CN212479140U

CN212479140U - Movable submerged working device

Info

Publication number: CN212479140U
Application number: CN202021391855.9U
Authority: CN
Inventors: 彭沁; 段益群; 丛祝伟
Original assignee: Weihai Pu Whale Intelligent Equipment Co ltd
Current assignee: Weihai Pu Whale Intelligent Equipment Co ltd
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2021-02-05
Anticipated expiration: 2030-07-15

Abstract

The utility model discloses a mobilizable submerged operation device, including video signal collection system, interior cavity and have operation window's box, be used for providing the isolation structure who has got rid of the operation space of liquid and set up the arm to the box in the interior cavity of box, operation window communicates interior cavity, including the work portion that is used for carrying out the operation on the arm, the arm is at least partly located the operation space. The utility model discloses a mobilizable submerged operation device, simple structure, the operation convenience is good, through the operation environment that provides in the organism to reduce submerged operation and to operating equipment's performance requirement, thereby effectively reduce the development and the application cost of equipment.

Description

Movable submerged working device

Technical Field

The utility model belongs to the technical field of special operation equipment under the liquid, concretely relates to mobilizable submerged operation device is particularly suitable for adopting under multiple liquid environment such as inland river lake is under water, sewer, sea water and catches, maintain the device of operation such as maintenance, salvage.

Background

The submerged operation refers to the operation performed below the liquid level in the liquid environment, and generally speaking, when professional equipment is used, the relevant equipment is required to be in an immersed state, so that the quality of the corresponding equipment is higher, and the equipment is expensive and has extremely high acquisition, use and maintenance costs. The submerged operation can be performed under various complex and high-demand conditions such as underwater (including environments such as fresh water, salt water and sewage), oil and corrosive liquid (such as acid liquid, alkali liquid and the like).

Taking underwater salvage as an example, underwater salvage is an engineering for salvaging objects submerged in water, usually, when drilling underwater or even deep sea, occasionally, the situation that a drill bit is broken or falls to the water bottom occurs, at this time, a diver needs to dive into the water bottom to observe and explore, corresponding measures are made to cooperate to take out the drill bit, and objects with small weight can be directly taken out by the diver. The prior method for salvaging the drill bit or other objects mainly has the following defects:

(1) the safety is poor, a diver needs to enter deep water to grope, and great risks are brought to the personal safety of the diver.

(2) The visibility is poor, and under the state of deep water especially muddy water, the diver generally can carry lighting apparatus to get into the aquatic and carry out the reconnaissance, because the influence of aquatic suspended solid, illumination and camera effect are extremely poor, make diver's work efficiency greatly reduced, simultaneously, the time that the diver waited for in the aquatic is longer, and the risk is also higher.

(3) The diver can not see the shot image underwater, the water surface is required to command the diver to adjust the shooting angle, position, direction and the like, and the diver is difficult to conveniently adjust on the land due to the particularity of the underwater operation environment, so that the diver is difficult to obtain required image data.

Similarly, current underwater fishing operations, such as marine fishing, suffer from the aforementioned problems, which severely affect the efficiency and safety of marine fishing.

Disclosure of Invention

An object of the utility model is to provide a mobilizable submerged operation device, simple structure, the operation convenience is good, through the operation environment that provides in the organism to reduce submerged operation and to operating equipment's performance requirement, thereby effectively reduce the development and the application cost of equipment.

The utility model discloses a mobilizable submerged operation device, including video signal collection system, interior cavity and the box that has operation window, an isolation structure and the arm that sets up the box (preferred arm directly sets up in the interior cavity of box) that is used for providing the operation space of having got rid of liquid (liquid here indicates the liquid of the operational environment that this mobilizable submerged operation device is injectd, just indicate water etc. for example when under water the work) in the interior cavity of box, operation window communicates interior cavity, including the work portion that is used for carrying out the operation on the arm, the arm is at least partially located the operation space.

The utility model discloses an improvement of mobilizable submerged operation device, the box is semi-closed when operating condition, and the interior cavity in the box forms the high open position of highest level in operation window department this moment (the horizontal position at operation window place is injectd the lower border that is located for operation space in the interior cavity promptly).

The utility model discloses an improvement of mobilizable submerged operation device, isolation structure is at least including being used for forming the air supply in operation space to providing gaseous environment in the interior cavity.

The utility model discloses an improvement of mobilizable submerged operation device, the air supply is compressed air package (including but not limited to high-pressure air tank etc.) or high compression pump.

The utility model discloses an improvement of mobilizable submerged operation device, compressed air package sets up in interior cavity.

The utility model discloses an improvement of mobilizable submerged operation device still is provided with the control valve that is used for controlling air feed between control air supply and the operation space on the gas circuit that forms between air supply and the operation space.

The utility model discloses an improvement of mobilizable submerged operation device, the work portion includes manipulator or cutting knife.

The utility model discloses an improvement of mobilizable submerged operation device can also be provided with the power equipment that is used for providing power to work portion and arm on work portion and/or the arm.

The utility model discloses an improvement of mobilizable submerged operation device, power equipment include motor or cylinder or pneumatic cylinder.

The utility model discloses an improvement of mobilizable submerged operation device, mobilizable submerged operation device still including being used for driving its walking or the removal elevating gear that goes up and down, should remove elevating gear and box and be connected. Preferably, the moving/lifting device comprises a crawler-type traveling mechanism or a wheel-type traveling mechanism (the wheels include other special-shaped wheel structures besides the wheels in the conventional sense) or a screw traveling mechanism (a structure which utilizes a screw spiral structure to propel and moves along with the rotation of the screw), or a propeller or a pump propeller (mainly comprises equipment which takes the outlet jet of the jet orifice as power), and the like, which are arranged on the box body.

The utility model discloses a mobilizable submerged operation device has built the safe environment that is favorable to the operation in its inside through the isolation of box to reduce submerged operation effectively and like waterproof, corrosion-resistant, anticreep the requirement of aspects such as aspect to the operation equipment quality, thereby reduced submerged operation equipment's purchase and application maintenance cost effectively.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic block diagram of one embodiment of a mobile submerged working apparatus of the present application;

FIG. 2 is a schematic diagram of a robotic arm of one embodiment of the mobile submerged working apparatus of the present application;

fig. 3 is a schematic configuration diagram of an embodiment of the mobile submerged working apparatus of the present application.

Detailed Description

The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.

The utility model discloses an implementation mode of a movable submerged operation device, taking seabed fishing as an example (when carrying out other operations, the similar functions shown in the technical scheme stated below can be realized equally), the device comprises an inner cavity and a box body 01 with an operation window, at the moment, the box body 01 can be a square box structure or a cylindrical box structure or other forms of structures, the bottom of which is provided with an open operation window;

the video signal acquisition device 02, such as a video camera, a video camera 02, a still camera, etc., for acquiring the video image signal of the seabed, may be disposed in the box 01 or outside the box 01, especially outside, and should be disposed at least near the operation window so as to bring the operation interface provided by the operation window into the window range of signal acquisition, thereby assisting the underwater operation to determine the position of the acquisition object. Of course, the camera and the like may be provided at other positions, for example, in the front-rear and left-right directions for observing the environment such as an obstacle when the working device moves under liquid, thereby facilitating the operation.

The isolation structure is used for providing an operation space excluding liquid in the inner cavity of the box body 01, and the isolation can be physical isolation such as an isolation plate, an isolation cover and the like, and can also be achieved through a plurality of modes of multiphase interfaces such as a water-gas interface, an oil-water interface and the like; as a possible scheme of the part of the box body 01 shown in FIG. 2, the box body 01 can be implemented in a way that the opening is positioned at the bottom and the other positions are totally closed (in order to obtain good air tightness at other positions), so that when fishing in the sea, the opening is firstly filled with enough air downwards and the inner cavity, and the process can be continuously carried out in the descending process of the working device (for example, air is supplied through an air pipe and the like by a water surface facility or a shore-based facility such as a compressed air pump, and the air pipe or the air pump can be provided with a control valve for controlling the input of the air; of course, the air can be controllably discharged through a high-pressure air bottle arranged in the inner cavity in the descending process, and the air bottle is arranged at any position in the cavity or any position outside the cavity without special requirements, so that the function of the box body can be realized, and the air pipe formed by the air bottle can also be provided with the control valve with, when the working depth is large, the box body 01 is thrown into a working space with enough air;

for the wire feeding operation, the mechanical arm 05 arranged in the box body 01 is provided with a working part 06 for executing the operation, at this time, due to the existence of the operation space filled with air, the main body of the mechanical arm 05 can be in the operation space without strong pertinence protection design, such as waterproof and anticorrosion taking immersion as a mark, the box body 01 can be sunk during the operation, at this time, the lower opening is directly attached to the seabed, and most of the mechanical arm 05 is directly positioned in the operation space filled with air; of course, the box 01 can be suspended at a proper distance from the seabed by controlling the suspension force, and at this time, the robot arm 05 can be extended out of the operation window formed by the opening, such as the robot arm or the cutting knife of the working part, or partially extended into the seabed to pick up and catch the marine products, and at this time, the design with high waterproof grade is determined according to the situation of the parts, such as the part of the water operation (the design can be considered from various angles of structure, material, etc., and the invention is also suitable for the statement of the scheme in other parts).

In the above-mentioned embodiments, the box 01 of the working device may have other shapes as desired, as long as the box 01 is semi-closed in the working state and a good working space is obtained through the operation window, such as the same by filling gas.

In the scheme including but not limited to above, the working parts include manipulators or cutting knives or other working tools such as welding equipment repair equipment and the like, and because the working parts can be operated without being penetrated into the liquid level in the implementation process of the scheme, for example, when the bottom is sunk or a platform is operated, the liquid in the working space can be fully discharged by adjusting the box body 01 to a proper position, so that the operation requirement is met, for example, the traditional high-requirement underwater welding is changed into the operation under the gas atmosphere. Preferably, in order to realize the operation of the robot arm 05 or the manipulation of the working part, each may be further provided with a power device for supplying power to the working part and the robot arm 05. The adjustment or operation of the mechanical arm 05 is realized through the power equipment, the operation can be automatic operation or controlled operation, and the power equipment can be a motor (such as a motor driving a cutting knife to perform cutting operation) or an air cylinder or a hydraulic cylinder and the like (such as the air cylinder or the hydraulic cylinder driving the mechanical arm 05 to move or a claw of the mechanical arm to move and the like).

In the above-described aspects including but not limited to, the movable submerged working apparatus further includes a moving/lifting device for driving the same to travel or lift, and the moving/lifting device is connected to the tank 01. The moving/lifting device comprises a crawler-type travelling mechanism or a wheel-type travelling mechanism or a screw travelling mechanism or a propeller 03 or a pump propeller and the like which are arranged on the box body 01.

As shown in fig. 1-3, a seabed fishing device is shown, a pair of crawler belt traveling devices 04 is arranged on two sides of a box body 01 in a traveling direction, a working environment is formed in the box body by air, the crawler belt traveling is driven by a motor, a camera 021 is also arranged on the box body 01, the camera can be used for monitoring the working direction, such as the working space and the position of a working window shown in fig. 2, so that convenience is provided for the operation of a mechanical arm 05 in an inner cavity of the box body 01, the operations of automatically picking up marine products or remotely controlling and picking up by an operator through video, and the picking up operation can be carried out by a mechanical claw operated by the mechanical arm 05 shown in fig. 2, and the mechanical claw is picked up by a driving air cylinder 062 arranged at the base of the mechanical. In the case of the arrangement of the solution in fig. 1, the working device can perform a sinking operation, that is, the working device can perform a working operation by walking to a new position through the crawler belt when performing a working operation, and of course, the working device can be moved by lifting the box 01 to a certain distance after the propeller 03 on the box 01 is started, where the movement can be performed by the lateral propeller 03 shown in fig. 3, or by a ship on the sea surface through a hauling rope, in short, the propeller 03 shown in fig. 1 performs a movement of the working device in the height direction, where the propeller 03 is arranged at the side of the box, on the mounting structure 041 above the crawler belt, which is arranged on one mounting plate in the figure, and the propeller 03 shown in fig. 3 performs a movement in the front-back direction in which the crawler belt travels, although the propeller 03 can be arranged in other directions, if the working device is arranged to move laterally perpendicular to the direction of travel of the crawler, the working device can be arranged to move laterally, but of course, the working device can be arranged to move to other directions. Of course, fig. 1-3 do not show a source for the input gas, such as a connecting gas tube or a gas cylinder, which can be implemented.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The movable submerged operation device comprises a video signal acquisition device, an inner cavity, a box body with an operation window and a mechanical arm arranged on the box body, wherein the operation window is communicated with the inner cavity, the mechanical arm comprises a working part for executing operation, the movable submerged operation device is characterized by further comprising an isolation structure for providing an operation space excluding liquid in the inner cavity of the box body, and at least part of the mechanical arm is positioned in the operation space.

2. Mobile submerged working apparatus according to claim 1, characterised in that the tank is semi-enclosed in the working position, in which case the internal cavity in the tank forms an open position with the highest level at the operating window.

3. Mobile submerged working apparatus according to claim 1, wherein the insulation structure comprises at least a gas source for providing a gas environment into the inner cavity to form the working space.

4. Mobile submerged working apparatus according to claim 3, wherein the gas source is a compressed air bag or a high pressure air pump.

5. Mobile submerged working apparatus according to claim 4, wherein the compressed air bag is disposed in an internal cavity.

6. Mobile underwater working device according to claim 5, characterized in that a control valve for controlling the supply of air between the air source and the working space is further provided on the air path formed between the air source and the working space.

7. Mobile submerged working apparatus according to claim 6, wherein power means for powering the working portion and the robotic arm may also be provided on the working portion and/or the robotic arm.

8. Mobile submerged working apparatus according to claim 7, wherein the power plant comprises an electric motor or an air or hydraulic cylinder.

9. Mobile submerged working apparatus according to any one of claims 1 to 8, further comprising a moving/elevating means for driving the mobile submerged working apparatus to travel or ascend and descend, the moving/elevating means being connected to the tank.

10. Mobile submerged working apparatus according to claim 9, wherein the moving/lifting means comprise a crawler-type travelling mechanism or a wheel-type travelling mechanism or a screw-type travelling mechanism or a propeller or a pump-type propeller provided on the tank.