CN209209004U - A kind of autonomous type underwater robot weight balancing device - Google Patents
A kind of autonomous type underwater robot weight balancing device Download PDFInfo
- Publication number
- CN209209004U CN209209004U CN201821883763.5U CN201821883763U CN209209004U CN 209209004 U CN209209004 U CN 209209004U CN 201821883763 U CN201821883763 U CN 201821883763U CN 209209004 U CN209209004 U CN 209209004U
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- China
- Prior art keywords
- fixedly installed
- underwater robot
- air pump
- autonomous type
- weight balancing
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Abstract
The utility model discloses a kind of autonomous type underwater robot weight balancing devices, including shell, enclosure interior upper end two sides pass through mounting base respectively and are fixedly installed with push-rod electric machine, the telescopic rod shaft end of the push-rod electric machine is fixedly installed stripper plate, the enclosure interior two sides are fixedly installed with battery, liner storehouse is fixedly installed in the middle part of the case inside, liner storehouse interior lower end is fixedly installed counterweight cabin, inner upper end fixed setting in the liner storehouse is functional warehouse, the functional warehouse interior side is fixedly installed with reserve battery, side inside the functional warehouse far from reserve battery is fixedly installed high pressure gas cylinder, the functional warehouse middle inside is fixedly installed with air pump by mounting base.The utility model structure is simple, and using effect is good, is not only only capable of carrying out weight trim under water to robot, when device accidental water leakage can not work normally, can also be provided by liner storehouse and force to float function.
Description
Technical field
The utility model relates to underwater robot technical field, specially a kind of autonomous type underwater robot weight matches paperback
It sets.
Background technique
Underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of to work in underwater limit operation robot, underwater ring
Border is badly dangerous, and the diving depth of people is limited, so underwater robot, which has become, develops underwater important tool, it can be used for
It can be used for checking dam, whether explosive and structure quality situation be installed on bridge pier, underwater basic matrix assists installation or removal, ship
Side, the detection of hull bottom smuggled goods, submarine target observation, ruins, the search and rescue of collapsing mine etc. are current extremely important underwater works
Tool, underwater robot used at present rely on weight balancing device to keep the balance of one position in water mostly, but current
The weight balancing device used lacks emergency protection function, and current device is being discharged when leak occurs for accident collision
It when the water of inside, mostly uses compressed air that the water inside cabin is discharged greatly, therefore needs to supplement device after each
High pressure gas, it is more bothersome.
Utility model content
The purpose of this utility model is to provide a kind of autonomous type underwater robot weight balancing devices, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the utility model provides the following technical solutions: a kind of autonomous type underwater robot weight is matched
Leveling device, including shell, enclosure interior upper end two sides pass through mounting base respectively and are fixedly installed with push-rod electric machine, the push rod
The telescopic rod shaft end of motor is fixedly installed stripper plate, and the enclosure interior two sides are fixedly installed with battery, in the shell
Middle side part is fixedly installed liner storehouse, and liner storehouse interior lower end is fixedly installed counterweight cabin, liner storehouse inner upper end
Fixed setting is functional warehouse, and the functional warehouse interior side is fixedly installed with reserve battery, and the functional warehouse inside is far from spare
The side of battery is fixedly installed high pressure gas cylinder, and the functional warehouse middle inside is fixedly installed with air pump by mounting base, described
Air inlet pipe is fixedly mounted close to the side of high pressure gas cylinder in air pump, and the air pump lower end is fixedly installed with escape pipe, under the shell
End two sides are fixedly installed with the first solenoid valve, and the counterweight cabin lower end is fixedly installed with water service pipe, and the water service pipe lower end is fixed
Second solenoid valve is installed, the battery, the first battery valve are electrically connected between push-rod electric machine, the reserve battery, gas
It is electrically connected between pump, the second battery valve.
Preferably, the inlet end of the air pump is fixedly connected by air inlet pipe with the outlet side of high pressure gas cylinder, the air pump
Outlet side be fixedly connected by escape pipe with counterweight cabin, air pump can be by air inlet pipe and an air outlet pipe by the gas in high pressure gas cylinder
Body injects in counterweight cabin.
Preferably, the battery is fixedly installed with waterproof layer close to the side in liner storehouse, by waterproof layer by battery
It is separated with water.
Preferably, the hull outside surface is fixedly installed buffer layer, can protect device by buffer layer, reduces dress
Set under water because collision and a possibility that leak.
Preferably, the stripper plate lower end is fixedly installed with rubber seal, and extruding can be improved by rubber seal
The airtightness of plate and surrounding shell facilitates stripper plate to squeeze away the water inside device.
Preferably, the configuration storehouse is internally provided with salt water, achievees the purpose that counterweight by salt water, when device outer layer is unexpected
When leak, it can will configure the salt water inside storehouse and empty, pressure will be so that device floats.
Compared with prior art, the utility model has the beneficial effects that
1, the utility model is injected the compressed air in high pressure gas cylinder in counterweight cabin by air pump, then will by air
Salt water in counterweight cabin is discharged by water service pipe and second solenoid valve, counterweight cabin is emptied, so that the related underwater of device
People is forced to float, and achievees the purpose that emergency protection.
2, the utility model allows push-rod electric machine to push stripper plate by push-rod electric machine, so that water passes through the first electromagnetism
Valve is squeezed out device housing and is then shut off the first solenoid valve, to achieve the purpose that alleviator weight, it is possible to reduce high pressure
The use of gas.
Detailed description of the invention
Fig. 1 is a kind of autonomous type underwater robot weight balancing device overall structure diagram of the utility model；
Fig. 2 is a kind of autonomous type underwater robot weight balancing device bottom view of the utility model；
Fig. 3 is the enlarged view in a kind of autonomous type underwater robot weight balancing device Fig. 1 of the utility model at A.
In figure: 1, shell；2, push-rod electric machine；201, stripper plate；202, rubber seal；3, battery；4, liner storehouse；5,
Counterweight cabin；6, functional warehouse；7, reserve battery；8, high pressure gas cylinder；9, air pump；901, air inlet pipe；902, escape pipe；10, the first electricity
Magnet valve；11, water service pipe；12, second solenoid valve；13, buffer layer；14, waterproof layer.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1-3, the utility model provides a kind of technical solution: a kind of autonomous type underwater robot weight is with paperback
It sets, including shell 1, the 1 inner upper end two sides of shell pass through mounting base respectively and are fixedly installed with push-rod electric machine 2, the push rod
The telescopic rod shaft end of motor 2 is fixedly installed stripper plate 201, and the 1 inside two sides of shell are fixedly installed with battery 3, described
1 middle inside of shell is fixedly installed liner storehouse 4, and 4 interior lower end of liner storehouse is fixedly installed counterweight cabin 5, the liner
The fixed setting of 4 inner upper end of storehouse is functional warehouse 6, and 6 interior side of functional warehouse is fixedly installed with reserve battery 7, the function
6 inside of storehouse is fixedly installed high pressure gas cylinder 8 far from the side of reserve battery 7, and 6 middle inside of functional warehouse is solid by mounting base
Dingan County is equipped with air pump 9, and air inlet pipe 901 is fixedly mounted close to the side of high pressure gas cylinder 8 in the air pump 9, and 9 lower end of air pump is fixed
Escape pipe 902 is installed, the 1 lower end two sides of shell are fixedly installed with the first solenoid valve 10, the fixed peace in 5 lower end of counterweight cabin
Equipped with water service pipe 11,11 lower end of water service pipe is fixedly installed with second solenoid valve 12, the battery 3, the first solenoid valve 10,
It is electrically connected between push-rod electric machine 2, the reserve battery 7, air pump 9 are electrically connected between second solenoid valve 12.
The inlet end of the air pump 9 is fixedly connected by air inlet pipe 901 with the outlet side of high pressure gas cylinder 8, the air pump 9
Outlet side is fixedly connected by escape pipe 902 with counterweight cabin 5, and air pump 9 can be by air inlet pipe 901 and escape pipe 902 by high pressure
In gas injection counterweight cabin 5 in gas cylinder 8, the battery 3 is fixedly installed with waterproof layer 14 close to the side in liner storehouse 4, leads to
It crosses waterproof layer 14 and separates battery 3 with water, 1 outer surface of shell is fixedly installed buffer layer 13, passes through buffer layer 13
Can protect device, reduce device under water because collision and a possibility that leak, 201 lower end of stripper plate is fixedly installed with
The airtightness of stripper plate 201 Yu surrounding shell 1 can be improved by rubber seal 202 for rubber seal 202, facilitate extruding
Plate 201 squeezes away the water inside device, and the counterweight cabin 5 is internally provided with salt water, achievees the purpose that counterweight by salt water,
When device outer layer accidental water leakage, the salt water inside counterweight cabin 5 can be emptied, pressure will be so that device floats.
Working principle: it after device and underwater robot are fixed, when needing to aggravate the sinking of robot weight, can beat
Opening the first solenoid valve 10 pours in water inside shell 1, closes the first solenoid valve 10 after water flow is poured in inside shell 1, thus plus
Weight installation weight, waterproof layer 14 can protect battery 3 not contact water while water flow pours in inside device, when needing loss of weight
When open the first solenoid valve 10 again, then open push-rod electric machine 2, by push-rod electric machine 2 push stripper plate 201 so that water
It is squeezed out device housing 1 and is then shut off the first solenoid valve 10, to achieve the purpose that alleviator weight, in the same of water of compaction
When can by the telescopic level of push-rod electric machine 2, to control the amount that water is squeezed out device, when device the bottom using because
When accident collision leak, air pump 9 and second solenoid valve 12 can be opened, it is then by air pump 9 that the compression in high pressure gas cylinder 8 is empty
Gas injects in counterweight cabin 5, and then the salt water in counterweight cabin 5 is discharged from inside the device by air, is then shut off the second electromagnetism
Valve 12, so that device is forced to float, anti-locking apparatus leak is sunk to the bottom together with underwater robot, and here it is the utility model
A kind of working principle of autonomous type underwater robot weight balancing device.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is limited by appended claims extremely equivalent.
Claims (6)
1. a kind of autonomous type underwater robot weight balancing device, including shell (1), it is characterised in that: the shell (1) is internal
Upper end two sides pass through mounting base respectively and are fixedly installed with push-rod electric machine (2), and the telescopic rod shaft end fixation of the push-rod electric machine (2) is set
It is equipped with stripper plate (201), the internal two sides of the shell (1) are fixedly installed with battery (3), and shell (1) middle inside is solid
Surely it is provided with liner storehouse (4), liner storehouse (4) interior lower end is fixedly installed counterweight cabin (5), and the liner storehouse (4) is internal
Upper end fixed setting is functional warehouse (6), and functional warehouse (6) interior side is fixedly installed with reserve battery (7), the functional warehouse
(6) the internal side far from reserve battery (7) is fixedly installed high pressure gas cylinder (8), and functional warehouse (6) middle inside passes through peace
Dress seat is fixedly installed with air pump (9), and air inlet pipe (901) are fixedly mounted close to the side of high pressure gas cylinder (8) in the air pump (9), institute
It states air pump (9) lower end to be fixedly installed with escape pipe (902), shell (1) the lower end two sides are fixedly installed with the first solenoid valve
(10), counterweight cabin (5) lower end is fixedly installed with water service pipe (11), and water service pipe (11) lower end is fixedly installed with the second electricity
Magnet valve (12), the battery (3), the first solenoid valve (10), push-rod electric machine are electrically connected between (2), the reserve battery
(7), air pump (9), second solenoid valve are electrically connected between (12).
2. a kind of autonomous type underwater robot weight balancing device according to claim 1, it is characterised in that: the air pump
(9) inlet end is fixedly connected by air inlet pipe (901) with the outlet side of high pressure gas cylinder (8), and the outlet side of the air pump (9) is logical
Escape pipe (902) is crossed to be fixedly connected with counterweight cabin (5).
3. a kind of autonomous type underwater robot weight balancing device according to claim 1, it is characterised in that: the electric power storage
Pond (3) is fixedly installed with waterproof layer (14) close to the side of liner storehouse (4).
4. a kind of autonomous type underwater robot weight balancing device according to claim 1, it is characterised in that: the shell
(1) outer surface is fixedly installed buffer layer (13).
5. a kind of autonomous type underwater robot weight balancing device according to claim 1, it is characterised in that: the extruding
Plate (201) lower end is fixedly installed with rubber seal (202).
6. a kind of autonomous type underwater robot weight balancing device according to claim 1, it is characterised in that: the counterweight
Storehouse (5) is internally provided with salt water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821883763.5U CN209209004U (en) | 2018-11-15 | 2018-11-15 | A kind of autonomous type underwater robot weight balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821883763.5U CN209209004U (en) | 2018-11-15 | 2018-11-15 | A kind of autonomous type underwater robot weight balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209209004U true CN209209004U (en) | 2019-08-06 |
Family
ID=67459716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821883763.5U Active CN209209004U (en) | 2018-11-15 | 2018-11-15 | A kind of autonomous type underwater robot weight balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209209004U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208721A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Underwater glider leveling method based on water pool |
| CN112896430A (en) * | 2021-02-09 | 2021-06-04 | 广东海洋大学 | Submerged buoy for ocean observation |
-
2018
- 2018-11-15 CN CN201821883763.5U patent/CN209209004U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208721A (en) * | 2020-10-09 | 2021-01-12 | 中国科学院沈阳自动化研究所 | Underwater glider leveling method based on water pool |
| CN112208721B (en) * | 2020-10-09 | 2021-07-27 | 中国科学院沈阳自动化研究所 | Underwater glider leveling method based on water pool |
| CN112896430A (en) * | 2021-02-09 | 2021-06-04 | 广东海洋大学 | Submerged buoy for ocean observation |
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