CN209441584U - A kind of Multi-purpose underwater robot - Google Patents
A kind of Multi-purpose underwater robot Download PDFInfo
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- CN209441584U CN209441584U CN201821858100.8U CN201821858100U CN209441584U CN 209441584 U CN209441584 U CN 209441584U CN 201821858100 U CN201821858100 U CN 201821858100U CN 209441584 U CN209441584 U CN 209441584U
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- underwater robot
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Abstract
The utility model provides a kind of Multi-purpose underwater robot, including host computer, middle-position machine and slave computer.The host computer includes kickboard, side plate and frame support rod.The middle-position machine includes single-chip computer control system, monitoring system, lighting system, energy resource system and the horizontal propulsion system of two sides and vertical thrust system in core nacelle.The slave computer includes that mechanical folded arm, mechanical arm and magnetic track, the middle-position machine and slave computer pass through optical fiber.The middle-position machine sending and receiving data and camera shoot image, and send command adapted thereto to slave computer.Robot is strong to various environmental suitabilities, manipulator, mechanical folded arm, welding arm etc. can be replaced according to actual needs, realize a tractor serves several purposes, submarine pipeline real-time monitoring may be implemented, manual rescue's miscellaneous function, pick up seabed rubbish, Underwater Welding, imderwater cutting, practicability with higher and good application prospect.
Description
Technical field
The present invention relates to robot fields, refer specifically to a kind of underwater robot, can install mechanical structure according to actual needs.
Background technique
With the economic development and improvement of people's living standards, intelligentized commodity also emerge one after another, wherein underwater machine
Device people is exactly one of key areas.Exploitation of the mankind to marine resources, so that small underwater robot is applied under water
It is also more extensive, technology is also more consummate.
It is all at home and abroad at present single direction to underwater robot functionality, such as: underwater monitoring robot, underwater pickup
Robot, Underwater Welding robot etc., the robot of these single working performances is at work, it is necessary to a plurality of types of machines
People, which cooperates, to complete, and causes to invest the problems such as excessive, cumbersome, maintenance is complicated, accuracy error is big.Multi-purpose underwater robot can
To realize multiple functions according to work requirements, practical problem is faster and more accurately solved.
Summary of the invention
In order to overcome the shortcomings of that existing underwater robot working performance is single, the utility model provides a kind of Multipurpose water
Lower robot, the underwater robot can adjustable working method according to actual needs to reach multi-purpose machine improve water
The utilization efficiency of lower robot, the problems such as avoiding cumbersome operation and debugging.
The technical scheme adopted by the utility model to solve the technical problem is as follows: the present invention provides a kind of Multi-purpose underwater machine
Device people, including host computer, middle-position machine and slave computer, the host computer include kickboard, side plate and frame support rod, the middle-position machine
Equipped with core nacelle, left cabin and right cabin, the slave computer is equipped with mechanical folded arm system, arm-and-hand system and electromagnetism caterpillar system, institute
It states middle-position machine and is connected with slave computer by optical fiber.
Wherein, the core nacelle includes control system, monitoring device and energy source device, and the left cabin, right cabin are equipped with vertical
Propulsion device, horizontal propulsion device, motor vertical.
Wherein, the core nacelle is separately connected the left cabin, right cabin by two supporting beams, and two supporting beams pass through
It is bolted, the left cabin connects the right cabin by connection frame.
Wherein, 4 corners of two side plates are separately connected 4 frame support rods, and the kickboard is separately connected
The side plate interior sides.
Wherein, the control system is equipped with humidity sensor, pressure sensor, electrical control gear and cable pipeline, institute
The inner wall that humidity sensor is located at core nacelle is stated, the pressure sensor is located at the outer wall of core nacelle, the electrical control gear
It is located inside core nacelle with the cable pipeline.
Wherein, the monitoring device is equipped with camera and lighting device, and the camera is fixed on support inside core nacelle
Frame, and being located on the inside of core nacelle radome fairing, the lighting device is fixed on left cabin and right cabin inner wall, and be located at left cabin radome fairing and
Inside right cabin radome fairing.
Wherein, the energy source device is equipped with lithium battery, and the lithium battery is fixed on inside core nacelle.
Wherein, the vertical thrust device includes vertical fixed frame, vertical protective cover and vertical pod, and 4 described vertical
Straight protective cover is separately fixed at the rear and front end perpendicular to the left cabin, right cabin, and the vertical fixed frame connects the vertical guarantor
On the inside of shield, the motor vertical is separately connected the vertical fixed frame, vertical pod and vertical spin paddle, the vertical spiral shell
Rotation paddle is located at the vertical protective cover bottom, and the vertical pod is located at the top of the vertical protective cover.
Wherein, the horizontal propulsion device includes horizontal fixed bracket, horizontal protective cover and horizontal pod, described in two
Horizontal protective cover is separately fixed at supporting beam two sides, and is located at core nacelle two sides, and the horizontal fixed bracket connects the level
On the inside of protective cover, horizontal motor is separately connected the horizontal fixed bracket, horizontal pod and horizontal propeller, the horizontal spiral shell
Rotation paddle is located at the horizontal protective cover rear, and the horizontal pod is located at the horizontal protective cover front end.
Wherein, the mechanical folded arm system includes mechanical folded arm, the bottom connection of the middle-position machine mechanical folded arm and
Steering engine.
Wherein, the arm-and-hand system includes manipulator and fixed bracket, and the manipulator and steering engine are fixed on the frame
On frame support rod.
Wherein, the electromagnetism caterpillar system is fixed on the mechanical folded arm chassis, and pedrail two sides are equipped with the electromagnetism
The driven wheel of crawler belt, 2 electromagnetic systems in bottom of the pedrail passes through crawler belt axis connection.
The beneficial effects of the utility model are: Multipurpose water servant of the invention is equipped with camera, pressure sensor, machine
Tool hand, the mechanical structures such as folded arm and electromagnetism crawler belt, can realize real-time monitoring according to actual needs, fathom, pick up seabed
The actions such as rubbish, Underwater Welding, underwater rescue, pipeline real-time or land traveling, are realized single compared to same machines people
One working performance, the underwater robot increase a variety of working performances, improve the utilization rate of robot, eliminate multiple machines
The troublesome operation of people's associated working and the trouble of debugging efforts, improve the efficiency of processing problem, which has very strong
It adapts to, can also both be automated by remote control, operation diversification.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing.
Fig. 1 is Multi-purpose underwater robot of the present invention schematic view of the front view.
Fig. 2 is Multi-purpose underwater robot of the present invention overlooking structure diagram.
Fig. 3 is Multi-purpose underwater robot of the present invention side structure schematic view.
Specifically, 1- elastic wheel, 2- machinery folded arm, 3- electromagnetism crawler belt, 4- frame support rod, the left cabin 5-, the support of 6- folded arm
Bar, 7- horizontal motor, 8- core nacelle, 9- connection frame, 10- folded arm pedestal, 11- folded arm steering engine, 12- manipulator, 13- folded arm add
Strong bar, 14- motor vertical, 15- kickboard, 16- core nacelle plug, 17- side plate, 18- core nacelle sealing cover, 19- supporting beam, 20-
Connecting bracket, 21- attachment base, 22- folded arm shaft.
Specific embodiment
The present invention provides a kind of Multi-purpose underwater robot, including host computer, middle-position machine and slave computer, the host computer packet
Kickboard 15, side plate 17 and frame support rod 4 are included, the middle-position machine is equipped with core nacelle 8, left cabin 5 and right cabin, and the slave computer is equipped with
Mechanical folded arm system, arm-and-hand system and electromagnetism caterpillar system, the middle-position machine are connected with slave computer by optical fiber.
Wherein, the core nacelle 8 includes control system, monitoring device and energy source device, and the left cabin 5, right cabin, which are equipped with, hangs down
Straight propulsion device.
Wherein, core nacelle plug 16 is equipped at the top of the core nacelle 8,8 tail portion of core nacelle is equipped with core nacelle sealing cover,
The core nacelle 8 is separately connected the left cabin 5, right cabin by two supporting beams 19, and two supporting beams 19 are connected by bolt
It connects, the left cabin connects the right cabin by connection frame 9.
Wherein, 4 corners of two side plates 17 are separately connected 4 frame support rods 4, and the kickboard 15 is distinguished
17 inside of side plate is connected, fixed function is risen to each component of robot.
Wherein, the control system is equipped with humidity sensor, pressure sensor, electrical control gear and cable pipeline, institute
The inner wall that humidity sensor is located at core nacelle 8 is stated, the pressure sensor is located at the outer wall of core nacelle 8, the electrical control dress
It sets and is located inside core nacelle 8 with the cable pipeline, to the data back of water depth under humidity in core nacelle 8 and robot, lead to
Command adapted thereto can be issued to robot by crossing these data, and judge robot whether in normal operating conditions.
Wherein, the monitoring device is equipped with camera and lighting device, and the camera is fixed on support inside core nacelle
Frame, and be located on the inside of core nacelle radome fairing, the lighting device is fixed on left cabin 5 and right cabin inner wall, and is located at left cabin radome fairing
Inside right cabin radome fairing, underwater picture is returned, by realizing the real-time control to robot to image procossing.
Wherein, the energy source device is equipped with lithium battery, and the lithium battery is fixed on inside core nacelle 8, each to robot
System provides electric energy.
Wherein, the vertical thrust device includes vertical fixed frame, vertical protective cover and vertical pod, and 4 described vertical
Straight protective cover is separately fixed at the rear and front end perpendicular to the left cabin 5, right cabin, and the vertical fixed frame connects the vertical guarantor
On the inside of shield, the motor vertical 14 is separately connected the vertical fixed frame, vertical pod and vertical spin paddle, described vertical
Propeller is located at the vertical protective cover bottom, and the vertical pod is located at the top of the vertical protective cover.
Wherein, the horizontal propulsion device includes horizontal fixed bracket, horizontal protective cover and horizontal pod, described in two
Horizontal protective cover is separately fixed at 19 two sides of supporting beam, and is located at 8 two sides of core nacelle, and the horizontal fixed bracket connects the water
On the inside of flat protective cover, horizontal motor 7 is separately connected the horizontal fixed bracket, horizontal pod and horizontal propeller, the water
Flat spin paddle is located at the horizontal protective cover rear, and the horizontal pod is located at the horizontal protective cover front end.
Wherein, the mechanical folded arm system include mechanical folded arm 2, folded arm reinforcing rod 13, elastic wheel 1, folded arm support rod 6,
The bottom of folded arm shaft 22 and folded arm steering engine 11, the middle-position machine connects the mechanical folded arm 2, Ke Yigen by connecting bracket 20
It is installed according to actual conditions, realizes 2 opening and closing of mechanical folded arm, manual rescue's auxiliary tool is provided.
Wherein, the arm-and-hand system includes manipulator 12 and fixed bracket, and the manipulator 12 and steering engine 11 are fixed on
On the frame support rod 4, seabed rubbish can be picked up at any time, improve cleaning efficiency.
Wherein, the electromagnetism caterpillar system connects the mechanical folded arm chassis 10, pedrail two sides by attachment base 21
Equipped with the electromagnetism crawler belt 3, the driven wheel of 2 electromagnetic systems in bottom of the pedrail passes through crawler belt axis connection, contact
Area is big, and movement velocity is stablized.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
His various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc. within mind and principle, in the protection model for being included in the claims in the present invention
Within enclosing.
Claims (10)
1. a kind of Multi-purpose underwater robot, including host computer, middle-position machine and slave computer, the host computer includes kickboard, side plate
With frame support rod, the middle-position machine is equipped with core nacelle, left cabin and right cabin, and the slave computer is equipped with mechanical folded arm system, machinery
Hand system and electromagnetism caterpillar system, the middle-position machine are connected with slave computer by optical fiber；The core nacelle includes control system, prison
Device and energy source device are surveyed, the left cabin, right cabin are equipped with vertical thrust device, horizontal propulsion device, motor vertical；The core
Cabin is separately connected the left cabin, right cabin by two supporting beams, and two supporting beams are bolted, and the left cabin passes through
Connection frame connects the right cabin.
2. Multi-purpose underwater robot as described in claim 1, which is characterized in that distinguish 4 corners of two side plates
4 frame support rods are connected, the kickboard is separately connected the side plate interior sides.
3. Multi-purpose underwater robot as described in claim 1, which is characterized in that the control system is equipped with humidity sensor
Device, pressure sensor, electrical control gear and cable pipeline, the humidity sensor are located at the inner wall of core nacelle, the pressure
Sensor is located at the outer wall of core nacelle, and the electrical control gear and the cable pipeline are located inside core nacelle.
4. Multi-purpose underwater robot as described in claim 1, which is characterized in that the monitoring device is equipped with camera and photograph
Bright device, the camera is fixed on core nacelle interior shelf, and is located on the inside of core nacelle radome fairing, and the lighting device is solid
It is scheduled on left cabin and right cabin inner wall, and is located inside left cabin radome fairing and right cabin radome fairing.
5. Multi-purpose underwater robot as described in claim 1, which is characterized in that the energy source device is equipped with lithium battery, institute
Lithium battery is stated to be fixed on inside core nacelle.
6. Multi-purpose underwater robot as described in claim 1, which is characterized in that the vertical thrust device includes vertical solid
Determine frame, vertical protective cover and vertical pod, 4 vertical protective covers are separately fixed at perpendicular to the left cabin, right cabin
Rear and front end, the vertical fixed frame connection vertical protective cover inside, the motor vertical is separately connected described vertical solid
Determine frame, vertical pod and vertical spin paddle, the vertical spin paddle is located at the vertical protective cover bottom, the vertical water conservancy diversion
Cover is located at the top of the vertical protective cover.
7. Multi-purpose underwater robot as described in claim 1, which is characterized in that the horizontal propulsion device includes horizontal solid
Fixed rack, horizontal protective cover and horizontal pod, two horizontal protective covers are separately fixed at supporting beam two sides, and are located at core
Heart cabin two sides, the horizontal fixed bracket connection horizontal protective cover inside, horizontal motor is separately connected described horizontal fixed
Bracket, horizontal pod and horizontal propeller, the horizontal propeller are located at the horizontal protective cover rear, the horizontal water conservancy diversion
Cover is located at the horizontal protective cover front end.
8. Multi-purpose underwater robot as described in claim 1, which is characterized in that the machinery folded arm system includes mechanical embraces
Arm, the bottom connection of the middle-position machine mechanical folded arm and steering engine.
9. Multi-purpose underwater robot as described in claim 1, which is characterized in that the arm-and-hand system include manipulator and
Fixed bracket, the manipulator and steering engine are fixed on the frame support rod.
10. Multi-purpose underwater robot as described in claim 1, which is characterized in that the electromagnetism caterpillar system is fixed on institute
State mechanical folded arm chassis, pedrail two sides are equipped with the electromagnetism crawler belt, the electromagnetic system of bottom 2 of the pedrail from
Motor car wheel passes through crawler belt axis connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821858100.8U CN209441584U (en) | 2018-11-13 | 2018-11-13 | A kind of Multi-purpose underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821858100.8U CN209441584U (en) | 2018-11-13 | 2018-11-13 | A kind of Multi-purpose underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209441584U true CN209441584U (en) | 2019-09-27 |
Family
ID=68011031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821858100.8U Expired - Fee Related CN209441584U (en) | 2018-11-13 | 2018-11-13 | A kind of Multi-purpose underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209441584U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829896A (en) * | 2019-11-22 | 2021-05-25 | 纳百创新科技有限公司 | Hull robot of crawling |
| CN113386930A (en) * | 2021-05-14 | 2021-09-14 | 宁波工程学院 | Underwater robot applied to pier maintenance and maintenance method thereof |
| CN114352844A (en) * | 2022-01-14 | 2022-04-15 | 广州大学 | Multifunctional light soft robot |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
| CN115258101A (en) * | 2022-07-28 | 2022-11-01 | 青岛澳西智能科技有限公司 | Underwater rescue robot |
| CN116135691A (en) * | 2023-04-18 | 2023-05-19 | 广东智能无人系统研究院(南沙) | Dual-mode underwater structure cleaning and detecting robot |
-
2018
- 2018-11-13 CN CN201821858100.8U patent/CN209441584U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829896A (en) * | 2019-11-22 | 2021-05-25 | 纳百创新科技有限公司 | Hull robot of crawling |
| CN113386930A (en) * | 2021-05-14 | 2021-09-14 | 宁波工程学院 | Underwater robot applied to pier maintenance and maintenance method thereof |
| CN114352844A (en) * | 2022-01-14 | 2022-04-15 | 广州大学 | Multifunctional light soft robot |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
| CN115258101A (en) * | 2022-07-28 | 2022-11-01 | 青岛澳西智能科技有限公司 | Underwater rescue robot |
| CN116135691A (en) * | 2023-04-18 | 2023-05-19 | 广东智能无人系统研究院(南沙) | Dual-mode underwater structure cleaning and detecting robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190927 Termination date: 20201113 |
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| CF01 | Termination of patent right due to non-payment of annual fee |