
Specific embodiment
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
As shown in Figs 1-4, the deep autonomous remote underwater robot body knot in the full sea of a kind of detecting provided by the utility model
Structure including robot body 1 and is set to the empennage 2 of the rear side of robot body 1, robot body 1 be vertical flat body it is streamlined,
And two sides are equipped with main thruster 21, empennage 2 is vertically laid.
As shown in Fig. 2, the cross section of robot body 1 is ellipsoidal structure, and empennage 2 is set to longitudinal end.Robot
On the one hand the vertical flat body streamlined structure of main body 1 is conducive to structure total arrangement, realize that robot has biggish metancenter
Height ensures its good kinetic stability；On the other hand, the snorkeling resistance that can effectively reduce vertical plane heave, is conducive to mention
Rise snorkeling speed.
As shown in figure 3, robot body 1 includes frame keel 3 and envelope in outside the buoyant material of 3 periphery of frame keel
Shell, frame keel 3 are welded using aluminium alloy extrusions cutting, main carrying underwater robot various equipment mounted, and
The buoyant material shell of the fixed peripheral envelope of support.Buoyant material shell is mainly by floating dead-wood 4, lower buoyancy material 5, preceding buoyancy material
6, rear buoyancy material 7, right buoyancy material 8 and left buoyancy material 9 form, from each orientation that 3 envelope of frame keel is tight, and being formed has stream
The shape of line style body.
The top of robot body 1 is equipped with iridium satellite beacon 11, stroboscopic lamp 12, hoisting ring 10 and optic fibre guide pipe 20, iridium satellite
Beacon 11 is used for GPS positioning and iridium communication.Hoisting ring 10 is located at top, convenient for lifting；Iridium satellite beacon 11 be GPS positioning and
Iridium communication device sends location information to operator after robot emerges under water；Stroboscopic lamp 12 is to show a device, especially
It plays a significant role in the case where night or low visibility.
As shown in figure 4, the front end of robot body 1 is equipped with for detecting water temperature, salinity and the thermohaline of depth information
The front lower portion of deep sensor 13, robot body 1 is equipped with video camera 16 and two searchlights 22, by video camera 16 and two photographs
Bright lamp 22 forms observation system, before being embedded in buoyancy material 6, and is fixed on frame keel 3.Optic fibre guide pipe 20 is located at machine
The top rear of people is connected with floating dead-wood 4.
1 inside upper layer of robot body is equipped with navigation control cabinet 14, and bottom is equipped with battery pack 17, navigates by water control cabinet 14 and electricity
Compensator 15, featured slewing equipment 18 and optical fiber group 19 are equipped between pond group 17, wherein featured slewing equipment 18 is promoted mainly with two
Connected into device 21, two main thrusters 21 in left and right can by ± 90 ° of rotation of the featured driving of slewing equipment 18, can in vertical plane and
Thrust needed for horizontal plane generates robot.
Empennage 2 is cut using the thin plate of carbon fibre material, using the structure type of anti-raw fish tail type, is connected by screw
It connects on the rear buoyancy material 7 of main body 1.The anti-raw fish tail type structure of empennage 2, is vertically mounted on the dead astern of robot body 1, both
It can satisfy demand of the underwater robot horizontal plane steady steaming movement to larger righting moment, and it can effectively be inhibited to hang down
It faces the additional roll motion generated during snorkeling by hydrodynamic influence directly, reduces additional drag when heave, improve snorkeling
Speed.
A kind of deep autonomous remote underwater robot physique structure in the full sea of detecting of the utility model, realizes robot and exists
The rapidity of big depth section snorkeling movement, improves Quan Haishen diving plane efficiency, is conducive to improve underwater robot fortune
Dynamic stability.From bionic angle, the overall coordination of underwater robot function and appearance is realized, ensures robot in water
Under have good maneuvering performance, while ensured underwater robot compact-sizedization, stress quantity to the neglect of qualityization and volume miniaturization.
The autonomous remote underwater robot of the Quan Haishen of the utility model is towards depth capacity up to 11000 meters of abyss seabed
Target is detected, realizes it with time cost as small as possible, energy consumption as few as possible, big depth of passing through rapidly and efficiently is hung down
Straight section accurately arrives at myriametre abyss seabed destination, realizes higher abyss seabed overall test efficiency.
The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model, right
Other deep-sea underwater robots have same Vaccine effectiveness.It is made within the spirit and principle of the present invention any
Modification, equivalent replacement, improvement, extension etc., are all contained in the protection scope of the utility model.
Claims (8)
1. a kind of deep autonomous remote underwater robot physique structure in the full sea of detecting, which is characterized in that including robot body (1)
And it is set to the empennage (2) on rear side of the robot body (1), the robot body (1) is that vertical flat body is streamlined and two
Side is equipped with main thruster (21), and the empennage (2) is vertically laid.
2. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
The cross section for stating robot body (1) is ellipsoidal structure, and the empennage (2) is set to longitudinal end.
3. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
Stating robot body (1) includes frame keel (3) and envelope in the buoyant material shell of frame keel (3) periphery.
4. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 3, which is characterized in that institute
Frame keel (3) are stated using aluminum alloy material.
5. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
The top for stating robot body (1) is equipped with iridium satellite beacon (11), stroboscopic lamp (12), hoisting ring (10) and optic fibre guide pipe (20),
The iridium satellite beacon (11) is used for GPS positioning and iridium communication.
6. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
The front end of robot body (1) is stated equipped with the thermohaline depth sensor (13) for detecting water temperature, salinity and depth information.
7. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
The front lower portion for stating robot body (1) is equipped with video camera (16) and searchlight (22).
8. the deep autonomous remote underwater robot physique structure in the full sea of detecting according to claim 1, which is characterized in that institute
It states the internal upper layer of robot body (1) and is equipped with navigation control cabinet (14), bottom is equipped with battery pack (17), the navigation control cabinet
(14) compensator (15), featured slewing equipment (18) and optical fiber group (19) are equipped between battery pack (17), wherein featured revolution
Device (18) is connect with two main thrusters (21), for driving the main thruster (21) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821853319.9U CN209023085U (en) | 2018-11-12 | 2018-11-12 | The deep autonomous remote underwater robot physique structure in the full sea of detecting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821853319.9U CN209023085U (en) | 2018-11-12 | 2018-11-12 | The deep autonomous remote underwater robot physique structure in the full sea of detecting |
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| CN209023085U true CN209023085U (en) | 2019-06-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319073A (en) * | 2018-11-12 | 2019-02-12 | 中国科学院沈阳自动化研究所 | A kind of deep autonomous remote underwater robot physique structure in the full sea of detecting |
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2018
- 2018-11-12 CN CN201821853319.9U patent/CN209023085U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319073A (en) * | 2018-11-12 | 2019-02-12 | 中国科学院沈阳自动化研究所 | A kind of deep autonomous remote underwater robot physique structure in the full sea of detecting |
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