CN112810781A - Novel streamline underwater robot - Google Patents
Novel streamline underwater robot Download PDFInfo
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- CN112810781A CN112810781A CN202110270612.2A CN202110270612A CN112810781A CN 112810781 A CN112810781 A CN 112810781A CN 202110270612 A CN202110270612 A CN 202110270612A CN 112810781 A CN112810781 A CN 112810781A
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- underwater robot
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- buoy
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 17
- 239000006260 foam Substances 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241001474374 Blennius Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
- B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
本发明公开了一种新型的流线型水下机器人，包括主舱模块、透明头舱、尾舱、动力模块、摄像头装置、照明灯装置和铝合金支架，所述主舱模块上设置有电缆防水接头，且主舱模块的外壁通过支撑部件设置有动力模块，且照明灯装置的外表面固顶连接有铝合金支架，所述主控板和电机驱动控制装置与动力模块电连接，且遥控显示模块和浮标模块的外表面下端固定连接有泡沫板。该新型的流线型水下机器人，设置类水滴状的流线体外形减少水下阻力；水下机器人通过半有缆方式控制，保证视频信号从水下摄像头采集传输视频给浮标，再通过无线电持续传输给地面，避免出现信号传输中断等情况，保证水下机器人的运转达到正常的使用条件。
The invention discloses a novel streamlined underwater robot, comprising a main cabin module, a transparent head cabin, a tail cabin, a power module, a camera device, a lighting device and an aluminum alloy bracket, and the main cabin module is provided with a cable waterproof joint , and the outer wall of the main cabin module is provided with a power module through the supporting member, and the outer surface of the lighting device is fixedly connected with an aluminum alloy bracket, the main control board and the motor drive control device are electrically connected with the power module, and the remote control display module A foam board is fixedly connected with the lower end of the outer surface of the buoy module. The new streamlined underwater robot is equipped with a water drop-like streamline shape to reduce underwater resistance; the underwater robot is controlled by a semi-cable method to ensure that the video signal is collected and transmitted from the underwater camera to the buoy, and then continuously transmitted by radio To the ground, to avoid the interruption of signal transmission, etc., to ensure that the operation of the underwater robot reaches normal conditions of use.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a novel streamline underwater robot.
Background
The underwater robot is suitable for extreme operation robots in various water environments, the underwater environment is severe, and the diving depth of a person is limited, so the underwater robot becomes an important tool for developing underwater, when the underwater robot performs detection work underwater, the underwater robot can help reconnaissance, shooting and monitoring underwater conditions by using equipment carried by the underwater robot, the underwater robot can replace manual work for a long time under the water which is difficult to bear by a human body, the underwater robot is generally provided with a sonar system, a camera, an illuminating lamp and other devices, the speed of the underwater robot is greatly influenced by underwater resistance, so that a large amount of energy is used for counteracting the resistance, and the high-speed and long-time real-time video transmission is difficult to maintain under the water to achieve the operation effect;
secondly, when the underwater robot is used, the surface of the underwater robot is damaged due to water pressure in the process that the underwater robot is prone to deep submerging, and when the underwater robot is used, the moving direction and the moving position of the robot under the tree are easily affected to a certain degree due to the loading position in the power direction.
In order to solve the problems, innovative design is urgently needed on the basis of the original underwater robot structure.
Disclosure of Invention
The invention aims to provide a novel streamline underwater robot, which aims to solve the problems that the speed of the underwater robot is greatly influenced by underwater resistance, so that a large amount of energy is used for counteracting the resistance, high-speed and long-time real-time video transmission is difficult to maintain under water to achieve an operation effect, the surface of the underwater robot is damaged due to water pressure in the process that the underwater robot easily makes deep submergence when in use, and the moving direction and the position of the underwater robot are easily influenced to a certain extent due to the position loaded in the power direction when in use.
In order to achieve the purpose, the invention provides the following technical scheme: a novel streamline underwater robot comprises a main cabin module, a transparent head cabin, a tail cabin, a power module, a camera device, a lighting device and an aluminum alloy bracket, wherein a cable waterproof joint is arranged on the main cabin module, the outer wall of the main cabin module is provided with the power module through a supporting part, the cable waterproof joint is connected with a remote control display module and a buoy module through waterproof cables, the main cabin module comprises the transparent head cabin, the tail cabin, a main control board and a motor drive control device which are internally and electrically connected with each other, a gyroscope device, the camera device, the lighting device, a sonar device, a water carrying cabin and a water inlet and drainage channel device, the aluminum alloy bracket is fixedly connected with the outer surface of the lighting device in a propping manner, the main control board and the motor drive control device are connected with the remote control display module and the buoy module through the waterproof cables, and are electrically connected with the power module, the remote control display module and the buoy module comprise transparent waterproof covers, power supply devices, switch devices, signal transmitting and receiving devices and signal lamp devices which are electrically connected, and foam plates are fixedly connected to the lower ends of the outer surfaces of the remote control display module and the buoy module.
Preferably, the main cabin module is provided with a clamping groove matched with the aluminum alloy support on the outer wall, the aluminum alloy support is arranged in the clamping groove and is fastened by matching with a screw, and the main cabin module adopts a drop-like streamline shape to reduce underwater resistance.
Preferably, the transparent head cabin provides the protection for the camera device, and avoids sheltering from the camera device and make a video recording to the transparent head cabin passes through bolt fastening extrusion rubber pad and the connection of tail cabin.
Preferably, the power module comprises a motor, a propeller, a fixed support and a blade cover, the motor is fixedly arranged on the fixed support, the propeller is fixedly arranged at the output end of the motor, and the propeller is integrally arranged in the blade cover.
Preferably, the number of the power modules is four, two power modules are horizontally arranged, the other two power modules are vertically arranged, and the power modules are arranged on the fixed support clamping grooves of the main cabin module close to the tail portion.
Preferably, the water carrying bin and the water inlet and outlet channel device can control the self weight of the underwater robot and reduce underwater resistance.
Compared with the prior art, the invention has the beneficial effects that: the novel streamline underwater robot;
1. the appearance of a drip-like streamline body is arranged to reduce underwater resistance; the underwater robot is controlled in a semi-cabled mode, so that video signals are guaranteed to be collected and transmitted to the buoy from the underwater camera and then are continuously transmitted to the ground through radio, the situations of signal transmission interruption and the like are avoided, and the running of the underwater robot is guaranteed to reach normal use conditions;
2. the underwater robot has the advantages that a user can independently set the water quantity of the water carrying cabin according to the operation route of the underwater robot through the water carrying bin and the water inlet and outlet channel to further control the dead weight of the underwater robot, the underwater resistance is reduced, the underwater robot can be conveniently and effectively moved in use, certain stability is kept, the sinking height of the underwater robot in water can be controlled through the water flow of the water carrying bin, the underwater robot can be conveniently used at different heights, in addition, the movement of the underwater robot can be effectively controlled through the power modules with different angles in use, the adjustment in different directions can be effectively carried out, the propeller can be effectively protected through the arranged blade cover, the phenomenon that the propeller is wound with seaweed or garbage in use is avoided, the power loss of the underwater robot is avoided, in addition, the camera device is internally installed through the transparent head cabin in use, and power supply unit, signal transmitter and signal receiver are fixed in transparent buckler, effectual to camera device, power supply unit, signal transmitter and signal receiver etc. carry out effectual protection, avoid appearing soaking for a long time and cause the damage of camera, simultaneously through the gyroscope device that sets up, the sonar device, main control board and motor drive controlling means, remote control display module and buoy module, devices such as signal lamp device and cable water joint, the effectual robot energy of realization, the transmission of video and control signal between main cabin module part and remote control display module and buoy module part.
Drawings
FIG. 1 is a schematic structural view of a main deck module according to the present invention;
FIG. 2 is a schematic view of a transparent head chamber configuration of the present invention;
FIG. 3 is a schematic bottom view of the power module of the present invention;
fig. 4 is a schematic structural diagram of a remote control display module and a buoy module according to the present invention.
In the figure: 1. a main deck module; 101. a transparent head chamber; 102. a tail cabin; 2. a power module; 201. a camera device; 202. a gyroscope device; 203. a sonar device; 204. a water carrying bin and a water inlet and outlet channel device; 205. the main control board and the motor drive control device; 3. a remote control display module and a buoy module; 301. a signal lamp device; 302. a transparent waterproof cover; 303. a power supply device; 304. a switching device; 305. a waterproof cable; 4. a foam board; 5. a cable water joint; 6. an illumination lamp device; 7. an aluminum alloy bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a novel streamline underwater robot comprises a main cabin module 1, a transparent head cabin 101, a tail cabin 102, a power module 2, a camera device 201, a gyroscope device 202, a sonar device 203, a water carrying cabin and a water inlet and outlet channel device 204, a main control board and motor drive control device 205, a remote control display module and a buoy module 3, a signal lamp device 301, a transparent waterproof cover 302, a power supply device 303, a switch device 304, a waterproof cable 305, a foam board 4, a cable waterproof joint 5, a lighting lamp device 6 and an aluminum alloy support 7, wherein the main cabin module 1 is provided with the cable waterproof joint 5, the outer wall of the main cabin module 1 is provided with the power module 2 through a supporting part, the cable waterproof joint 5 is connected with the remote control display module and the buoy module 3 through the waterproof cable 305, the main cabin module 1 comprises the transparent head cabin 101, the tail cabin 102, and the main control board and the motor drive control device 205 which are internally and electrically connected with each other, Gyroscope device 202, camera device 201, lighting lamp device 6, sonar device 203 and carry the sump and advance drainage channel device 204, and lighting lamp device 6's the solid top of surface is connected with aluminum alloy support 7, main control board and motor drive controlling means 205 are connected with remote control display module and buoy module 3 through waterproof cable 305, main control board and motor drive controlling means 205 are connected with power module 2 electricity, remote control display module and buoy module 3 include transparent buckler 302, the power supply unit 303 of electricity connection, switching device 304, signal transmission receiver, signal lamp device 301, and remote control display module and buoy module 3's surface lower extreme fixedly connected with cystosepiment 4.
The main cabin module 1 is provided with the draw-in groove of cooperation aluminum alloy support 7 on the outer wall, and aluminum alloy support 7 arranges the draw-in groove in and cooperation screw fastening in, and main cabin module 1 adopts the streamlined body appearance of class water droplet form to reduce resistance under water, through above-mentioned structure, increases the smoothness degree of device when the aquatic is used.
The power module 2 comprises a motor, a propeller, a fixed support and a blade cover, wherein the motor is fixedly arranged on the fixed support, the propeller is fixedly arranged at the output end of the motor, and meanwhile, the propeller is integrally arranged in the blade cover.
The number of the power modules 2 is four, two power modules are horizontally placed, the other two power modules are vertically placed and are arranged on the fixed support clamping groove of the main cabin module 1 close to the tail portion, different power can be adjusted conveniently through the structure, and then the moving direction and the position of the adjusting device are adjusted.
Carry the dead weight of sump and water inlet and outlet channel device 204 steerable underwater robot, reduce underwater resistance, through above-mentioned structure, effectual adjusting device is at the degree of depth of aquatic to effectual carry out stable work with underwater robot.
The working principle is as follows: when the novel streamline underwater robot is used, according to the figure 1-2, the device is firstly placed at a position where the robot needs to work, a main cabin shell comprises a transparent head cabin 101 and a tail cabin 102, the transparent head cabin 101 provides protection for the camera device 201 and avoids shielding the camera device 201 for shooting, the transparent head cabin 101 is connected with the tail cabin 102 through a bolt fixing extrusion rubber gasket, the camera device 201, a gyroscope device 202, a sonar device 203, a water carrying cabin, a water inlet and drainage channel device 204, a main control panel, a motor driving control device 205 and a lighting lamp device 6 are powered by a power supply device 303 through cables, the cables are screwed through nut threads, built-in rubber sleeves are waterproof and are electrically connected with a buoy, a power module 2 support is waterproof through rubber gaskets which are fixed and extrude a main cabin shell support clamping groove, and the gyroscope device 202 and the sonar device 203 feed back information to the main control panel to realize the posture of the robot, Position, velocity, acceleration adjustments;
as shown in fig. 1 to 4, the buoy module includes: the power supply device 303 provides energy for hardware in the main cabin module 1 through the waterproof cable 305, and also provides energy for a signal transmitter and a signal receiver of the remote control display module and the buoy module 3, the power supply device 303, the signal transmitter and the signal receiver are fixed in the transparent waterproof cover 302, the transparent waterproof cover 302 is placed on an object with density far less than that of water to ensure that built-in parts are not contacted with the water and keep stable in posture, and in order to save cost, a foam plate 4 and the like can be adopted as materials;
the remote control display module consists of a handheld display, a wireless remote controller and a required signal line, the handheld display is suitable for an operator to operate and meets the resolution ratio which can be reached by video information, and the operator sends a wireless signal to the remote control display module and the buoy module 3 by operating the wireless remote controller;
according to the embodiment of the invention, the main cabin module 1 is connected with the power module 2 connected with the aluminum alloy support 7 through the aluminum alloy support 7, the underwater part model of the robot is formed through bolt fixing, the main cabin module 1 is connected with the remote control display module and the buoy module 3 through the waterproof cable 305 and the cable waterproof joint 5, the transmission of robot energy, video and control signals between the main cabin module 1 and the remote control display module and the buoy module 3 is realized, and the overall practicability is increased.
Those not described in detail in this specification are within the skill of the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110270612.2A CN112810781A (en) | 2021-03-12 | 2021-03-12 | Novel streamline underwater robot |
| CN202110557130.5A CN113184146A (en) | 2021-03-12 | 2021-05-21 | Novel streamline underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110270612.2A CN112810781A (en) | 2021-03-12 | 2021-03-12 | Novel streamline underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN112810781A true CN112810781A (en) | 2021-05-18 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110270612.2A Pending CN112810781A (en) | 2021-03-12 | 2021-03-12 | Novel streamline underwater robot |
| CN202110557130.5A Withdrawn CN113184146A (en) | 2021-03-12 | 2021-05-21 | Novel streamline underwater robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110557130.5A Withdrawn CN113184146A (en) | 2021-03-12 | 2021-05-21 | Novel streamline underwater robot |
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| CN (2) | CN112810781A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335480A (en) * | 2021-05-31 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent underwater robot with umbilical cable based on Beidou positioning |
| CN114179969A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Float for angling |
| CN118004384A (en) * | 2024-03-19 | 2024-05-10 | 哈尔滨工程大学 | Control system for microminiature shooting underwater robot |
| CN118168628A (en) * | 2024-03-12 | 2024-06-11 | 北京琨毅科技有限公司 | Cabled underwater robot positioning device and positioning method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118004387B (en) * | 2024-03-04 | 2024-08-23 | 中科探海(苏州)海洋科技有限责任公司 | Underwater robot with multiple propellers |
-
2021
- 2021-03-12 CN CN202110270612.2A patent/CN112810781A/en active Pending
- 2021-05-21 CN CN202110557130.5A patent/CN113184146A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335480A (en) * | 2021-05-31 | 2021-09-03 | 中国人民解放军海军工程大学 | Intelligent underwater robot with umbilical cable based on Beidou positioning |
| CN114179969A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Float for angling |
| CN118168628A (en) * | 2024-03-12 | 2024-06-11 | 北京琨毅科技有限公司 | Cabled underwater robot positioning device and positioning method thereof |
| CN118168628B (en) * | 2024-03-12 | 2024-08-09 | 北京琨毅科技有限公司 | Cabled underwater robot positioning device and positioning method thereof |
| CN118004384A (en) * | 2024-03-19 | 2024-05-10 | 哈尔滨工程大学 | Control system for microminiature shooting underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113184146A (en) | 2021-07-30 |
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Application publication date: 20210518 |
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