CN209290645U - A kind of deformable autonomous underwater vehicle - Google Patents
A kind of deformable autonomous underwater vehicle Download PDFInfo
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- CN209290645U CN209290645U CN201821781484.8U CN201821781484U CN209290645U CN 209290645 U CN209290645 U CN 209290645U CN 201821781484 U CN201821781484 U CN 201821781484U CN 209290645 U CN209290645 U CN 209290645U
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- light shell
- underwater vehicle
- autonomous underwater
- neutral buoyancy
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- 230000007935 neutral effect Effects 0.000 claims abstract description 55
- 230000005484 gravity Effects 0.000 claims abstract description 23
- 238000005286 illumination Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000005070 sampling Methods 0.000 abstract description 3
- 238000011835 investigation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 108010066278 cabin-4 Proteins 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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Abstract
The utility model relates to Naval Architecture and Ocean Engineering underwater kit technical fields, disclose a kind of deformable autonomous underwater vehicle.A kind of deformable autonomous underwater vehicle includes: permeable light shell, neutral buoyancy Work machine arm, pressure-resistant seal cabin, the light shell being arranged in permeable light shell go up and down module, ballast gravity adjustment module, energy module, depth measuring module, and propulsion die, illumination and photographing module outside permeable light shell is arranged in；Permeable light shell includes: fixed casing and liftable cover；Module, which is gone up and down, by light shell realizes the unlatching of fixed casing and liftable cover, closure；It include: communication module, positioning navigation module and control module in pressure-resistant seal cabin；Neutral buoyancy Work machine arm is telescopic to be mounted in permeable light shell, and after autonomous underwater vehicle reaches operating location, neutral buoyancy Work machine arm stretches out permeable light shell and starts operation.Utility model meets the application demands such as deep-sea scientific investigation, environmental monitoring, pipe detection, sampling, emergency rescue.
Description
Technical field
The utility model relates to Naval Architecture and Ocean Engineering underwater kit technical fields, and in particular to one kind is deformable, and nobody dives
Navigate device.
Background technique
The life of various mysteries has been bred in ocean, while also having contained various resources abundant.As China is raw to ocean
Order resource and Energy Resources Exploitation increasingly demand, autonomous underwater vehicle be developed into underwater kit research important directions it
One.
Currently, autonomous underwater vehicle is broadly divided into AUV (autonomous underwater submariner device) and ROV (having cable remote control type submersible), AUV
Usually there is good hydrodynamic force configuration design, have fast reserve operational capabilities, be generally used for detection of quickly cruising under water, no
Has fine manipulation ability.ROV needs to carry the attached body mechanism such as mechanical arm, thus difficult due to using mainly for complex job
To guarantee its hydrodynamic(al) force outer form, fast reserve ability is poor, and cruise energy consumption is high, is unsatisfactory for motor-driven a wide range of job requirements.
Therefore, it is necessary to propose a kind of deformable autonomous underwater vehicle, not only had the accurate job requirements of mechanical arm, but also can be under
It is latent to float and guarantee good hydrodynamic(al) force outer form when cruising, meet efficient, large-scale maneuverability.
Utility model content
The purpose of this utility model is: to meet underwater efficient, a wide range of flexibly AUTONOMOUS TASK, environmental monitoring, pipeline
The application demands such as detection, sampling, emergency rescue provide a kind of deformable autonomous underwater vehicle.
The technical solution of the utility model is: a kind of deformable autonomous underwater vehicle, comprising: permeable light shell is arranged in institute
State neutral buoyancy Work machine arm in permeable light shell, pressure-resistant seal cabin, light shell lifting module, ballast gravity adjustment module,
Propulsion die, illumination and photographing module outside the permeable light shell is arranged in energy module and depth measuring module；
The permeable light shell includes: fixed casing and the liftable cover above fixed casing；By described light outer
Shell lifting module drives the unlatching and closure of the permeable light shell of the liftable cover lifting realization；
Setting in the pressure-resistant seal cabin: for the communication module with lash ship real time communication, for being the unmanned submariner
Device provides the positioning navigation module of course line and location information, and the control neutral buoyancy Work machine arm, the light shell liter
Module, the ballast gravity adjustment module, the propulsion die, the control module illuminated with photographing module drop；
The ballast gravity adjustment module is used to adjust the buoyant state of the autonomous underwater vehicle；
The energy module is used to go up and down module, the ballast weight for the neutral buoyancy Work machine arm, the light shell
Power adjustment module, the propulsion die, the illumination provide the energy with photographing module；
The depth measuring module is used to measure the submerged depth of the autonomous underwater vehicle；
The propulsion die is for pushing the autonomous underwater vehicle to cruise；
The illumination is with photographing module for providing illumination for the autonomous underwater vehicle and producing image；
The neutral buoyancy Work machine arm is extended formula: when the permeable light shell is closed, the neutral buoyancy working rig
Tool arm is located inside permeable light shell；After the autonomous underwater vehicle reaches setting operating location, the neutral buoyancy Work machine
Arm stretches out permeable light shell operation under control module control.
The neutral buoyancy Work machine arm includes: the root cradle head being fixedly mounted in the fixed casing, connection institute
State root cradle head and the diarthrodial forearm of forward, connect the preceding cradle head with the middle arm for swinging up and down joint, connect institute
State swing up and down joint with the diarthrodial postbrachium of horizontal pendulum, connect the rotary joint in the horizontal hunting joint and manipulator；Institute
State neutral buoyancy Work machine arm have swing, upper and lower pitching and rotation three direction freedom degrees；Wherein described rotation is closed
Section realizes swinging for neutral buoyancy Work machine arm, the upper nutation for swinging up and down joint and realizing neutral buoyancy Work machine arm
It faces upward, the rotary joint realizes the rotation of neutral buoyancy Work machine arm.
By wrapping up buoyant material on the forearm, middle arm and postbrachium of the neutral buoyancy Work machine arm, make neutral buoyancy
Work machine arm is in neutral buoyancy state under water.
The utility model has the advantages that
Neutral buoyancy Work machine arm is telescopic in the utility model is arranged in permeable light shell, and permeable light shell has
The function with closure is opened, when cruising, permeable light shell closure is in AUV monoblock type contour structures, has good hydrodynamic(al) force outer form；
Permeable light shell is opened after reaching assigned work place, and the retractable of manipulator is realized in the cooperation of neutral buoyancy Work machine arm, real
Existing ROV mechanical arm work capacity, the utility model meets deep-sea scientific investigation, environmental monitoring, pipe detection, sampling, emergency are searched
The application demands such as rescue.
Detailed description of the invention
Fig. 1 is the outline structural diagram of the utility model；
Structural schematic diagram when Fig. 2 is the utility model open state；
Fig. 3 is the specific structural schematic diagram of the utility model；
Fig. 4 is the structural schematic diagram of pressure-resistant seal cabin in the utility model；
Fig. 5 is the course of work schematic diagram of the utility model.
Wherein: 1- autonomous underwater vehicle rotates before 2- neutral buoyancy Work machine arm, 21- root cradle head, 22- forearm, 23-
Arm, 25- swing up and down joint, 26- postbrachium, 27- horizontal hunting joint, 28- rotary joint, 29- manipulator, 3- in joint, 24-
The fixed casing of permeable light shell, 31-, 32- liftable cover, 4- pressure-resistant seal cabin, 41- communication module, 42- positioning navigation module,
43- control module, 5- light shell go up and down module, 51,52,53- hydraulic telescopic rod, 6- ballast gravity adjustment module, 7- energy mould
Block, 8- depth measuring module, 9- propulsion die, 10- illumination and photographing module.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail.
Embodiment 1:
Referring to attached drawing 1-3, the present embodiment provides a kind of deformable autonomous underwater vehicles, comprising: permeable light shell 3, setting exist
Neutral buoyancy Work machine arm 2, pressure-resistant seal cabin 4, light shell in permeable light shell 3 go up and down module 5, ballast gravity adjustment module
6, propulsion die 9, illumination and photographing module 10 outside permeable light shell 3 is arranged in energy module 7 and depth measuring module 8；
Referring to attached drawing 3, permeable light shell 3 includes: fixed casing 31 and the liftable cover 32 above fixed casing 31,
Liftable cover 32 forms permeable light shell 3 after docking with fixed casing 31；5 vertical lifting liftable of module is gone up and down by light shell
Cover 32, realizes the unlatching and closure of permeable light shell 3；In this example, it includes at least three sets of along liftable cover that light shell, which goes up and down module 5,
32 hydraulic telescopic rod 51,52,53 circumferentially, the fixing end of every set hydraulic telescopic rod are connect with fixed casing 31, telescopic end
It is connect with liftable cover 32.
Referring to attached drawing 4, pressure-resistant seal cabin 4 is arranged in the middle part of fixed 31 inner cavity of casing, setting in pressure-resistant seal cabin 4: uses
In realizing the communication module 41 with 100 real time communication of lash ship, for providing the positioning of course line and location information for autonomous underwater vehicle 1
Navigation module 42 and for neutral buoyancy Work machine arm 2, light shell lifting module 5, ballast gravity adjustment module 6, promote
The control module 43 that module 9, illumination are controlled with photographing module 10；
Ballast gravity adjustment module 6 is arranged on 4 top of pressure-resistant seal cabin, for adjusting the buoyancy of autonomous underwater vehicle 1；
The bottommost of fixed 31 inner cavity of casing is arranged in energy module 7, for being neutral buoyancy Work machine arm 2, light shell
It goes up and down module 5, ballast gravity adjustment module 6, propulsion die 9, illumination and photographing module 10 and the energy is provided；
The front of energy module 7 in fixed casing 31 is arranged in depth measuring module 8, for measuring autonomous underwater vehicle 1
Submerged depth；
Propulsion die 9 is arranged in the tail portion of permeable light shell 3, for pushing autonomous underwater vehicle 1 to cruise；In this example, promote
Module 9 includes at least one underwater vector propeller；
Illumination is arranged in the front end of permeable light shell 3 with photographing module 10, for providing illumination for autonomous underwater vehicle 1 and taking the photograph
It is imaged；
Neutral buoyancy Work machine arm 2 is mounted in permeable light shell 3, is extended formula, autonomous underwater vehicle 1 it is permeable light
When shell 3 is closed, neutral buoyancy Work machine arm 2 is located inside permeable light shell 3, as shown in Fig. 2, when permeable light shell 3 is opened,
When neutral buoyancy Work machine arm 2 being needed to work, extended permeable light shell 3, as shown in Figure 3.Usually when autonomous underwater vehicle 1 arrives
Up to after operating location, permeable light shell 3 is opened, and neutral buoyancy Work machine arm 2 stretches out permeable light shell 3 and starts operation.In this example,
The quantity of neutral buoyancy Work machine arm 2 is two, is symmetrically arranged, each neutral buoyancy Work machine arm 2 specifically includes: fixed
It is mounted on root cradle head 21, connection root cradle head 21 and preceding cradle head in the middle part of fixed 31 Inner Front End of casing in mounting base
23 forearm 22, connect before cradle head 23 swing up and down joint 25 and level with swinging up and down the middle arm 24 in joint 25, connect
The postbrachium 26 of swinging joint 27, the rotary joint 28 for connecting horizontal hunting joint 27 and manipulator 29；Neutral buoyancy Work machine arm 2
With swing, upper and lower pitching and rotation three direction freedom degrees；Wherein root cradle head 21 realizes neutral buoyancy Work machine
Arm 2 swings, and swings up and down the pitching up and down that neutral buoyancy Work machine arm 2 is realized in joint 25, and rotary joint 28 realizes zero
The rotation of buoyancy Work machine arm 2.When needing neutral buoyancy Work machine arm 2 being retracted to permeable 3 inside of light shell, only need to control
The root cradle head 21 of neutral buoyancy Work machine arm 2 processed drives neutral buoyancy Work machine arm 2 to swing backward until neutral buoyancy operation
Mechanical arm 2 is entirely located in permeable light shell 3.
It is enclosed with buoyant material on forearm 22, middle arm 24 and postbrachium 26 in neutral buoyancy Work machine arm 2, makes entire zero
Buoyancy Work machine arm 2 is in neutral buoyancy state under water.
The course of work of above-mentioned deformable autonomous underwater vehicle are as follows:
When step 1 is initial, the permeable light shell 3 of autonomous underwater vehicle 1 is in closed state, is carried extremely by working mother boat 100
Task place sea area is transferred autonomous underwater vehicle 1 to marine using boom hoisting 101；
Step 2 control module 43 controls the buoyancy that ballast gravity adjustment module 6 adjusts autonomous underwater vehicle 1, keeps nobody latent
The device 1 that navigates is in negative buoyancy force state, realizes unpowered dive；Ballast gravity adjustment module 6 is ballast gravity adjusting cabin in the present embodiment,
By filling the water into ballast gravity adjusting cabin, the buoyancy of autonomous underwater vehicle 1 is adjusted；
The submerged depth of 8 real-time measurement autonomous underwater vehicle 1 of step 3 depth measuring module, when 1 dive of autonomous underwater vehicle is arrived
After predetermined depth, control module 43 controls the buoyancy that ballast gravity adjustment module 6 adjusts autonomous underwater vehicle 1, i.e., by ballast gravity
The discharge of adjusting cabin inner part water, enables autonomous underwater vehicle 1 be in neutral buoyancy state；43 open communication module of control module, 41 He simultaneously
Positioning navigation module 42；
Step 4 positioning navigation module 42 is that autonomous underwater vehicle 1 provides course line, makes autonomous underwater vehicle 1 by setting course line row
Into；Control module 43 opens propulsion die 9, and autonomous underwater vehicle 1 is made to cruise by course line, until reaching near job task point；Control
Molding block 43 opens illumination and photographing module 10, and control module 43 is accurately controlled with the taken the photograph image of photographing module 10 in conjunction with illumination and pushed away
The power of progressive die block 9 makes autonomous underwater vehicle 1 arrive at job task point；
After step 5 autonomous underwater vehicle 1 arrives at job task point, control module 43 is controlled in light shell lifting module 5
The synchronous elongation of hydraulic telescopic rod, pushes liftable cover 32 to rise, opens permeable light shell 3；
Step 6 control module 43 controls the protruding permeable light shell 3 of neutral buoyancy Work machine arm 2, detailed process are as follows:
Control module 43 controls the root cradle head 21 of neutral buoyancy Work machine arm 2, preceding cradle head 23 rotates, drive forearm 22, in
Arm 24 and postbrachium 26 travel forward outward, and eventually arrive at permeable 3 front of light shell, by further finely controlling root rotation
Joint 21, preceding cradle head 23, swing up and down joint 25, horizontal hunting joint 27, rotary joint 28 enable manipulator 29 reach tool
Body Seeding location starts operation；
After step 7 operation, control module 43 controls neutral buoyancy Work machine arm 2 and is retracted in permeable light shell 3,
Detailed process are as follows: control module 43 control swings up and down joint 25, horizontal hunting joint 27 rotate, enable forearm 22, middle arm 24 with
And postbrachium 26 is in horizontality, control module 43 controls root cradle head 21 later, preceding cradle head 23 enables drive forearm 22,
Middle arm 24 and postbrachium 26 are withdrawn to side rear, final to receive to permeable light shell 3；
Step 8 control module 43 goes up and down module 5 by control light shell and liftable cover 32 is driven to decline, and makes permeable light outer
Shell 3 is in closed state, completes current task；
Step 9 repeats step 4~eight, carries out the operation of next task point；
After the completion of all tasks of step 10, control module 43 controls ballast gravity adjustment module 6 and adjusts autonomous underwater vehicle 1
Buoyancy, i.e., water is all discharged in control ballast gravity adjusting cabin, and autonomous underwater vehicle 1 is made be in positive buoyancy state, realizes without moving
Power floats up to the water surface；It is communicated by communication module 41 with working mother boat 100, is notified to 1 current location information (nobody of autonomous underwater vehicle
1 current location information of submariner device is obtained by positioning navigation module 42)；
Step 11 working mother boat 100 is navigated by water to 1 position of autonomous underwater vehicle, is recycled.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (6)
1. a kind of deformable autonomous underwater vehicle characterized by comprising permeable light shell (3) is arranged in the permeable light shell
(3) neutral buoyancy Work machine arm (2), pressure-resistant seal cabin (4), light shell in go up and down module (5), ballast gravity adjustment module
(6), energy module (7) and depth measuring module (8) are arranged in the outer propulsion die (9) of the permeable light shell (3), illumination
With photographing module (10)；
The permeable light shell (3) includes: fixed casing (31) and the liftable cover (32) above fixed casing (31)；It is logical
Cross unlatching and closure that light shell lifting module (5) drives liftable cover (32) lifting to realize permeable light shell (3)；
Setting in the pressure-resistant seal cabin (4): for the communication module (41) with lash ship (100) real time communication, for being described
Autonomous underwater vehicle (1) provides the positioning navigation module (42) of course line and location information, and the control neutral buoyancy Work machine
Arm (2), the light shell go up and down module (5), the ballast gravity adjustment module (6), the propulsion die (9), the illumination
With the control module (43) of photographing module (10)；
The ballast gravity adjustment module (6) is used to adjust the buoyant state of the autonomous underwater vehicle (1)；
The energy module (7) is used to go up and down module (5), the pressure for the neutral buoyancy Work machine arm (2), the light shell
Carrying force adjustment module (6), the propulsion die (9), the illumination provide the energy with photographing module (10)；
The depth measuring module (8) is used to measure the submerged depth of the autonomous underwater vehicle (1)；
The propulsion die (9) is for pushing the autonomous underwater vehicle (1) to cruise；
The illumination is used to provide for the autonomous underwater vehicle (1) with photographing module (10) to be illuminated and produces image；
The neutral buoyancy Work machine arm (2) is extended formula: when the permeable light shell (3) is closed, the neutral buoyancy operation
It is internal that mechanical arm (2) is located at permeable light shell (3)；After the autonomous underwater vehicle (1) reaches setting operating location, described zero is floating
Masterpiece industry mechanical arm (2) stretches out the permeable light shell (3) operation under the control module (43) control.
2. deformable autonomous underwater vehicle as described in claim 1, which is characterized in that neutral buoyancy Work machine arm (2) packet
It includes: root cradle head (21), described cradle head (21) of connection and the forward being fixedly mounted in the fixed casing (31)
It the forearm (22) of movable joint (23), the connection preceding cradle head (23) and swings up and down the middle arm (24) in joint (25), connect
It is described to swing up and down joint (25) and the postbrachium (26) of horizontal hunting joint (27), connect the horizontal hunting joint (27) and machine
The rotary joint (28) of tool hand (29)；The neutral buoyancy Work machine arm (2) have swing, upper and lower pitching and rotation three
Direction freedom degree；Wherein described cradle head (21) realizes swinging for neutral buoyancy Work machine arm (2), the upper bottom
Movable joint (25) realizes the pitching up and down of neutral buoyancy Work machine arm (2), and the rotary joint (28) realizes neutral buoyancy working rig
The rotation of tool arm (2).
3. deformable autonomous underwater vehicle as claimed in claim 1 or 2, which is characterized in that by the neutral buoyancy working rig
Buoyant material is wrapped up on the forearm (22) of tool arm (2), middle arm (24) and postbrachium (26), neutral buoyancy Work machine arm (2) is made to exist
It is under water in neutral buoyancy state.
4. deformable autonomous underwater vehicle as claimed in claim 1 or 2, which is characterized in that light shell lifting module (5) packet
More than two hydraulic telescopic rods are included, the fixing end of the hydraulic telescopic rod is connect with the fixed casing (31), telescopic end and institute
State liftable cover (32) connection.
5. deformable autonomous underwater vehicle as claimed in claim 1 or 2, which is characterized in that the ballast gravity adjustment module (6)
The tune of autonomous underwater vehicle (1) buoyancy is realized by note/draining into the ballast gravity adjusting cabin for ballast gravity adjusting cabin
Section.
6. deformable autonomous underwater vehicle as claimed in claim 1 or 2, which is characterized in that the propulsion die (9) includes one
The above underwater vector propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821781484.8U CN209290645U (en) | 2018-10-31 | 2018-10-31 | A kind of deformable autonomous underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821781484.8U CN209290645U (en) | 2018-10-31 | 2018-10-31 | A kind of deformable autonomous underwater vehicle |
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| CN209290645U true CN209290645U (en) | 2019-08-23 |
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| CN201821781484.8U Expired - Fee Related CN209290645U (en) | 2018-10-31 | 2018-10-31 | A kind of deformable autonomous underwater vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367741A (en) * | 2018-10-31 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of deformable autonomous underwater vehicle and its application method |
| CN111532375A (en) * | 2020-06-09 | 2020-08-14 | 湖南海荃游艇有限公司 | Off-boat dragging diving system for yacht |
| CN113148079A (en) * | 2021-05-17 | 2021-07-23 | 中国科学院沈阳自动化研究所 | Autonomous navigation mechanical arm for underwater operation |
| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
-
2018
- 2018-10-31 CN CN201821781484.8U patent/CN209290645U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367741A (en) * | 2018-10-31 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of deformable autonomous underwater vehicle and its application method |
| CN111532375A (en) * | 2020-06-09 | 2020-08-14 | 湖南海荃游艇有限公司 | Off-boat dragging diving system for yacht |
| CN113148079A (en) * | 2021-05-17 | 2021-07-23 | 中国科学院沈阳自动化研究所 | Autonomous navigation mechanical arm for underwater operation |
| CN113978673A (en) * | 2021-12-02 | 2022-01-28 | 中国船舶科学研究中心 | Floating walking dual-mode manned submersible and using method thereof |
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