CN210942200U - Resident type autonomous underwater robot with seabed heat flow detection function - Google Patents

Resident type autonomous underwater robot with seabed heat flow detection function Download PDF

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Publication number
CN210942200U
CN210942200U CN201922033148.6U CN201922033148U CN210942200U CN 210942200 U CN210942200 U CN 210942200U CN 201922033148 U CN201922033148 U CN 201922033148U CN 210942200 U CN210942200 U CN 210942200U
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connecting rod
assembly
driving
driven
underwater robot
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CN201922033148.6U
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Inventor
徐会希
陈仲
赵红印
张洪彬
郭峰
孙波
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model belongs to the technical field of underwater robot and specifically relates to a resident type is from water underwater robot with seabed thermal current detects function is said, including carrier, extension mechanism, thermal current probe and a plurality of system, each system all install in on the carrier, the carrier front end is located to extension mechanism, the thermal current probe install in on the extension mechanism, extension mechanism includes first link assembly, second link assembly, gear assembly, connecting rod and drive arrangement, wherein first link assembly passes through drive arrangement drive swing, and first link assembly keeps away from drive arrangement one end and passes through gear assembly and connecting rod and link to each other with second link assembly, and second link assembly drives the swing through first link assembly, and first link assembly passes through gear assembly transmission torque, and the thermal current probe is installed in the free end of second link assembly. The utility model discloses can realize the seabed and stay for a long time with the butt joint of seabed basic station and survey, and extend the mechanism and can expand completely according to the task demand, possess seabed thermal current and survey the function.

Description

Resident type autonomous underwater robot with seabed heat flow detection function
Technical Field
The utility model belongs to the technical field of underwater robot and specifically relates to a resident type is underwater robot independently with seabed thermal current detection function.
Background
The seabed heat flow is an important component of the earth heat flow and is important basic data for researching marine earth dynamics, sedimentary basin evolution process, oil gas and hydrate resource evaluation and hydrothermal circulation mechanism. The seabed heat flow is mainly measured through a seabed heat flow probe, and the seabed heat flow probe is mainly of a ship-borne type at present, namely, the probe is inserted into the seabed through equipment such as a ship-borne ROV and a buoy, so that the seabed heat flow probe occupies more ship time, has lower operation efficiency and higher operation cost, and is inconvenient for different point positions and long-time detection.
A resident Autonomous Underwater Vehicle (AUV) is a popular AUV in recent years, and can be docked with a base station disposed on the seabed to perform energy supplement and data exchange, so that operation and detection can be performed on the seabed for a long time, and if a heat flow probe can be mounted on the resident AUV, the problem can be solved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a resident type is autonomous underwater robot with seabed thermal current detects function is equipped with and extends mechanism and thermal current probe, and it can expand completely to extend the mechanism during detection and be a straight line with the thermal current probe and realize the detection operation, is equipped with the butt joint guidance system simultaneously, can realize the seabed and stay for a long time, and then realizes long-term seabed thermal current and surveys operation and other detection purposes.
The purpose of the utility model is realized through the following technical scheme:
a resident autonomous underwater robot with a seabed heat flow detection function comprises a carrier, a control system, a communication system, a navigation positioning system, a propulsion system, an acoustic detection system, an emergency system, a docking guidance system, an extension mechanism and a heat flow probe, wherein the control system, the communication system, the navigation positioning system, the propulsion system, the acoustic detection system, the emergency system and the docking guidance system are all arranged on the carrier, the extension mechanism is arranged at the front end of the carrier, the heat flow probe is arranged on the extension mechanism, the extension mechanism comprises a first connecting rod assembly, a second connecting rod assembly, a gear assembly, a connecting rod and a driving device, the first connecting rod assembly is driven to swing by the driving device, one end, far away from the driving device, of the first connecting rod assembly is connected with the second connecting rod assembly through the gear assembly and the connecting rod, the second connecting rod assembly is driven to swing through the, and the first link assembly transmits torque through the gear assembly, and the heat flow probe is mounted to the free end of the second link assembly.
The first connecting rod component comprises a first base, a first driving connecting rod, a first intermediate connecting rod and a first driven connecting rod which are sequentially hinged, the driving device is installed on the first base, the first driving connecting rod is driven to swing through the driving device, one end, away from the first intermediate connecting rod, of the first driven connecting rod is hinged on the first base, the second connecting rod component comprises a second base, a second driving connecting rod, a second intermediate connecting rod and a second driven connecting rod which are sequentially hinged, one ends, away from the second intermediate connecting rod, of the second driving connecting rod and one end, away from the second intermediate connecting rod, of the second driven connecting rod are hinged on the second base, the first intermediate connecting rod and the second intermediate connecting rod are connected through connecting rods, the gear component comprises a driving gear and a driven gear, the driving gear is installed on a hinged shaft of the first intermediate connecting rod and the first driven connecting rod, the driven gear is installed on a hinged shaft of the second driving connecting rod and, the first base is fixedly arranged on the carrier, and the second base is provided with a heat flow probe.
After the stretching mechanism is completely unfolded, the first connecting rod assembly, the second connecting rod assembly and the heat flow probe are in a straight line.
The driving device comprises a driving motor and a worm gear reducer, the first driving connecting rod is driven to swing by the driving motor, and the driving motor transmits torque through the worm gear reducer.
The carrier includes structural framework and buoyancy material, control system, communication system, navigation positioning system, propulsion system, acoustic detection system, emergency system, butt joint guidance system and extension mechanism all install in on the structural framework, the buoyancy material wraps up structural framework, and the buoyancy material front side is equipped with the confession the gap space that extension mechanism extends.
The structure frame is internally provided with a main control cabin, the control system is integrated in the main control cabin, in addition, the emergency system comprises a load rejection device, an emergency control computer and an emergency battery, wherein the emergency control computer and the emergency battery are also integrated in the main control cabin.
The communication system comprises an integrated lifting antenna and an acoustic communication machine, wherein the integrated lifting antenna comprises a lifting driver, a lead screw, a lifting seat and an integrated antenna, the lifting driver is installed on a carrier, the lead screw is driven to rotate by the lifting driver, a screw matched with the lead screw is arranged in the lifting seat, and the integrated antenna is installed on the lifting seat.
The propulsion system comprises a battery pack, a horizontal channel propeller, a fore vertical channel propeller, a stern main propeller and a steering device, wherein an included angle is formed between the stern main propellers.
The navigation positioning system comprises a deep water compass, a Doppler log, an ultra-short baseline and a depth meter, and the acoustic detection system comprises a multi-beam sonar.
The docking guidance system comprises an ultra-short baseline, a high-definition camera, a wireless charger and a wireless data transmitter.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses be equipped with detection equipment such as acoustics detecting system to be equipped with and extend mechanism and thermal current probe, extend when the carrier removes in the folding gap space of contracting on the carrier of mechanism, extend mechanism and thermal current probe and can not influence the carrier and remove, when needing to carry out operations such as seabed thermal current detection, it expandes completely and is a straight line with the thermal current probe and realizes various detection operation purposes to extend the mechanism.
2. The utility model discloses can realize the seabed and stay for a long time, and then realize long-term seabed thermal current and survey operation and other detection purposes.
3. The utility model discloses a many propellers are arranged, can realize high accuracy navigation control, and mobility is high, in addition the utility model discloses the buoyancy material in the carrier outside adopts the flat design, and navigation stability is high, can guarantee the butt joint under water of high accuracy.
Drawings
FIG. 1 is a three-dimensional block diagram of the present invention;
FIG. 2 is a schematic view of the extension mechanism of FIG. 1 in a retracted state;
FIG. 3 is a schematic view of the deployment mechanism of FIG. 2 in an expanded state;
FIG. 4 is a schematic view of the integrated lift antenna of FIG. 1;
FIG. 5 is a schematic view of the extension mechanism of the present invention in a retracted position;
fig. 6 is an external view of the present invention when the stretching mechanism is in the unfolded state.
Wherein, 1 is an extension mechanism, 101 is a first base, 102 is a driving motor, 103 is a worm gear reducer, 104 is a first driving connecting rod, 105 is a first intermediate connecting rod, 106 is a driving gear, 107 is a driven gear, 108 is a connecting rod, 109 is a second base, 110 is a heat flow probe connecting seat, 111 is a first driven connecting rod, 112 is a second driving connecting rod, 113 is a second driven connecting rod, 114 is a second intermediate connecting rod, 115 is a first connecting rod assembly, 116 is a second connecting rod assembly, 117 is a gear assembly, 118 is a driving device, 2 is a heat flow probe, 3 is an integrated lifting antenna, 301 is a lifting driver, 302 is a lifting seat, 303 is an integrated antenna, 304 is an antenna fixing piece, 305 is a lead screw, 4 is an acoustic communicator, 5 is a structural frame, 6 is a buoyancy material, 7 is a hoisting element, 8 is a load rejection device, 9 is a deep water compass and a Doppler distance meter, 10 is an ultra-short baseline, the device comprises a depth meter 11, a battery pack 12, a horizontal channel propeller 13, a bow vertical channel propeller 14, a stern vertical channel propeller 15, a stern main propeller 16, a steering device 17, a high-definition camera 18, a wireless charger 19, a wireless data transmitter 20, a multi-beam sonar 21 and a main control cabin 22.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention comprises a carrier, a control system, a communication system, a navigation positioning system, a propulsion system, an acoustic detection system, an emergency system, a docking guidance system, an extension mechanism 1 and a heat flow probe 2, wherein the control system, the communication system, the navigation positioning system, the propulsion system, the acoustic detection system, the emergency system and the docking guidance system are all mounted on the carrier, the extension mechanism 1 is disposed at the front end of the carrier, the heat flow probe 2 is mounted on the extension mechanism 1, as shown in fig. 2 to 3, the extension mechanism 1 comprises a first link assembly 115, a second link assembly 116, a gear assembly 117, a connecting rod 108 and a driving device 118, wherein the first link assembly 115 is driven by the driving device 118 to swing, and one end of the first link assembly 115, far away from the driving device 118, is connected to the second link assembly 116 through the gear assembly 117 and the, the second connecting rod assembly 116 is driven to swing by the first connecting rod assembly 115, the first connecting rod assembly 115 transmits torque by the gear assembly 117, and the heat flow probe 2 is installed at the free end of the second connecting rod assembly 116, wherein the heat flow probe 2 is well known in the art and is a commercially available product.
As shown in fig. 2 to 3, the first link assembly 115 includes a first base 101, and a first driving link 104, a first intermediate link 105 and a first driven link 111 which are hinged to each other in sequence, a driving device 118 is mounted on the first base 101, the first driving link 104 is driven by the driving device 118 to swing, one end of the first driven link 111, which is far from the first intermediate link 105, is hinged to the first base 101, the second link assembly 116 includes a second base 109, and a second driving link 112, a second intermediate link 114 and a second driven link 113 which are hinged to each other in sequence, one ends of the second driving link 112 and the second driven link 113, which are far from the second intermediate link 114, are both hinged to the second base 109, the first intermediate link 105 and the second intermediate link 114 are connected by the connecting rod 108, the gear assembly 117 includes a driving gear 106 and a driven gear 107 which are meshed to each other, the driving gear 106 is mounted on a hinge shaft of the first intermediate connecting rod 105 and the first driven connecting rod 111, the driven gear 107 is mounted on a hinge shaft of the second driving connecting rod 112 and the second intermediate connecting rod 114, the first base 101 is fixedly mounted on the carrier, and the second base 109 is provided with the heat flow probe 2.
As shown in fig. 2-3, the first driving link 104 and the first driven link 111 are disposed in parallel, the second driving link 112 and the second driven link 113 are disposed in parallel, and as shown in fig. 3 and 5-6, after the extending mechanism 1 is completely extended, the first link assembly 115, the second link assembly 116 and the heat flow probe 2 are aligned.
As shown in fig. 2, in this embodiment, the driving device 118 includes a driving motor 102 and a worm gear reducer 103, and after the driving motor 102 is started, the driving motor transmits torque through the worm gear reducer 103 to drive the first driving link 104 to swing.
As shown in fig. 2 to 3, in order to ensure that the extension mechanism 1 is completely extended, the first link assembly 115, the second link assembly 116 and the heat flow probe 2 are in a straight line, the heat flow probe 2 is mounted on the second base 109 through a heat flow probe connecting seat 110 in an equilateral right triangle, wherein a bevel edge of the heat flow probe connecting seat 110 is fixedly connected with the second base 109.
As shown in fig. 1, the carrier includes a structural frame 5 and a buoyant material 6, the control system, the communication system, the navigation and positioning system, the propulsion system, the acoustic detection system, the emergency system and the extension mechanism 1 are all installed on the structural frame 5, the structural frame 5 is wrapped by the buoyant material 6 to form the shape of the underwater robot, a gap space for the extension mechanism 1 to extend is arranged on the front side of the buoyant material 6, in addition, a lifting element 7 is arranged right above the center of gravity of the shape of the robot, and in this embodiment, the lifting element 7 is a lifting ring.
As shown in fig. 1, the communication system includes an integrated elevating antenna 3 and an acoustic communication device 4, wherein as shown in fig. 4, the integrated elevating antenna 3 includes an elevating driver 301, a lead screw 305, an elevating base 302 and an integrated antenna 303, the elevating driver 301 is mounted on the structural frame 5 of the carrier, the lead screw 305 is driven to rotate by the elevating driver 301, a nut matched with the lead screw 305 is disposed in the elevating base 302, the lead screw 305 rotates to drive the elevating base 302 to ascend and descend, and the integrated antenna 303 is mounted on the elevating base 302 by a plurality of antenna fixing members 304. In this embodiment, the integrated antenna 303 is an integrated radio GPS antenna, the lifting driver 301 is a speed reduction motor, the antenna fixing member 304 is a hoop, and the acoustic communication device 4 is a commercially available product and is known in the art.
As shown in fig. 1, the navigation positioning system includes a deep water compass and doppler log 9, an ultra-short baseline 10 and a depth meter 11, and the deep water compass and doppler log 9, the ultra-short baseline 10 and the depth meter 11 are all known in the art and are commercially available products.
As shown in fig. 1, the propulsion system is arranged at the tail of the carrier, and comprises a battery pack 12, a horizontal channel propeller 13, a fore vertical channel propeller 14, a stern vertical channel propeller 15, a stern main propeller 16 and a steering device 17, wherein a certain included angle is formed between the stern main propellers 16, and the battery pack 12 supplies power to each propeller. The individual impellers are well known in the art and are commercially available.
As shown in fig. 1, the acoustic detection system includes a multi-beam sonar 21, the multi-beam sonar 21 being known in the art and commercially available.
As shown in fig. 1, a main control cabin 22 is provided in the structural frame 5, the control system is integrated in the main control cabin 22, and the emergency system includes a load rejection device 8, an emergency control computer and an emergency battery, which are also integrated in the main control cabin 22, and both the control system and the emergency system are well known in the art.
As shown in fig. 1, the docking guidance system includes an ultra-short baseline 10, a high-definition camera 18, a wireless charger 19 and a wireless data transmitter 20, and the ultra-short baseline 10, the high-definition camera 18, the wireless charger 19 and the wireless data transmitter 20 are all known in the art and are commercially available products.
The utility model discloses a theory of operation does:
when the utility model works, the carrier is pushed by the pushing system to move to the designated position, and when the carrier moves, as shown in figure 2 and figure 5, the stretching mechanism 1 is in a retracted state, at this time, the first connecting rod assembly 115 and the second connecting rod assembly 116 in the stretching mechanism 1 are folded in parallel and placed in the gap space at the front end of the carrier, the normal movement of the carrier is not influenced, when the carrier moves in place, the control system controls the extension mechanism 1 to be unfolded, wherein the first link assembly 115 in the extension mechanism 1 is driven to swing by the driving device 118, and the first link assembly 115 drives the second link assembly 116 to swing by transmitting torque through the gear assembly 117, as shown in figures 3 and 6, when the extension mechanism 1 is fully extended, the first link assembly 115, the second link assembly 116 and the heat flow probe 2 are in a straight line, and the operations such as seabed heat flow detection and the like can be started. The utility model discloses can realize the seabed and stay for a long time, and then realize long-term seabed thermal current and survey operation and other detection purposes.

Claims (10)

1. A resident autonomous underwater robot with a seabed heat flow detection function is characterized in that: the heat exchanger comprises a carrier, a control system, a communication system, a navigation positioning system, a propulsion system, an acoustic detection system, an emergency system, a docking guidance system, an extension mechanism (1) and a heat flow probe (2), wherein the control system, the communication system, the navigation positioning system, the propulsion system, the acoustic detection system, the emergency system and the docking guidance system are all arranged on the carrier, the extension mechanism (1) is arranged at the front end of the carrier, the heat flow probe (2) is arranged on the extension mechanism (1), the extension mechanism (1) comprises a first connecting rod assembly (115), a second connecting rod assembly (116), a gear assembly (117), a connecting rod (108) and a driving device (118), the first connecting rod assembly (115) is driven to swing through the driving device (118), and one end, far away from the driving device (118), of the first connecting rod assembly (115) is connected with the second connecting rod assembly (116) through the gear assembly (117) and the connecting rod, the second connecting rod assembly (116) is driven to swing through the first connecting rod assembly (115), the first connecting rod assembly (115) transmits torque through the gear assembly (117), and the heat flow probe (2) is installed at the free end of the second connecting rod assembly (116).
2. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: the first connecting rod component (115) comprises a first base (101), a first driving connecting rod (104), a first middle connecting rod (105) and a first driven connecting rod (111) which are sequentially hinged and connected, a driving device (118) is installed on the first base (101), the first driving connecting rod (104) is driven to swing through the driving device (118), one end, far away from the first middle connecting rod (105), of the first driven connecting rod (111) is hinged on the first base (101), the second connecting rod component (116) comprises a second base (109), a second driving connecting rod (112), a second middle connecting rod (114) and a second driven connecting rod (113) which are sequentially hinged and connected, one ends, far away from the second middle connecting rod (114), of the second driving connecting rod (112) and the second driven connecting rod (113) are hinged on the second base (109), the first middle connecting rod (105) and the second middle connecting rod (114) are connected through a connecting rod (108), the gear assembly (117) comprises a driving gear (106) and a driven gear (107), the driving gear (106) is installed on a hinged shaft of a first middle connecting rod (105) and a first driven connecting rod (111), the driven gear (107) is installed on a hinged shaft of a second driving connecting rod (112) and a second middle connecting rod (114), the first base (101) is fixedly installed on the carrier, and the second base (109) is provided with a heat flow probe (2).
3. The autonomous, resident underwater robot with subsea heat flow detection function according to claim 1 or 2, characterized in that: after the stretching mechanism (1) is completely unfolded, the first connecting rod assembly (115), the second connecting rod assembly (116) and the heat flow probe (2) are in a straight line.
4. The autonomous, resident underwater robot with subsea heat flux detection capability of claim 2, characterized by: the driving device (118) comprises a driving motor (102) and a worm gear reducer (103), the first driving connecting rod (104) is driven to swing through the driving motor (102), and the driving motor (102) transmits torque through the worm gear reducer (103).
5. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: the carrier includes structural framework (5) and buoyancy material (6), control system, communication system, navigation positioning system, propulsion system, acoustic detection system, emergency system, butt joint guidance system and extend mechanism (1) all install in on structural framework (5), buoyancy material (6) parcel structural framework (5), and buoyancy material (6) front side is equipped with the confession the gap space that extends mechanism (1).
6. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 5, characterized in that: be equipped with main control cabin (22) in structural framework (5), control system integrate in main control cabin (22), in addition emergency system includes load rejection device (8), emergency control computer and emergency battery, wherein emergency control computer and emergency battery also integrate in main control cabin (22).
7. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: communication system includes integrated lift antenna (3) and sound communication machine (4), wherein integrated lift antenna (3) are including lift driver (301), lead screw (305), lift seat (302) and integrated antenna (303), and lift driver (301) are installed on the carrier, and lead screw (305) pass through lift driver (301) drive is rotatory, be equipped with in lift seat (302) with lead screw (305) cooperation screw, integrated antenna (303) install in on lift seat (302).
8. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: the propulsion system comprises a battery pack (12), a horizontal channel propeller (13), a bow vertical channel propeller (14), a stern vertical channel propeller (15), a stern main propeller (16) and a steering device (17), wherein the stern main propellers (16) form an included angle.
9. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: the navigation positioning system comprises a deep water compass and Doppler log (9), an ultra-short baseline (10) and a depth meter (11), and the acoustic detection system comprises a multi-beam sonar (21).
10. The autonomous, resident underwater robot with subsea heat flux detection function according to claim 1, characterized in that: the docking guidance system comprises an ultra-short baseline (10), a high-definition camera (18), a wireless charger (19) and a wireless data transmitter (20).
CN201922033148.6U 2019-11-22 2019-11-22 Resident type autonomous underwater robot with seabed heat flow detection function Active CN210942200U (en)

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CN201922033148.6U CN210942200U (en) 2019-11-22 2019-11-22 Resident type autonomous underwater robot with seabed heat flow detection function

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Application Number Priority Date Filing Date Title
CN201922033148.6U CN210942200U (en) 2019-11-22 2019-11-22 Resident type autonomous underwater robot with seabed heat flow detection function

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112722217A (en) * 2020-12-31 2021-04-30 浙江大学 Seabed charging type crawling dual-mode underwater vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112722217A (en) * 2020-12-31 2021-04-30 浙江大学 Seabed charging type crawling dual-mode underwater vehicle

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