CN210005926U - comprehensive control system based on underwater robot and buoy - Google Patents
comprehensive control system based on underwater robot and buoy Download PDFInfo
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- CN210005926U CN210005926U CN201920734948.8U CN201920734948U CN210005926U CN 210005926 U CN210005926 U CN 210005926U CN 201920734948 U CN201920734948 U CN 201920734948U CN 210005926 U CN210005926 U CN 210005926U
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- box body
- buoy
- underwater robot
- annular
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Abstract
The utility model provides an kind of integrated control system based on underwater robot and buoy, including buoy and underwater robot, the buoy passes through the zero buoyancy cable and is connected with the robot, be equipped with communication device in the buoy, communication device in the communication line connection buoy in the host computer of underwater robot passes through the zero buoyancy cable, and underwater robot passes through communication device and connects the monitoring station, the buoy includes communication cabin, showy circle, the communication cabin passes through the mount and installs in showy circle inboard, integrated control system based on underwater robot and buoy pass through the buoy and realized the communication of underwater robot and monitoring station, make underwater robot's communication not receive the influence of sea water, the effectual communication distance that has enlarged to data transmission is complete, fast, and the monitoring station can be timely track, control underwater robot.
Description
Technical Field
The utility model belongs to the technical field of underwater robot equipment, especially, relate to kinds of integrated control system based on underwater robot and buoy.
Background
The continuous development of scientific technology provides technical support for the exploration of the ocean world, but the technical development of the underwater robot lags behind that of a land robot in terms of the prior art, and because the attenuation of wireless signals in the underwater environment is serious, the current underwater robot cannot be far away from a water surface monitoring station if wireless transmission is adopted, so that the limitation of the range of motion is caused, and the underwater tracking and the exploration are not facilitated.
Disclosure of Invention
In view of this, the utility model aims at providing kinds of integrated control system based on underwater robot and buoy to solve current underwater robot and receive the restriction of data transmission distance easily, lead to the limited condition of home range.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
comprehensive control system based on underwater robot and buoy comprises buoy and underwater robot, the buoy is connected with robot through zero buoyancy cable, the buoy is equipped with communication device, the host of underwater robot is connected with communication device in the buoy through communication circuit in the zero buoyancy cable, the underwater robot is connected with monitoring station through communication device;
the buoy comprises a communication cabin and a floating ring, and the communication cabin is arranged on the inner side of the floating ring through a fixing frame;
the communication cabin is an oval box body, the oval box body comprises an upper box body and a lower box body, the diameter of the upper box body is larger than that of the lower box body, the bottom of the lower box body extends outwards to form an annular edge, external threads are arranged on the outer side of the top of the lower box body, an annular connecting edge is arranged below the external threads, the outer diameter of the annular connecting edge is larger than the inner diameter of the bottom of the upper box body, internal threads corresponding to the external threads are arranged on the inner side of the bottom of the upper box body, and the lower box body is in threaded;
and a sealing gasket is arranged between the annular connecting edge and the annular edge.
, the top of the upper box body is thicker than the bottom of the upper box body, an annular supporting surface is arranged between the top and the bottom of the interior of the upper box body, internal threads are arranged below the interior of the upper box body and are arranged above the annular supporting surface, the upper box body is connected with a placing box through the internal threads, and the communication device is installed in the placing box;
the placing box is of a cylinder structure with an open top, an external thread corresponding to the internal thread is arranged on the outer side of the top of the placing box, an annular connecting edge II is arranged below the external thread, and a sealing gasket II is arranged between the annular connecting edge II and the annular supporting surface.
, an antenna hole is provided on the top of the upper box, and the antenna of the communication device extends out of the box through the antenna hole.
, the distance from the bottom of the placing box to the bottom of the lower box body is less than of the height of the box body;
the bottom of placing the box is equipped with the support column, the top of support column is equipped with the mounting panel, communication device installs on the mounting panel.
, arranging a wiring hole at the bottom of the lower box body, penetrating a zero-buoyancy cable through the wiring hole, and arranging a waterproof sealing ring at the wiring hole;
the bottom of the placing box is also provided with a wire hole, and the zero-buoyancy cable penetrates into the placing box through the wire hole;
the wiring hole of the placing box is also provided with a waterproof sealing ring.
, the fixing frame comprises a fixing ring and four support rods, and the four support rods are welded and fixed on the outer side of the fixing ring in a cross shape;
the inner diameter of the fixing ring is larger than the outer diameter of the lower box body and smaller than the outer diameter of the annular connecting edge , and the fixing ring is arranged on the outer side of the lower box body;
each support rod is provided with a fixing hole, and the floating ring is fixed through the fixing hole.
, bending the edge of the annular edge downwards to form a limiting part, wherein the limiting part is of a cylindrical tubular structure, four arc-shaped grooves are formed in the bottom of the limiting part, and supporting rods are placed in the arc-shaped grooves;
the annular edge is provided with a threaded hole, the support rod is also provided with a corresponding bolt hole, and the support rod is fixed with the annular edge through a bolt.
, each support rod is provided with four fixing holes, each fixing hole vertically penetrates through the support rod, the distance from the fixing hole on each support rod to the circle center of the fixing ring is different, and floating rings with different diameters are fixed through different fixing holes;
correspond in the fixed orifices and be equipped with annular clamp, annular clamp includes two upper and lower arcs for fixed floating collar, through the bolt fastening between two arcs, the bottom welding spliced pole of annular clamp, the length of spliced pole are greater than the diameter of bracing piece, the bottom of spliced pole runs through to the bracing piece below through the fixed orifices, and the bottom of spliced pole is equipped with screw thread portion, and annular clamp passes through the nut to be fixed on the bracing piece.
Compared with the prior art, comprehensive control system based on underwater robot and buoy have following advantage:
(1) comprehensive control system based on underwater robot and buoy pass through the buoy and realized the communication of underwater robot with the monitoring station, make underwater robot's communication not receive the influence of sea water, the effectual communication distance that has enlarged to data transmission is complete, fast, the monitoring station can be timely track underwater robot, control.
(2) Comprehensive control system based on underwater robot and buoy carry out strict design to the buoy structure, adopted multiple waterproof construction, under the condition that does not influence the communication device performance, guaranteed the inside leakproofness of buoy.
Drawings
The accompanying drawings, which form part of the present invention, are provided to provide an understanding of the present invention with respect to step , the exemplary embodiments and descriptions thereof are provided to explain the present invention and not to constitute an undue limitation on the invention, in the accompanying drawings:
fig. 1 is an overall structure diagram of a buoy according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of a buoy according to an embodiment of the present invention;
fig. 3 is a structural view of the fixing frame according to the embodiment of the present invention.
Description of reference numerals:
1. the waterproof sealing ring comprises an upper box body, 11 an antenna, 12 an annular edge, 13 a limiting part, 14 a second sealing gasket, 2 a lower box body, 21 an annular supporting edge , 22 a sealing gasket , 3 a placing box, 4 a fixing frame, 41 a fixing ring, 42 a supporting rod, 43 a fixing hole, 44 an annular hoop, 5 a mounting plate, 6 a waterproof sealing ring.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must be constructed and operated in a particular orientation and are not to be construed as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" shall be construed , for example, they may be fixedly connected, detachably connected, or physically connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, and communicating between two elements.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, comprehensive control systems based on an underwater robot and a buoy comprise a buoy and an underwater robot, wherein the buoy is connected with the robot through a zero-buoyancy cable, a communication device is arranged in the buoy, a host of the underwater robot is connected with the communication device in the buoy through a communication line in the zero-buoyancy cable, and the underwater robot is connected with a monitoring station through the communication device;
the buoy comprises a communication cabin and a floating ring, and the communication cabin is arranged on the inner side of the floating ring through a fixing frame 4;
the communication cabin is an oval box body, the oval box body comprises an upper box body 1 and a lower box body 2, the diameter of the upper box body 1 is larger than that of the lower box body 2, the bottom of the lower box body 2 extends outwards to form an annular edge 12, external threads are arranged on the outer side of the top of the lower box body 2, an annular connecting edge is arranged below the external threads, the outer diameter of the annular connecting edge is larger than the inner diameter of the bottom of the upper box body 1, internal threads corresponding to the external threads are arranged on the inner side of the bottom of the upper box body 1, and the lower box body 2 is in threaded connection with;
a sealing gasket 22 is arranged between the annular connecting edge and the annular edge 12.
As shown in fig. 1 and fig. 2, the zero-buoyancy cable plays a role of a rope to prevent the underwater robot from falling to the bottom due to failure, a twisted-pair signal line is adopted inside the underwater robot, communication is realized, data information collected by the robot is sent to a communication device inside a buoy on the water surface, then the communication device is transmitted to a monitoring station through wireless signals, the communication device can be a five-way communication device such as WiFi, GPRS and TD-LET, and the monitoring station can be a water surface ship monitoring station or a ground monitoring station.
The thickness of the top of the upper box body 1 is larger than that of the bottom of the upper box body, an annular supporting surface is arranged between the top and the bottom of the interior of the upper box body 1, internal threads are arranged below the interior of the upper box body 1 and are arranged above the annular supporting surface, the upper box body 1 is connected with the placing box 3 through the internal threads, and the communication device is installed in the placing box 3;
the placing box 3 is of a cylinder structure with an open top, an external thread corresponding to the internal thread is arranged on the outer side of the top of the placing box 3, an annular connecting edge II is arranged below the external thread, and a sealing gasket II 14 is arranged between the annular connecting edge II and the annular supporting surface.
An antenna hole is formed in the top of the upper box body 1, and an antenna 11 of the communication device extends out of the box body through the antenna hole.
The distance from the bottom of the placing box 3 to the bottom of the lower box body 2 is less than third of the height of the box body;
the bottom of placing box 3 is equipped with the support column, the top of support column is equipped with mounting panel 5, communication device installs on mounting panel 5, can make the focus of box body fall down in box body 2 like this, can increase the stability of buoy when wind-force is great, prevents the upset.
The bottom of the lower box body 2 is provided with a wire routing hole, a zero-buoyancy cable penetrates through the wire routing hole, and a waterproof sealing ring 6 is arranged at the wire routing hole;
the bottom of the placing box 3 is also provided with a wiring hole, and the zero-buoyancy cable penetrates into the placing box 3 through the wiring hole;
the wiring hole of the placing box 3 is also provided with a waterproof sealing ring 6. The sealing performance of the zero-buoyancy cable in wiring can be improved through the waterproof sealing ring 6.
As shown in fig. 1 to 3, the fixing frame 4 includes a fixing ring 41 and four support rods 42, and the four support rods 42 are welded and fixed on the outer side of the fixing ring 41 in a cross shape;
the inner diameter of the fixing ring 41 is larger than the outer diameter of the lower box body 2 and smaller than the outer diameter of the annular connecting edge , and the fixing ring 41 is arranged on the outer side of the lower box body 2;
each support rod 42 is provided with a fixing hole 43, and the floating ring is fixed through the fixing hole 43.
The edge position of the annular edge is bent downwards to form a limiting part 13, the limiting part 13 is of a cylindrical tubular structure, four arc-shaped grooves are formed in the bottom of the limiting part 13, and supporting rods 42 are placed in the arc-shaped grooves;
threaded holes are formed in the annular edge 12, corresponding bolt holes are also formed in the support rod 42, and the support rod 42 is fixed to the annular edge 12 through bolts. The limiting of the supporting rod 42 is realized through the arc-shaped groove, and the stability of the buoy is effectively improved.
Every all be equipped with four fixed orificess 43 on the bracing piece 42, every fixed orificess 43 all vertically runs through bracing piece 42, and the distance of the fixed orifices 43 on every bracing piece 42 from the fixed ring 41 centre of a circle is all inequality, and through the fixed showy circle of different diameters of different fixed orifices 43, four fixed orifices 43 on the bracing piece 42 have constituteed the different circles of four diameters, can change fixed ring 41's position in a flexible way through fixed orifices 43, according to the underwater robot of equidimension not, can select the showy circle of equidimension not in a flexible way.
Correspond in the fixed orifices 43 and be equipped with annular clamp 44, annular clamp 44 includes two upper and lower arcs for fixed floating ring through the bolt fastening between two arcs, the bottom welded connection post of annular clamp 44, the length of spliced pole is greater than the diameter of bracing piece 42, the bottom of spliced pole runs through to bracing piece 42 below through fixed orifices 43, and the bottom of spliced pole is equipped with screw thread portion, and annular clamp 44 passes through the nut to be fixed on bracing piece 42.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
- comprehensive control system based on underwater robot and buoy, which is characterized in that it comprises buoy and underwater robot, the buoy is connected with robot through zero buoyancy cable, the buoy is equipped with communication device, the host of underwater robot is connected with communication device in the buoy through communication line in the zero buoyancy cable, the underwater robot is connected with monitoring station through communication device;the buoy comprises a communication cabin and a floating ring, and the communication cabin is arranged on the inner side of the floating ring through a fixing frame (4);the communication cabin is an oval box body, the oval box body comprises an upper box body (1) and a lower box body (2), the diameter of the upper box body (1) is larger than that of the lower box body (2), the bottom of the lower box body (2) extends outwards to form an annular edge (12), an external thread is arranged on the outer side of the top of the lower box body (2), an annular connecting edge is arranged below the external thread, the outer diameter of the annular connecting edge is larger than the inner diameter of the bottom of the upper box body (1), an internal thread corresponding to the external thread is arranged on the inner side of the bottom of the upper box body (1), and the lower box body (2) is in threaded connection with the upper box body (;a sealing gasket (22) is arranged between the annular connecting edge and the annular edge (12).
- 2. The integrated underwater robot and buoy based control system of claim 1, wherein: the thickness of the top of the upper box body (1) is larger than that of the bottom of the upper box body, an annular supporting surface is arranged between the top and the bottom of the interior of the upper box body (1), internal threads are arranged below the interior of the upper box body (1), the internal threads are arranged above the annular supporting surface, the upper box body (1) is connected with the placing box (3) through the internal threads, and the communication device is installed in the placing box (3);the placing box (3) is of a cylinder structure with an open top, an external thread corresponding to the internal thread is arranged on the outer side of the top of the placing box (3), an annular connecting edge II is arranged below the external thread, and a sealing gasket II (14) is arranged between the annular connecting edge II and the annular supporting surface.
- 3. The integrated underwater robot and buoy based control system as claimed in claim 1 or 2, wherein: an antenna hole is formed in the top of the upper box body (1), and an antenna (11) of the communication device extends out of the box body through the antenna hole.
- 4. The integrated control system based on the underwater robot and the buoy of claim 2, wherein the distance from the bottom of the placing box (3) to the bottom of the lower box body (2) is less than -third of the height of the box body;the bottom of placing box (3) is equipped with the support column, the top of support column is equipped with mounting panel (5), communication device installs on mounting panel (5).
- 5. The integrated underwater robot and buoy based control system of claim 2, wherein: a wiring hole is formed in the bottom of the lower box body (2), a zero-buoyancy cable penetrates through the wiring hole, and a waterproof sealing ring (6) is arranged at the wiring hole;the bottom of the placing box (3) is also provided with a wiring hole, and the zero-buoyancy cable penetrates into the placing box (3) through the wiring hole;the wiring hole of the placing box (3) is also provided with a waterproof sealing ring (6).
- 6. The integrated underwater robot and buoy based control system of claim 1, wherein: the fixing frame (4) comprises fixing rings (41) and four supporting rods (42), and the four supporting rods (42) are welded and fixed on the outer sides of the fixing rings (41) in a cross manner;the inner diameter of the fixing ring (41) is larger than the outer diameter of the lower box body (2) and smaller than the outer diameter of the annular connecting edge , and the fixing ring (41) is arranged on the outer side of the lower box body (2);each support rod (42) is provided with a fixing hole (43), and the floating ring is fixed through the fixing hole (43).
- 7. The integrated underwater robot and buoy based control system of claim 6, wherein: the edge position of the annular edge is bent downwards to form a limiting part (13), the limiting part (13) is of a cylindrical tubular structure, four arc-shaped grooves are formed in the bottom of the limiting part (13), and supporting rods (42) are placed in the arc-shaped grooves;the supporting rod is characterized in that threaded holes are formed in the annular edge (12), corresponding bolt holes are also formed in the supporting rod (42), and the supporting rod (42) is fixed to the annular edge (12) through bolts.
- 8. The integrated underwater robot and buoy based control system of claim 6, wherein: each supporting rod (42) is provided with four fixing holes (43), each fixing hole (43) vertically penetrates through the supporting rod (42), the distances from the fixing hole (43) on each supporting rod (42) to the circle center of the fixing ring (41) are different, and floating rings with different diameters are fixed through different fixing holes (43);correspond in fixed orifices (43) and be equipped with annular clamp (44), annular clamp (44) are including two upper and lower arcs for fixed floating ring through the bolt fastening between two arcs, the bottom welded connection post of annular clamp (44), and the length of spliced pole is greater than the diameter of bracing piece (42), the bottom of spliced pole runs through to bracing piece (42) below through fixed orifices (43), and the bottom of spliced pole is equipped with screw thread portion, and annular clamp (44) are fixed on bracing piece (42) through the nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920734948.8U CN210005926U (en) | 2019-05-20 | 2019-05-20 | comprehensive control system based on underwater robot and buoy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920734948.8U CN210005926U (en) | 2019-05-20 | 2019-05-20 | comprehensive control system based on underwater robot and buoy |
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| CN210005926U true CN210005926U (en) | 2020-01-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127008A (en) * | 2019-05-20 | 2019-08-16 | 浙江大学滨海产业技术研究院 | A kind of tracking system of autonomous underwater robot |
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2019
- 2019-05-20 CN CN201920734948.8U patent/CN210005926U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110127008A (en) * | 2019-05-20 | 2019-08-16 | 浙江大学滨海产业技术研究院 | A kind of tracking system of autonomous underwater robot |
| CN110127008B (en) * | 2019-05-20 | 2024-01-30 | 浙江大学滨海产业技术研究院 | Tracking system of autonomous underwater robot |
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