CN210036711U - Self-returning type seabed observation robot - Google Patents
Self-returning type seabed observation robot Download PDFInfo
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- CN210036711U CN210036711U CN201920977205.3U CN201920977205U CN210036711U CN 210036711 U CN210036711 U CN 210036711U CN 201920977205 U CN201920977205 U CN 201920977205U CN 210036711 U CN210036711 U CN 210036711U
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- self
- buoyancy
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Abstract
The utility model provides a self-returning type seabed observation robot, which comprises a motion mechanism, a base and a buoyancy mechanism, wherein the motion mechanism is provided with the base, and the base is provided with the buoyancy mechanism; an acoustic releaser is arranged below the buoyancy mechanism, and a sample collection mechanism is arranged on the base or the buoyancy mechanism; the buoyancy mechanism is provided with a water flow power generation mechanism. The utility model discloses the robot can utilize the ocean bottom rivers of universal rivers power generation mechanism utilization equidirectional ocean bottom rivers to generate electricity in the seabed to the lithium cell energy storage box energy storage of robot inside to satisfy the long-time work needs of robot, make the robot home range expand, the observation time is prolonged, sample collection and motion walking can both obtain sufficient energy supply; the device can realize independent recovery and integral recovery, reduces observation cost as much as possible, ensures that valuable observation data can be obtained once the base is clamped by foreign matters on the seabed, and has wide applicability in the field of seabed detection.
Description
Technical Field
The utility model relates to a seabed monitoring devices technical field, more specifically says, relates to a seabed observation robot technical field.
Background
With the continuous and intensive research on ocean resources in countries of the world, the emphasis on ocean is shifting from offshore to deep sea. The deep sea unmanned underwater vehicle is important ocean engineering equipment for realizing deep sea development and utilization. The device can quickly float in the complex deep sea environment by carrying various electronic devices and mechanical devices, realizes exploration, scientific investigation, development, operation and the like of the sea, and the technical level marks the exploration and development of national sea resources and even the ocean equity maintenance capability to a certain extent.
For observation of deep sea bottom, the current mature technology comprises a sediment capturer, an anchor system submerged buoy system, a manned submersible vehicle (HOV), a cable-controlled unmanned remote-controlled submersible vehicle (ROV) and the like, wherein the unmanned submersible vehicle is mainly divided into an AUV (autonomous underwater vehicle) and an ROV (remote-controlled ROV), the devices have good effects on acquisition of submarine hydrological and geological data, but have some problems, such as the sediment capturer only has the function of collecting floating sediments, the installation and deployment process of the anchor system submerged buoy system is complex, the recovery success rate of the devices is low, and the two devices also only have the capability of fixed-point observation; manned submersible (HOV) and cable-controlled unmanned remote control submersible (ROV) single equipment have long ship operation time and higher cost, and the AUV usually has good hydrodynamic appearance design and rapid maneuvering navigation capability, is generally used for underwater rapid tour detection and does not have fine operation capability. The ROV is mainly used for complex operation, and needs to carry an attached mechanism such as a mechanical arm, so that the hydrodynamic appearance of the ROV is difficult to guarantee, the ROV is poor in quick maneuverability and high in cruising energy consumption, and the ROV cannot meet the maneuvering large-range operation requirement.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems that the sediment trap in the prior art only has the function of collecting floating sediments, the installation and arrangement process of an anchor submerged buoy system is complex, and the recovery success rate of equipment is low; the utility model provides a self-return type seabed observation robot which can generate electricity by utilizing water flow motion and provide long-time working endurance for the self, the crawler movement mechanism can be used for autonomous movement, the observation range is expanded, the regional submarine hydrodynamics is obtained, the single-point observation lifting value surface observation level is obtained, the bottom material sample cabin and the biological capture cabin can store submarine rocks, sediments and biological samples, the floating body mechanism made of high polymer floating body materials and the inflatable buoyancy mechanism of the base module, the robot can be integrally or independently recycled, research cost can be saved, data can be guaranteed to be recycled when the base is clamped, and the robot has wide adaptability in the field of ocean exploration.
The utility model provides a self-returning type seabed observation robot, which comprises a motion mechanism, a base and a buoyancy mechanism, wherein the motion mechanism is provided with the base, and the base is provided with the buoyancy mechanism; an acoustic releaser is arranged below the buoyancy mechanism, and a sample collecting mechanism is arranged on the base and/or the buoyancy mechanism; the buoyancy mechanism is provided with a water flow power generation mechanism.
The utility model discloses in, buoyancy mechanism is equipped with bottom material sample cabin and sensor cabin all around, and bottom material sample cabin outside is equipped with body elastic cover plate, and the sensor cabin outside is equipped with prevents dragging the curb plate.
The utility model discloses in, be equipped with the support frame on the buoyancy mechanism, support frame upper portion is equipped with the universal joint, is equipped with rivers electricity generation mechanism on the universal joint.
The utility model discloses in, rivers power generation mechanism includes rivers guide pulley, water wheels blade and blade back shaft, and rivers power generation mechanism outside is equipped with the rivers guide pulley, and the inside one end of rivers guide pulley is equipped with the blade back shaft, and the last generating coil of blade back shaft, the generating coil outside is equipped with waterproof housing, and the inside brush that is equipped with of generating coil, brush front end are equipped with a plurality of groups water wheels blade.
The utility model discloses in, rivers electricity generation mechanism passes through haulage rope and battery electric connection.
The utility model discloses in, buoyancy mechanism upper portion is equipped with current meter.
The utility model discloses in, the sensor under-deck is equipped with first acoustics releaser and second acoustics releaser.
The utility model discloses in, inside go-between, battery and the solid fixed ring of being equipped with of base, solid fixed ring is located the base middle part, is fixed with the haulage rope on the solid fixed ring, and the go-between is fixed in the inside both sides of base, and the go-between is first acoustics releaser and the setting that suits of second acoustics releaser respectively.
The utility model discloses in, the base outside is equipped with the biological capture cabin, and biological capture cabin outside is equipped with elastic cover plate, and base one side is equipped with the manipulator, and biological capture cabin, manipulator and bottom material sample cabin constitute sample acquisition mechanism.
The utility model discloses in, all be equipped with the motor of opening the door to each other on body elastic cover plate and the elastic cover plate.
In the utility model, the manipulator is provided with more than three groups of rotating mechanisms, at least one group of rotating mechanisms and other rotating mechanisms have a rotating direction of 90 degrees, each rotating mechanism of the manipulator is provided with a waterproof motor, the front end of the manipulator is provided with a clamp, the waterproof motor is electrically connected with a battery, the middle part of the clamp is provided with a screw rod, the front part of the screw rod is sleeved with a crossbeam, the crossbeam is provided with a positioning pin, the positioning pin is inserted into positioning grooves at the two sides of the clamp, the screw rod drives the positioning pin to move back and forth so as to realize the opening; and the waterproof motors are provided with wireless transmitting modules, and the relay connected with the wireless transmitting modules controls the motors to be opened and closed.
The utility model discloses in, the base is equipped with hourglass husky hole and lug all around.
The utility model discloses in, the motion is the athey wheel, and the athey wheel back is equipped with the gasbag, is equipped with the gas cylinder between the gasbag.
The utility model discloses in, the preceding wireless control module that is equipped with of motor of athey wheel, wireless control module include wireless receiving module, wireless transmitting module and relay.
The utility model discloses in, athey wheel and battery electric connection.
The utility model has the advantages that:
the utility model provides a self-returning seabed observation robot, can utilize the ocean bottom rivers of different directions to generate electricity at the seabed with universal rivers power generation mechanism, for the energy storage of the lithium cell energy storage box in the robot to satisfy the long-time work needs of robot, make the robot home range expand, the observation time is prolonged, sample collection and motion walking can both obtain sufficient energy supply; the floating body mechanism can be separated from the base, the density difference and the buoyancy mechanism can be used for realizing independent recovery and integral recovery, the observation cost is reduced as much as possible, precious observation data can be obtained once the base is clamped by a seabed foreign matter, and the floating body mechanism has wide applicability in the field of seabed detection.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the present invention;
fig. 3 is a schematic top view of the present invention;
fig. 4 is a left side view structure diagram of the present invention;
FIG. 5 is a schematic structural view of the present invention without a cover plate;
fig. 6 is a schematic rear view of the present invention;
fig. 7 is a schematic structural view of the buoyancy module of the present invention.
In the figures 1-7, 1-crawler wheel, 2-base, 3-buoyancy mechanism, 4-floating elastic cover plate, 5-water flow power generation mechanism, 6-anti-dragging side plate, 7-connecting ring, 8-mechanical arm, 9-water wheel blade, 10-supporting frame, 11-universal joint, 12-substrate sample cabin, 13-hauling rope, 14-acoustic releaser, 15-sand leaking hole, 16-lifting lug, 17-biological capture cabin, 18-elastic cover plate, 19-battery, 20-fixing ring, 21-current meter, 22-air bag, 23-first acoustic releaser, 24-second acoustic releaser and 25-blade supporting shaft.
Detailed Description
The following description of the present invention will be made in further detail with reference to the accompanying drawings 1 to 7 and examples, but the present invention is not limited to the following examples.
In the present invention, for convenience of description, the description of the relative positional relationship of the components in the device of the present invention is described according to the layout pattern of fig. 1, for example: the positional relationship of up, down, left, right, etc. is determined in accordance with the layout direction of fig. 1.
The utility model discloses in crawler wheel 1 that uses, base 2, buoyancy mechanism 3, prevent dragging curb plate 6, go-between 7, manipulator 8, water wheel blade 9, support frame 10, universal joint 11, substrate sample cabin 12, haulage rope 13, acoustics releaser 14, leak sand hole 15, lug 16, biological capture cabin 17, battery 19, solid fixed ring 20, current meter 21, gasbag 22, first acoustics releaser 23 and second acoustics releaser 24 can both purchase or customize through ordinary market approach and obtain, acoustics releaser 14 adopts the model to be R2K releaser, current meter 21 adopts Aanderaa current meter 4420, Doppler wheel 1 adopts the electronic remote control track chassis HS-02 of machinery in the same direction, TELESKY five ways are installed to the track bottom and are sought the obstacle avoidance sensor, manipulator 8 chooses for use open source 6 degree of freedom robotic arm STM 32.
The utility model provides a self-returning type seabed observation robot, which comprises a motion mechanism, a base 2 and a buoyancy mechanism 3, wherein the motion mechanism is provided with the base 2, and the base 2 is provided with the buoyancy mechanism 3; an acoustic releaser 14 is arranged below the buoyancy mechanism 3, and a sample collecting mechanism is arranged on the base and/or the buoyancy mechanism 14; the buoyancy mechanism 3 is provided with a water flow power generation mechanism 5.
The utility model discloses in, buoyancy mechanism 3 is equipped with bottom matter sample cabin 12 and sensor cabin all around, and bottom matter sample cabin 12 outside is equipped with body elastic cover plate 4, and body elastic cover plate 4 the inside is equipped with the spring, can open when manipulator 8 is pressed from the outside, puts into automatic resilience when gathering the sample and unclamping and seals, and sensor cabin outside is equipped with prevents dragging curb plate 6, can protect acoustics releaser 14 not to be dragged by manual work or other biology and hang the damage.
The utility model discloses in, be equipped with support frame 10 on the buoyancy mechanism 3, support frame 10 upper portion is equipped with universal joint 11, is equipped with rivers electricity generation mechanism on the universal joint 11.
The utility model discloses in, rivers power generation mechanism 5 includes rivers guide pulley, water wheels blade 9 and blade back shaft 25, and 5 outsides of rivers power generation mechanism are equipped with the rivers guide pulley, and the inside one end of rivers guide pulley is equipped with blade back shaft 25, and generating coil on the blade back shaft 25, the generating coil outside is equipped with waterproof housing, and the inside brush that is equipped with of generating coil, brush front end are equipped with a plurality of groups water wheels blade 9.
The utility model discloses in, rivers power generation mechanism 5 passes through haulage rope 13 and battery 19 electric connection.
The utility model discloses in, 3 upper portions of buoyancy mechanism are equipped with current meter 21.
The utility model discloses in, the sensor under-deck is equipped with first acoustics releaser 23 and second acoustics releaser 24.
The utility model discloses in, base 2 is inside to be equipped with go-between 7, battery 19 and solid fixed ring 20, and solid fixed ring 20 is located base 2 middle part, is fixed with haulage rope 13 on the solid fixed ring 20, and go-between 7 is fixed in the inside both sides of base 2, and go-between 7 is first acoustics releaser 23 and the setting that suits of second acoustics releaser 24 respectively.
The utility model discloses in, 2 outsides of base are equipped with biological capture cabin 17, and biological capture cabin 17 outsides are equipped with elastic cover 18, and biological capture cabin 17 the inside sets up the bait, is equipped with the sea water hole on the elastic cover 18, can make the inside and outside sea water intercommunication in biological capture cabin 17, guarantees the biological survival of catching, and elastic cover 18 is closed when the organism breaks into, including stranded the organism. One side of the base 2 is provided with a manipulator 8, and a biological capture cabin 17, the manipulator 8 and a substrate sample cabin 12 form a sample acquisition mechanism.
The utility model discloses in, all be equipped with on body elastic cover plate 4 and the elastic cover plate 18 and to opening the door motor for operating personnel can open body elastic cover plate 4 and elastic cover plate 18 by the remote control, and the hou mian spring of body elastic cover plate 4 can make things convenient for manipulator 8 to place the sample, and the hou mian mechanism of traping of elastic cover plate 18 can lure the animal into to seal, for example model 2 PKPC's two pedal type of opening the door trap catch the cage, perhaps ordinary catching cage of pet on the market can both be suitable for.
In the utility model, the manipulator 8 is provided with more than three groups of rotating mechanisms, at least one group of rotating mechanisms and other rotating mechanisms have a rotating direction of 90 degrees, each rotating mechanism of the manipulator 8 is provided with a waterproof motor, the front end of the manipulator 8 is provided with a clamp, the waterproof motor is electrically connected with a battery, the middle part of the clamp is provided with a screw rod, a cross beam is sleeved in front of the screw rod, a positioning pin is arranged on the cross beam, the positioning pin is inserted into positioning grooves on two sides of the clamp, the screw rod drives the positioning pin to move back and forth so as to realize the opening and closing; and the waterproof motors are provided with wireless transmitting modules, and the relay connected with the wireless transmitting modules controls the motors to be opened and closed.
The utility model discloses in, base 2 is equipped with sand leakage hole 15 and lug 16 all around.
The utility model discloses in, the motion is athey wheel 1, and the 1 back of athey wheel is equipped with gasbag 22, is equipped with the gas cylinder between the gasbag 22.
The utility model discloses in, the preceding control module that is equipped with of motor of athey wheel 1, control module keeps away barrier module and relay including seeking the mark, seeks the mark and keeps away the barrier module and adopts TELESKY five ways to seek the mark and keep away the barrier sensor.
The utility model discloses in, athey wheel 1 and battery 19 electric connection.
When being suitable for the utility model discloses when the robot is surveyd to the heavy end of motion formula deep sea, lay before, assemble the observation robot, install acoustics releaser 14 on the solid fixed ring 20 of body, be respectively on the gib head of acoustics releaser 14 and the solid fixed ring 20 of base 2 with the both ends of haulage rope 13 afterwards. The buoyancy mechanism 3 is placed on the base 2, the two connecting rings 7 of the base 2 pass through the connecting ring through holes of the buoyancy mechanism 3, then the sensor fixing buckles are opened, the first acoustic releaser 23 and the second acoustic releaser 24 are installed, and the hook heads of the first acoustic releaser 23 and the second acoustic releaser 24 clamp the connecting rings 7. Then, a substrate sample chamber 12 is installed on both sides of the buoyancy mechanism 3, and a current meter 21 is installed in the current meter chamber. Two anti-dragging side plates 6 are arranged on the buoyancy mechanism 3.
When the observation robot enters the position below the horizontal plane, the returning rope is released, and the observation robot can sink freely.
After the observation robot reaches the seabed, the current meter 21, the manipulator 8 and the sample collecting mechanism start to work, the water flow through hole of the anti-dragging side plate 6 can enable water flow to enter the sensor cabin, and the manipulator collects required seabed rock samples and the like and puts the samples into the substrate sample cabin 12. And the anti-dragging side plate 6 can avoid the damage of scraping, collision and the like of the acoustic releaser 14 by the riprap, the quicksand and the underwater small and medium-sized organisms.
Eight sand leakage holes 15 on the base can make the observation robot when soft bottom matter seabed seat bottom, when observation robot upper portion has silt to cover, under the effect of rivers, form better rivers exchange about sand leakage hole 15, avoid observing the robot and bury by silt and cover.
The water flow guide wheel and the universal joint 11 below the water flow power generation mechanism 5 can enable the water flow power generation mechanism 5 to generate power by utilizing seawater along the direction of the ocean current at any time, ocean current forces the ocean current to rotate to the direction of the water along the water flow guide wheel, the ocean current drives the ocean current to rotate through the water wheel blades 9, so that the water wheel blades 9 drive the electric brushes to cut the power generation coils to obtain current, the generated electric energy is transmitted to the battery 19, and the energy is stored for the observation robot so as to carry out long-time continuous observation operation.
The crawler wheels 1 of the base 2 can adapt to the seabed with different substrates, and the observation robot can observe the seabed in a certain area range in a preset time and route through a preset observation motion program.
During recovery, an operator sends an instruction to the first acoustic releaser 23 and the second acoustic releaser 24 through acoustic equipment on a distributed work ship, hook heads of the first acoustic releaser 23 and the second acoustic releaser 24 are released, the hook heads are separated from the connecting ring 7 of the base 2, and the buoyancy mechanism 3 starts to float upwards due to the lower density of the buoyancy mechanism; meanwhile, the inflation floating force mechanism at the lower part of the crawler wheel 1 starts to work, liquid nitrogen in the high-pressure gas cylinder inflates the rubber air bags 22 at two sides, the size of the rubber air bags 22 is increased, and the base 2 is integrally lifted to float upwards.
In the floating process, the buoyancy mechanism 3 is connected with the base 2 through the traction rope 13, and after the floating to the water surface, the operating personnel can carry out integral recovery.
The seabed topography is complex and changeable, the base 2 can be clamped by some foreign matters and can not float upwards in the process of sinking bottom observation and movement, the base 2 can not float upwards after the buoyancy mechanism 3 floats upwards, and the base 2 needs to be abandoned for recovering precious observation data. After a certain time of transmitting a floating instruction, if the robot is observed not to float, the base can not be separated from the seabed ground, at the moment, the acoustic instruction is sent to the acoustic releaser 14, the hook head of the acoustic releaser 14 is opened, the traction rope 13 is separated, the buoyancy mechanism 3 is separated from the base 2, the buoyancy mechanism 3 floats upwards independently, and the base 2 is discarded.
The utility model discloses enlarged detection range, can monitor the seabed for a long time remotely, can retrieve base 2 and buoyancy mechanism 3 according to the operational aspect moreover, save the monitoring spending, the convenient collection to benthos and rock sample in living beings capture cabin, manipulator and bottom sample cabin obtains sufficient submarine data, and crawler motion can adapt to comparatively complicated submarine environment, the facilitate operation.
As described above, the present invention can be better realized, the above-mentioned embodiments are only right the preferred embodiments of the present invention are described, not right the scope of the present invention is limited, without departing from the design spirit of the present invention, the ordinary skilled in the art will be right the various modifications and improvements made by the technical solution of the present invention all fall into the determined protection scope of the present invention.
Claims (9)
1. A self-returning seabed observation robot comprises a movement mechanism, a base and a buoyancy mechanism, and is characterized in that the movement mechanism is provided with the base, and the base is provided with the buoyancy mechanism; an acoustic releaser is arranged below the buoyancy mechanism, and a sample collecting mechanism is arranged on the base and/or the buoyancy mechanism; the buoyancy mechanism is provided with a water flow power generation mechanism.
2. The self-returning seafloor observatory robot of claim 1, wherein a hauling rope is arranged between the base and the acoustic releaser, a bottom material sample cabin and a sensor cabin are arranged around the buoyancy mechanism, a floating body elastic cover plate is arranged outside the bottom material sample cabin, and an anti-dragging side plate is arranged outside the sensor cabin.
3. The self-returning seafloor observation robot as claimed in claim 2, wherein the buoyancy mechanism is provided with a support frame, the upper part of the support frame is provided with a universal joint, and the universal joint is provided with a water flow power generation mechanism.
4. The self-returning seafloor observation robot as claimed in claim 3, wherein the water flow power generation mechanism comprises a water flow guide wheel, water turbine blades and blade support shafts, the water flow guide wheel is arranged outside the water flow power generation mechanism, the blade support shafts are arranged at one ends inside the water flow guide wheel, and the blade support shafts are provided with a plurality of groups of water turbine blades.
5. The self-returning seafloor observation robot of claim 1, wherein the upper portion of the buoyancy mechanism is provided with a current meter.
6. The self-returning seafloor observation robot as claimed in claim 1, wherein the base is internally provided with a connecting ring, a battery and a fixing ring, the fixing ring is located in the middle of the base, the fixing ring is fixed with a traction rope, and the connecting ring is fixed on two sides of the inside of the base.
7. The self-returning seafloor observatory robot of claim 6, wherein the base is externally provided with a biological capture chamber, the biological capture chamber is externally provided with an elastic cover plate, and one side of the base is provided with a manipulator.
8. The self-returning seafloor observatory robot of claim 7, wherein the base is provided with sand leaking holes and lifting lugs on the periphery.
9. The self-returning seafloor observation robot of claim 1, wherein the moving mechanism is a crawler wheel, air bags are arranged on the back surface of the crawler wheel, and a high-pressure air bottle is arranged between the air bags.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920977205.3U CN210036711U (en) | 2019-06-26 | 2019-06-26 | Self-returning type seabed observation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920977205.3U CN210036711U (en) | 2019-06-26 | 2019-06-26 | Self-returning type seabed observation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210036711U true CN210036711U (en) | 2020-02-07 |
Family
ID=69348908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920977205.3U Expired - Fee Related CN210036711U (en) | 2019-06-26 | 2019-06-26 | Self-returning type seabed observation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210036711U (en) |
-
2019
- 2019-06-26 CN CN201920977205.3U patent/CN210036711U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200207 Termination date: 20200626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |