CN211167349U - Optical fiber compensation device for underwater robot - Google Patents
Optical fiber compensation device for underwater robot Download PDFInfo
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- CN211167349U CN211167349U CN201922035015.2U CN201922035015U CN211167349U CN 211167349 U CN211167349 U CN 211167349U CN 201922035015 U CN201922035015 U CN 201922035015U CN 211167349 U CN211167349 U CN 211167349U
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Abstract
The utility model belongs to the technical field of underwater robot, in particular to optical fiber compensation device for underwater robot. Including last kuppe, bear the frame, kuppe, optic fibre armour cable down, optic fibre group and image acquisition device, wherein bear the frame the upper and lower end and be equipped with kuppe and kuppe down respectively, the top of bearing the frame is equipped with hinge structure, hinge structure is used for being connected with the optic fibre armour cable that the kuppe introduced from last, be equipped with the optic fibre group and the image acquisition device of being connected with optic fibre armour cable in the bearing the frame, image acquisition device sets up in the top of optic fibre group, the optic fibre micro-cable of drawing forth by optic fibre group stretches out and is connected with underwater robot from kuppe down. The utility model discloses an underwater robot provides surface of water optical fiber compensation, can be applied to all underwater robot who adopts optical fiber communication, makes the operator can real time monitoring go out fine state and the optic fibre surplus condition at the surface of water, has liberated the manpower of management surface of water optic fibre, has improved the site work efficiency.
Description
Technical Field
The utility model belongs to the technical field of underwater robot, in particular to optical fiber compensation device for underwater robot.
Background
An ARV (Autonomous Underwater Vehicle) is a new concept of Underwater robot that combines the advantages of a remote Operated Underwater Robot (ROV) and an Autonomous Underwater robot (AUV), which has an energy source and communicates with a mother vessel through an optical fiber. The ARV can adopt a semi-autonomous detection mode, namely the ARV cruises according to a preset instruction to realize large-range detection, an operator does not intervene in the navigation, the ARV state is monitored in real time through a micro optical fiber, the acousto-optic imaging of a detection system is obtained in real time, and meanwhile, the navigation instruction can be interrupted or corrected in real time; the operation can also be carried out in a remote control mode, namely, the operation is carried out in a conventional ROV mode, and an operator carries out detection operation by remotely controlling an ARV through an optical fiber to carry out fixed-point sampling operation; an autonomous remote control hybrid mode can be adopted, namely the ARV cruises and detects according to a preset instruction, when an operator finds an interested event, the operator can manually or automatically switch to a fixed-point operation control mode, and large-range autonomous detection and fixed-point remote control operation are organically combined.
Compared with an ROV umbilical cable, the optical fiber micro cable has the advantages of small diameter, light weight and the like, is slightly negative buoyancy in water, and can meet the communication and length requirements by respectively placing an optical fiber group at the carrier end of the robot and the water surface end of a mother ship. The breaking force of the optical fiber micro cable product is about 100N, but the optical fiber micro cable product is easy to break under the bending force, so that the communication is interrupted, particularly when the robot is laid, the spiral force generated by winding the optical fiber micro cable is easy to cause the extending optical fiber to be knotted and broken in the air, and in addition, in the submergence and navigation processes of the underwater robot, the optical fiber released by the water surface end is easy to move to the bottom of a ship along with the ocean current and is rolled into a propeller.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model aims to provide an optical fiber compensation device for underwater robot is applicable to all ARVs, has the commonality, has liberated the manpower of management surface of water optic fibre simultaneously.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an optical fiber compensation device for an underwater robot comprises an upper air guide sleeve, a bearing frame, a lower air guide sleeve, an optical fiber armored cable, an optical fiber group and an image acquisition device, wherein the upper end and the lower end of the bearing frame are respectively provided with the upper air guide sleeve and the lower air guide sleeve, the top of the bearing frame is provided with a hinged structure, the hinged structure is used for being connected with the optical fiber armored cable introduced from the upper air guide sleeve, the bearing frame is internally provided with the optical fiber group and the image acquisition device which are connected with the optical fiber armored cable, the image acquisition device is arranged above the optical fiber group, and an optical fiber micro cable led out by the optical fiber group extends out of the lower air guide sleeve and is connected with the underwater robot.
The hinged structure comprises a support, an adapter and a bearing head, wherein the support is arranged at the top of the bearing frame, the adapter is arranged on the support, the adapter is of a cross hinge structure, the bearing head is connected to the end portion of the optical fiber armor cable, and the bearing head is hinged to the adapter.
The optical fiber group is clamped and fixed through an optical fiber group hoop, the optical fiber group hoop is connected with the bearing frame through an hoop fixing frame, and the optical fiber group is connected with the optical fiber armor cable through an optical fiber jumper.
The upper air guide sleeve is of a conical structure, and an opening for the optical fiber armor cable to pass through is formed in the top of the upper air guide sleeve.
The lower air guide sleeve is of a conical structure, a water through hole is formed in the side wall of the lower air guide sleeve, a through hole is formed in the bottom of the lower air guide sleeve, and a guide structure used for the optical fiber micro cable to penetrate through is arranged in the through hole.
The guide structure comprises a protective sleeve and a nut, wherein the protective sleeve is of a stepped shaft structure, the protective sleeve is arranged on the optical fiber micro cable, one end of the optical fiber micro cable penetrates through the through hole in the bottom of the lower air guide sleeve, and the nut is in threaded connection with one end of the protective sleeve and fixes the protective sleeve on the lower air guide sleeve.
The image acquisition device comprises an illuminating lamp and a standard definition camera, wherein the illuminating lamp and the standard definition camera are respectively installed on the bearing frame through an illuminating lamp support and a standard definition camera support, and the illuminating lamp and the standard definition camera are respectively connected with the optical fiber armor cable through cables.
The installation positions of the illuminating lamp and the standard definition camera are mutually vertical.
The bearing frame comprises a protective net, and a top seat and a base which are arranged at two ends of the protective net, and the protective net is in a cylindrical hollow structure.
The protective net is formed by four net pieces of a quarter-sector structure in a surrounding mode, and two adjacent net pieces are connected through a vertical beam.
The utility model discloses an advantage does with positive effect:
1. the utility model provides the security of management optic fibre has been promoted. The device moves the optical fiber group at the water surface end to 20-100 meters underwater, can reduce the interference of water surface surge and a mother ship to optical fiber communication, ensures the stability of a communication link, and reduces unnecessary laying and recycling times of the underwater robot, thereby improving the working efficiency of the underwater robot.
2. The utility model discloses the manpower has been liberated. The device can liberate people from the optical fiber on the water surface only by management
When the underwater robot and the device are arranged, the optical fiber micro cable is protected from being interfered by bending and a mother ship.
3. The utility model discloses be convenient for maintain. The air guide sleeve and the protective net are easy to disassemble, equipment, cables and optical fiber bundles in the device are convenient to replace, and the operability is high.
4. The utility model discloses the commonality is strong. The device is suitable for all underwater robots adopting optical fiber communication, provides optical fiber compensation for the underwater robots, and can monitor the working state of the optical fiber in real time.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a partial cross-sectional view of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is an enlarged view taken at I in FIG. 3;
fig. 6 is a schematic view of the present invention.
Wherein: 1 is last kuppe, 2 is the protection network, 3 is down kuppe, 4 is optic fibre armour cable, 5 is the bearing head, 6 is the adapter, 7 is the support, 8 is the footstock, 9 is the optic fibre wire jumper, 10 is the optic fibre group, 11 is perpendicular roof beam, 12 is the base, 13 is the light, 14 is the light support, 15 is the standard definition camera, 16 is the staple bolt of optic fibre group, 17 is the staple bolt mount, 18 is the light cable, 19 is the standard definition camera cable, 20 is the optic fibre micro-cable, 21 is the protective sheath, 22 is the nut, 23 is for rolling over the arm and hangs.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the utility model provides a pair of optical fiber compensation device for underwater robot, including last kuppe 1, load-bearing frame, kuppe 3 down, optic fibre armour cable 4, optic fibre group 10 and image acquisition device, wherein load-bearing frame's upper and lower end is equipped with kuppe 1 and kuppe 3 down respectively, load-bearing frame's top is equipped with hinge structure, hinge structure is used for being connected with optic fibre armour cable 4 that the kuppe 1 introduced from the top, be equipped with optic fibre group 10 and the image acquisition device of being connected with optic fibre armour cable 4 in the load-bearing frame, image acquisition device sets up in the top of optic fibre group 10, the optic fibre micro cable 20 of drawing forth by optic fibre group 10 stretches out and is connected with underwater robot from kuppe 3 down.
The bearing frame comprises a protective net 2, and a top seat 8 and a base 12 which are arranged at two ends of the protective net 2, wherein the protective net 2 is in a cylindrical hollow structure.
The embodiment of the utility model provides an in, protection network 2 is enclosed by the net piece of four quadrant fan-shaped structures and closes and form, connects through a perpendicular roof beam 11 between two adjacent net pieces. Four vertical beams 11 are uniformly arranged, and two ends of each vertical beam are respectively connected with the top seat 8 and the base 12, so that the whole device is of a shuttle-type structure, and the net-shaped structure of the protective net 2 is convenient for observing the installation condition of internal equipment and binding cables from the outside.
The hinged structure comprises a support 7, an adapter 6 and a bearing head 5, wherein the support 7 is arranged at the top of the bearing frame, the adapter 6 is arranged on the support 7, the adapter 6 is of a cross hinge structure, the bearing head 5 is connected with the end part of the optical fiber armored cable 4 through vulcanization, and the bearing head 5 is hinged with the adapter 6 through a pin shaft.
As shown in fig. 4, the optical fiber group 10 is clamped and fixed by the optical fiber group hoop 16, the optical fiber group hoop 16 is connected with the vertical beam 11 of the carrying frame by the hoop fixing frame 17, and the optical fiber group 10 is connected with the optical fiber armor 4 by the optical fiber jumper 9.
The upper air guide sleeve 1 and the lower air guide sleeve 3 are both conical thin-wall structures, so that the device has better streamline and portability, and meanwhile, the optical fiber is prevented from being wound with the device. The top of the upper air guide sleeve 1 is provided with an opening for the optical fiber armor cable 4 to pass through, so that the optical fiber armor cable 4, the bearing head 5, the adapter 6 and the support 7 can penetrate through and be connected with the top seat 8 after being assembled. The lower air guide sleeve 3 is connected with the base 12, a water through hole is arranged on the side wall of the lower air guide sleeve, a through hole is arranged at the bottom of the lower air guide sleeve 3, and a guide structure for the optical fiber micro cable 20 to penetrate through is arranged in the through hole.
In the embodiment of the utility model, the waist-shaped water through holes of six equipartitions are opened on the conical surface of the lower air guide sleeve 3, which is convenient for the device to enter water and discharge water after water outlet.
As shown in fig. 5, the guiding structure includes a protecting sleeve 21 and a nut 22, wherein the protecting sleeve 21 is a stepped shaft structure, the protecting sleeve 21 is sleeved on the optical fiber micro cable 20, and one end of the protecting sleeve passes through a through hole at the bottom of the lower dome 3, the nut 22 is in threaded connection with one end of the protecting sleeve 21, so as to fix the protecting sleeve 21 on the lower dome 3. The optical fiber micro cable 20 passes through the protective sleeve 21, and the protective sleeve 21 plays a role in guiding and limiting the outgoing fiber.
As shown in fig. 3, the image capturing device includes an illuminating lamp 13 and a standard definition camera 15, wherein the illuminating lamp 13 and the standard definition camera 15 are respectively mounted on the vertical beam 11 of the carrying frame through an illuminating lamp bracket 14 and a standard definition camera bracket, and the illuminating lamp 13 and the standard definition camera 15 are respectively connected with the optical fiber armor cable 4 through an illuminating lamp cable 18 and a standard definition camera cable 19.
Further, the installation positions of the illuminating lamp 13 and the standard definition camera 15 are perpendicular to each other, so that the illuminating lamp 13 and the standard definition camera 15 are perpendicular to each other, the two devices are installed at 45 degrees downwards in an inclined mode, the upper end face of the optical fiber group 10 is made of transparent materials, scales are marked, and the fiber state and the residual situation of the optical fibers can be clearly seen at the water face end.
The optical fiber armored cable 4 is a photoelectric composite cable and is connected with the bearing head 5 through vulcanization, two sides of the bearing head 5 are connected with the adapter 6 through pin shafts, the adapter 6 is of a cross hinge structure and is connected with the support 7 through pin shafts, the support 7 is connected with a middle cross beam of the top base 8, and the structure can enable the device to swing back and forth or left and right along with ocean currents, so that bending of the optical fiber armored cable 4 is reduced. The optical fiber armor 4 penetrates through the adapter 6 and the support 7, the internal cable is connected with the illuminating lamp cable 18 and the standard definition camera cable 19, the internal optical fiber is welded with the optical fiber jumper 9, the outside is vulcanized, and the other end of the optical fiber jumper 9 is connected with the optical fiber group 10.
As shown in fig. 6, the device is placed in water through a folding arm crane 23, and in the embodiment of the present invention, the optical fiber armor cable 4 is coiled on a winch and is connected into the device by bypassing a pulley. The optical fiber micro cable 20 extending out of the device needs to be welded with the optical fiber group at the carrier end of the underwater robot in advance, and the device is laid after the underwater robot submerges and is recycled before the underwater robot floats.
The utility model discloses a theory of operation does:
the optical fiber compensation device for the underwater robot uses a top seat 8, a vertical beam 11, a frame connected with a base 12 and a protective screen 2 as a bearing device, an upper air guide sleeve 1 and a lower air guide sleeve 3 are used as air guide and fiber winding prevention structures, a component connected with a protective sleeve 21 and a nut 22 is used as an optical fiber guide structure, optical fiber armor cables 4, a bearing head 5, an adapter 6 and a support 7 are sequentially connected to form a communication link and a protective structure of photoelectric signals, an optical fiber jumper wire 9 connected with an optical fiber cluster 10, an illuminating lamp cable 18 and a standard definition camera cable 19 are connected into the optical fiber armor cables 4 in a vulcanization mode, and the device is laid and recovered through a folding arm hanger 23.
To sum up, the utility model provides an optical fiber compensation device for underwater robot can be applied to all underwater robots who adopt optical fiber communication, for underwater robot provides the surface of water optical fiber compensation, makes the operator can real time monitoring go out fine state and the optic fibre surplus condition at the surface of water, has liberated the manpower, has reduced the interference of surface of water surge and mother's ship to optical fiber communication, has improved underwater robot's work efficiency.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. The optical fiber compensation device for the underwater robot is characterized by comprising an upper air guide sleeve (1), a bearing frame, a lower air guide sleeve (3), an optical fiber armor cable (4), an optical fiber cluster (10) and an image acquisition device, wherein the upper end and the lower end of the bearing frame are respectively provided with the upper air guide sleeve (1) and the lower air guide sleeve (3), the top of the bearing frame is provided with a hinged structure, the hinged structure is used for being connected with the optical fiber armor cable (4) led in from the upper air guide sleeve (1), the bearing frame is internally provided with the optical fiber cluster (10) and the image acquisition device which are connected with the optical fiber armor cable (4), the image acquisition device is arranged above the optical fiber cluster (10), and the optical fiber micro cable (20) led out from the optical fiber cluster (10) extends out of the lower air guide sleeve (3) and is connected with the underwater robot.
2. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the hinge structure comprises a support (7), an adapter (6) and a bearing head (5), wherein the support (7) is disposed on the top of the bearing frame, the adapter (6) is disposed on the support (7), the adapter (6) is a cross hinge structure, the bearing head (5) is connected to the end of the optical fiber armor cable (4), and the bearing head (5) is hinged to the adapter (6).
3. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the optical fiber clew (10) is clamped and fixed by an optical fiber clew hoop (16), the optical fiber clew hoop (16) is connected with the carrying frame by a hoop fixing frame (17), and the optical fiber clew (10) is connected with the optical fiber armor cable (4) by an optical fiber jumper (9).
4. Optical fiber compensation device for underwater robots according to claim 1, characterized in that the upper dome (1) is of conical structure and is provided at the top with an opening for the passage of the optical fiber armor (4).
5. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the lower air guide sleeve (3) is a conical structure with a water through hole on a side wall, a through hole is formed in the bottom of the lower air guide sleeve (3), and a guide structure for the optical fiber micro cable (20) to pass through is arranged in the through hole.
6. The optical fiber compensation device for the underwater robot as claimed in claim 5, wherein the guiding structure comprises a protective sleeve (21) and a nut (22), wherein the protective sleeve (21) is a stepped shaft structure, the protective sleeve (21) is sleeved on the optical fiber micro cable (20) and has one end penetrating through a through hole at the bottom of the lower air guide sleeve (3), and the nut (22) is in threaded connection with one end of the protective sleeve (21) to fix the protective sleeve (21) on the lower air guide sleeve (3).
7. Optical fiber compensation device for underwater robots according to claim 1, characterized in that the image acquisition device comprises an illumination lamp (13) and a standard definition camera (15), wherein the illumination lamp (13) and the standard definition camera (15) are respectively mounted on the carrying frame by an illumination lamp bracket (14) and a standard definition camera bracket, and the illumination lamp (13) and the standard definition camera (15) are respectively connected with the optical fiber armor cable (4) by a cable.
8. The optical fiber compensation device for an underwater robot according to claim 7, wherein the installation positions of the illumination lamp (13) and the standard definition camera (15) are perpendicular to each other.
9. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the bearing frame comprises a protective net (2), and a top seat (8) and a base (12) which are arranged at two ends of the protective net (2), and the protective net (2) is a cylindrical hollow structure.
10. The optical fiber compensation device for the underwater robot as claimed in claim 9, wherein the protective net (2) is formed by enclosing four net pieces with a quarter-sector structure, and two adjacent net pieces are connected through a vertical beam (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922035015.2U CN211167349U (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922035015.2U CN211167349U (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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| CN211167349U true CN211167349U (en) | 2020-08-04 |
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| CN201922035015.2U Active CN211167349U (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829902A (en) * | 2019-11-22 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Optical fiber compensation device for underwater robot |
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2019
- 2019-11-22 CN CN201922035015.2U patent/CN211167349U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829902A (en) * | 2019-11-22 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Optical fiber compensation device for underwater robot |
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