CN102303695A - Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power - Google Patents
Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power Download PDFInfo
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- CN102303695A CN102303695A CN201110145795A CN201110145795A CN102303695A CN 102303695 A CN102303695 A CN 102303695A CN 201110145795 A CN201110145795 A CN 201110145795A CN 201110145795 A CN201110145795 A CN 201110145795A CN 102303695 A CN102303695 A CN 102303695A
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Abstract
The invention discloses a cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power. The robot comprises a main cavity, a water sucking cylinder, a water jet propulsion water pipe network and a computer; both the water sucking cylinder and the water jet propulsion water pipe network are arranged in the main cavity, and the computer is arranged on a water working ship; the main cavity has a cavity structure formed by upper and lower regular four-edge tables with the same shape; the water jet propulsion water pipe network comprises electromagnetic valves, water spray ducts and water spray ports; the number of the water spray ports is 8, the 8 water spray ports are divided into 4 groups and arranged on the edges of the middle part of the main cavity formed by the two regular four-edge tables, and the two water spray ports of each group are respectively arranged at two trisection points of each edge; and the number of the electromagnetic valves is 8, and each electromagnetic valve is arranged on the duct at the rear end of the correspondingly connected water spray port. The robot has the advantages of good posture stability, strong independent stability, large operating range, many degrees of freedom, relatively simple control mechanism, capability of loading many scientific instruments, and wide application range.
Description
Technical field
The present invention relates to a kind of carrier of underwater exploration device, each is with cable remote underwater robot to the hydrodynamic force equalization particularly to relate to a kind of symmetrical configuration.
Background technology
The band cable remote underwater robot is a kind of increasingly extensive underwater exploration device that is applied to underwater environment dynamic monitorings such as ocean, river and lake, and its landforms and marine physics characteristic observation under water, underwater environment are investigated, underwater structure has special purposes in checking.The band cable remote underwater robot is formed by umbilical cables, under-water robot with as the control screw propeller of under-water robot track and attitude coutrol mechanism or waterjet propulsor etc. usually.Under-water robot is the core component part of band cable remote underwater robot system.Can carry various marine element acquisition sensors such as temperature, salinity, pressure or sonar, the first-class sound of optics shooting, optical physics acquisition sensor in its body according to different purposes.The operator on the water-surface working boat can through umbilical cables under-water robot is sent that power and control signal handle that thereby these control mechanisms are implemented track and attitude control to it and the underwater exploration information real-time that physics, chemical sensor obtained that under-water robot is carried transmit back on the working mother boat.Along with the raising of countries in the world to the quick field monitoring Capability Requirement of underwater environment, the requirement that the band cable remote underwater robot is handled track down and attitude control ability at control mechanism (control screw propeller or waterjet propulsor etc.) is also in raising constantly.The attitude stabilization when job specification of the underwater environment monitoring sensor that under-water robot carried requires under-water robot work, and have track and the attitude adjusting and the control ability of fast and flexible.Can how under the prerequisite that guarantees the under-water robot attitude stabilization, make it require fast and flexible ground carry out the actv. manipulation to it according to desired measurement track and attitude, be the key that develop a kind of economical and practical, band cable remote underwater robot with marketable value.
The mode of under-water robot operation has determined it to have on horizontal surface the characteristics to all directions motion equiprobability.Existing small underwater robot generally is to adopt a plurality of control screw propellers to realize the controls to its different degree of freedom, and the control of each degree of freedom is implemented its control by one or each group screw propeller usually.The major defect of this type mode is to need a plurality of control screw propellers and complicated control action could realize track and attitude stabilization control to the different degree of freedom of robot, and the control action to these screw propellers simultaneously also needs complicated control mechanism to realize.These factors have increased the difficulty of robot control system design-calculated complexity and user's manipulation undoubtedly, thereby make these robots because control mechanism is complicated, structure is huge and be difficult to have the scope that good attitude stabilization ability has limited its application.How when simplifying the submerged manoeuvering action contour structures through simplifying under-water robot, reduce difference to the stressed and control intensity of robot on different degree of freedom directions; Make it to realize to under-water robot on the horizontal surface on all directions the impartial purpose of handling, this is for realizing that robot is carried out simple, flexible, stable track to be controlled with attitude and have positive meaning.
Summary of the invention
The purpose of this invention is to provide that a kind of control is simple, simple structure, universal performance better and all directions motion control flexible, the high symmetrical configuration of kinematic accuracy each to the impartial band of hydrodynamic force cable remote underwater robot.
The object of the invention is realized through following technical scheme:
Each is with cable remote underwater robot to the hydrodynamic force equalization a kind of symmetrical configuration, comprises main cavity, suction cylinder, waterjet propulsion water pipe networking and computing machine; Suction cylinder and waterjet propulsion water pipe networking all are installed in the main cavity, and computer installation is on water-surface working boat;
Said main cavity is by two cavity structures that the identical positive truncated rectangular pyramids type of shape forms up and down; The outer wall of the positive truncated rectangular pyramids in bottom of main cavity is provided with seawater and imports and exports conduit, and the guiding seawater gets into main cavity; Be provided with the underwater exploration sensor in the main cavity cavity; The underwater exploration sensing comprises chemical element sensor and physical sensors under water;
Said suction cylinder comprises fixed support, cylinder, water pipe networking water inlet, screw propeller electric machine support, screw propeller electrical motor and screw propeller; Cylinder is a cylindrical shape, is arranged on the centre of main cavity cavity, connects main cavity cavity top and the bottom; The cylinder middle part is arranged with four water pipe networking water inlets, and fixed support is arranged on cylinder middle part periphery, in order to stationary cylinder; The screw propeller motor is connected with propeller through the slurry axle, and screw propeller is two, is separately positioned on the upper and lower side of cylinder, and the both sides at middle part are provided with the screw propeller electric machine support in cylinder, are used for fixing the screw propeller motor;
Said waterjet propulsion water pipe networking comprises electromagnetic valve, water pipeline and water injector; Water injector is 8, and 8 water injectors are divided on 4 groups of bar limits that are arranged in the main cavity middle part that two positive truncated rectangular pyramids form, and every group of two water injectors are arranged in two trisection point places on every limit; Electromagnetic valve is 8, and each electromagnetic valve is separately positioned on the pipeline of corresponding connection water injector rear end; The quadruplet water pipeline is communicated with four water pipe networking water inlets respectively, and every cover water pipeline is equipped with two electromagnetic valves and two water injectors respectively;
Also be provided with the umbilical cables inner outlet on the suction cylinder, the umbilical cables inner outlet is arranged on suction cylinder cylindrical shell middle part; The umbilical cables outer vent is arranged on the first half of main cavity outer wall; The computing machine that is arranged on the water-surface working boat gets into main cavity through signal cable through the umbilical cables outer vent, respectively be arranged on main cavity in electromagnetic valve is connected the unlatching closure of control electromagnetic valve; Computing machine gets into cylinder through umbilical cables outer vent and umbilical cables inner outlet successively through signal cable, is connected with the screw propeller electrical motor, controls the turning to of screw propeller motor, rotating speed.
For further realizing the object of the invention, the said sensor of chemical element under water comprises the sensor that detects sea water salinity, ammonia nitrogen, nitre ammonia phosphorus, pH value; Said physical sensors comprises and detects the sensor of light, sonar, temperature, pressure under water.
The outer wall lower end of the positive truncated rectangular pyramids in bottom of said main cavity is provided with main body rack, and main body rack is used to support main cavity.
Said suction cylinder fixed support, cylinder are connected through screw with the screw propeller electric machine support.
Positive truncated rectangular pyramids top, said main cavity top is provided with suspension ring, is used for the lifting operation of robot Inlet and outlet water.
The cylinder of said suction cylinder is preferably processed with engineering plastics, and thickness is preferably 4～15mm.
Said water pipeline is preferably processed with pvc pipe, and diameter is preferably 20～80mm.
Said electromagnetic valve is anti-water solenoid valve.
The present invention compared with prior art has following beneficial effect:
(1) control is simple relatively.Owing to only only need two control screw propellers, the realization that multiple degree of freedom advances mainly relies on the switch of control electromagnetic valve to realize that the water spray of different directions is achieved.Than traditional band cable remote underwater robot, the design difficulty of control system of the present invention reduces greatly.
(2) kinematic accuracy is higher.Total each two water injectors of totally eight independent controls all around of the present invention, the fine setting in course in therefore being convenient to move, making has the higher motion precision.
(3) simple structure.The present invention is made up of three parts altogether: main cavity, cylinder water absorber, a waterjet propulsion water pipe networking.Be convenient to the field stripping maintenance.
(4) multiple degree of freedom.Eight water injectors of the present invention can produce the thrust of horizontal all directions through suitable control, can retreat, but sidesway are rotatable; The startup of control motor stops to produce the thrust of vertical direction, can be vertically dull.
(5) isotropy.Symmetrical configuration of the present invention, isotropy does not have fixing principal direction, and the conversion that therefore helps more between each degree of freedom is handled.
Description of drawings
Fig. 1 is that symmetrical configuration of the present invention is respectively to the impartial band of hydrodynamic force cable remote underwater robot lateral plan;
Fig. 2 is that symmetrical configuration of the present invention is respectively to the impartial band of hydrodynamic force cable remote underwater robot birds-eye view;
Fig. 3 is the present invention's drum scheme drawing that absorbs water;
Fig. 4 is the present invention's cylinder fixed frame scheme drawing that absorbs water;
Fig. 5 is a water pipeline device scheme drawing of the present invention;
Working position scheme drawing when Fig. 6 is water pipeline device generation of the present invention plane all directions thrust;
Fig. 7 is a water pipeline device of the present invention working position scheme drawing when producing axial thrust.
Specific embodiments
Below in conjunction with embodiment the present invention is described in further detail, but embodiment of the present invention is not limited thereto.
Shown in Fig. 1～2, each comprises main cavity 2, suction cylinder 1, waterjet propulsion water pipe networking 3 and computing machine to the impartial band of hydrodynamic force cable remote underwater robot symmetrical configuration; Suction cylinder and waterjet propulsion water pipe networking all are installed in the main cavity, and absorb water cylinder 1 and waterjet propulsion water pipe networking 3 are connected through water pipe; Computer installation is on water-surface working boat.
Like Fig. 3, shown in 4, suction cylinder 1 comprises fixed support 11, cylinder 12, water pipe networking water inlet 13, screw propeller electric machine support 14, screw propeller electrical motor 15 and screw propeller 16.Cylinder 12 is a cylindrical shape, is arranged on the centre of main cavity 2 cavitys, connects main cavity 2 cavity top and the bottom, and cylinder 12 two ends are preferably concordant with main cavity 2 housings; The cylinder middle part is arranged with four water pipe networking water inlets 13, and as the flow inlet at waterjet propulsion water pipe networking 3, fixed support 11 is arranged on cylinder 12 middle part peripheries, in order to stationary cylinder 12; Screw propeller motor 15 is connected with propeller 16 through the slurry axle; Screw propeller 16 is two, is separately positioned on the upper and lower side of cylinder 12, and two screw propellers are in respectively in two water inlets in upper and lower end face of suction cylinder; Said screw propeller is placed on cylinder interior, and vane tip is from cylinder water inlet 5～8mm; Two screw propellers and cylinder 12 upper and lower side opening inwall synergy; Form the shrouded propeller effect, to improve the water-taking efficiency of screw propeller, screw propeller sucks current through screw propeller motor 15 driven rotary; And produce certain pressure current are imported waterjet propulsion water pipe networking 3, to produce propulsive force; The both sides at middle part are provided with screw propeller electric machine support 14 in cylinder, are used for fixing screw propeller motor 15.Suction cylinder fixed support 11, cylinder 12 and screw propeller electric machine support 14 are connected through screw, and the cylinder unit of guaranteeing to absorb water is stablized.
Shown in Fig. 5～7, waterjet propulsion water pipe networking 3 is divided into symmetrical two parts, is installed in main cavity 2 middle parts; Waterjet propulsion water pipe networking 3 comprises electromagnetic valve 10, water pipeline 17 and water injector 7; Water injector 7 is 8; Be respectively the first water injector 7-1; The second water injector 7-2, the 3rd water injector 7-3, the 4th water injector 7-4, the 5th water injector 7-5, the 6th water injector 7-6, the 7th water injector 7-7 and the 8th water injector 7-8; 8 water injectors are divided on 4 groups of 4 limits that are arranged in main cavity 2 middle parts that two positive truncated rectangular pyramids form, and every group of two water injectors are arranged in the trisection point place on every limit; Electromagnetic valve 10 is 8, is respectively the first electromagnetic valve 10-1, the second electromagnetic valve 10-2, the 3rd electromagnetic valve 10-3, the 4th electromagnetic valve 10-4, the 5th electromagnetic valve 10-5, the 6th electromagnetic valve 10-6, the 7th electromagnetic valve 10-7 and the 8th electromagnetic valve 10-8; Each electromagnetic valve is separately positioned on the pipeline of corresponding connection water injector; Water pipe networking water inlet 13 is symmetricly set on suction cylinder 12 middle parts, is communicated with the suction cylinder, and current import waterjet propulsion water pipe networking 3 from here; Quadruplet water pipeline 17 is communicated with four water pipe networking water inlets 13 respectively, and every cover water pipeline 17 is equipped with two electromagnetic valves and two water injectors respectively.In order to realize producing in different directions the purpose of propulsive force; One of them formation 90 degree of two water injectors that are communicated with in every cover water pipeline turn to, and promptly any one water injector is that 90 degree turn to the spout form among the first water injector 7-1, the 4th water injector 7-4, the 5th water injector 7-5 and the 8th water injector 7-8; Another is 0 degree straight line spout form, i.e. the second water injector 7-2, and any one water injector is 0 degree straight line spout form among the 3rd water injector 7-3, the 6th water injector 7-6 and the 7th water injector 7-7.Eight electromagnetic valves 10 on the quadruplet water pipeline are controlled the unlatching and the closure of different pipeline current respectively; Current eject the main cavity outside through the water injector 7 with electromagnetic valve 10 pairings, for under-water robot provides propulsive force.In the course of the work, can distinguish drive motor 15 and electromagnetic valve 10, adjust different water outlet directions to obtain the propulsive force of different directions; Operating speed through adjustable screw oar motor 15 to be changing water spray intensity, and then changes the kinematic velocity of robot.
Also be provided with umbilical cables inner outlet 5 on the suction cylinder 1, umbilical cables inner outlet 5 is arranged on suction cylinder cylindrical shell middle part; Umbilical cables outer vent 4 is arranged on the first half of main cavity outer wall; The computing machine that is arranged on the water-surface working boat gets into main cavities 2 through signal cable through umbilical cables outer vent 4, respectively be arranged on main cavity 2 in electromagnetic valves 10 is connected the unlatching closure of control electromagnetic valve 10; Computing machine gets into cylinders 12 through umbilical cables outer vent 4 and umbilical cables inner outlet 5 successively through signal cable, is connected with screw propeller electrical motor 15, controls the turning to of screw propeller motor 15, rotating speed.
The cylinder 12 of suction cylinder is preferably processed with engineering plastics, and thickness is preferably 4～15mm.
Propelling unit each several part view when Fig. 6,7 is six typical directions propellings.For ease of the motion of carrying out on the narration horizontal surface, the direction that the current generation that the regulation under-water robot ejects with the first water injector 7-1, the 4th water injector 7-4 at the horizontal plane motion characteristic direction makes the robot motion with joint efforts is for travelling forward; The current that eject with the 5th water injector 7-5, the 8th water injector 7-8 produce makes a concerted effort and makes robot motion's direction be motion backward, the current that eject with the second water injector 7-2, the 7th water injector 7-7 produce make the robot motion with joint efforts direction for moving right; The current that eject with the 3rd water injector 7-3, the 6th water injector 7-6 produce that to make a concerted effort and make robot motion's direction be to left movement.
As shown in Figure 6; When the symmetrical configuration under-water robot need travel forward on horizontal surface; Two screw propeller motors 15 about starting in the cylinder make two screw propellers all take positive revolving die formula, and current are got in the suction cylinder 12 from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open the first electromagnetic valve 10-1, the 4th electromagnetic valve 10-4, close all the other electromagnetic valves, cause current only from the first water injector 7-1, the 4th water injector 7-4 ejection symmetrical configuration under-water robot outside; The current that ejected by the first water injector 7-1, the 4th water injector 7-4 produce with joint efforts, promote the symmetrical configuration under-water robot and move forward.
When the symmetrical configuration under-water robot need move on horizontal surface backward, start interior two the screw propeller motors 15 up and down of cylinder, make two screw propellers all take positive revolving die formula, current are got in the cylinder 12 that absorbs water from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open the 5th electromagnetic valve 10-5, the 8th electromagnetic valve 10-8, close all the other electromagnetic valves, cause current only from the 5th water injector 7-5, the 8th water injector 7-8 ejection symmetrical configuration under-water robot outside; The current that ejected by the 5th water injector 7-5, the 8th water injector 7-8 produce with joint efforts, promote the symmetrical configuration under-water robot and move backward.
Need be when the symmetrical configuration under-water robot on the horizontal surface during to left movement, start in the cylinder two screw propeller motors 15 up and down, make two screw propellers all take positive revolving die formula, current are got in the suction cylinder 12 from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open the 3rd electromagnetic valve 10-3, the 6th electromagnetic valve 10-6, close all the other electromagnetic valves, cause current only from the 3rd water injector 7-3, the 6th water injector 7-6 ejection symmetrical configuration under-water robot outside; The current that ejected by the 3rd water injector 7-3, the 6th water injector 7-6 produce with joint efforts, promote the symmetrical configuration under-water robot to left movement.
When the symmetrical configuration under-water robot need move right on horizontal surface, start interior two the screw propeller motors 15 up and down of cylinder, make two screw propellers all take positive revolving die formula, current are got in the cylinder 12 that absorbs water from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open the second electromagnetic valve 10-2, the 7th electromagnetic valve 10-7, close all the other electromagnetic valves, cause current only from the second water injector 7-2, the 7th water injector 7-7 ejection symmetrical configuration under-water robot outside; The current that ejected by the second water injector 7-2, the 7th water injector 7-7 produce with joint efforts, promote the symmetrical configuration under-water robot and move right.
When the symmetrical configuration under-water robot need produce axial clickwise on horizontal surface; Two screw propeller motors 15 about starting in the cylinder; Make two screw propellers all take positive revolving die formula, current are got in the suction cylinder 12 from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open among the first electromagnetic valve 10-1, the 3rd electromagnetic valve 10-3, the 5th electromagnetic valve 10-5, the 7th electromagnetic valve 10-7 one or more; Close all the other electromagnetic valves, cause the one or more ejection symmetrical configuration under-water robots of current from the first water injector 7-1, the 3rd water injector 7-3, the 5th water injector 7-5, the 7th water injector 7-7 outside; One or more current that eject by among the first water injector 7-1, the 3rd water injector 7-3, the 5th water injector 7-5, the 7th water injector 7-7 produce with joint efforts, and the symmetrical configuration under-water robot produces axial clickwise thus.
When the symmetrical configuration under-water robot need produce axial left-hand revolution on horizontal surface; Two screw propeller motors 15 about starting in the cylinder; Make two screw propellers all take positive revolving die formula, current are got in the suction cylinder 12 from outside extraction of symmetrical configuration under-water robot; Current get into waterjet propulsion water pipe networking 3 through water pipe networking water inlet 13; Open among the second electromagnetic valve 10-2, the 4th electromagnetic valve 10-4, the 6th electromagnetic valve 10-6, the 8th electromagnetic valve 10-8 one or more; Close all the other electromagnetic valves, cause the one or more ejection symmetrical configuration under-water robots of current from the second water injector 7-2, the 4th water injector 7-4, the 6th water injector 7-6, the 8th water injector 7-8 outside; One or more current that eject by among the second water injector 7-2, the 4th water injector 7-4, the 6th water injector 7-6, the 8th water injector 7-8 produce with joint efforts, and the symmetrical configuration under-water robot produces axial left-hand revolution thus.
As shown in Figure 7; When the symmetrical configuration under-water robot needs vertically upward movement; The first screw propeller motor 15-1 that starts in the cylinder just changes it; The second screw propeller motor 15-2 that starts in the cylinder makes its counter-rotating; And close all electromagnetic valves 10; At this moment in cylinder, form axially water spray downwards, can make the symmetrical configuration under-water robot to axial upward movement; When the symmetrical configuration under-water robot needs vertically upward movement; The first screw propeller motor 15-1 that starts in the cylinder makes its counter-rotating; The second screw propeller motor 15-2 that starts in the cylinder just changes it; And close all electromagnetic valves 10; At this moment in cylinder, form axially upwards water spray, can make the symmetrical configuration under-water robot to axial downward movement.
In practice, the unlatching and the closure of a plurality of electromagnetic valves 10 of may command, and the rotating speed of control screw propeller motor 15 through the axially thrust stack of the different directions that vary in size with side direction, can obtain the thrust of any direction in theory.
In sum, can better realize the present invention.
Claims (8)
1. a symmetrical configuration is characterized in that: comprise main cavity, suction cylinder, waterjet propulsion water pipe networking and computing machine respectively to the impartial band of hydrodynamic force cable remote underwater robot; Suction cylinder and waterjet propulsion water pipe networking all are installed in the main cavity, and computer installation is on water-surface working boat;
Said main cavity is by two cavity structures that the identical positive truncated rectangular pyramids type of shape forms up and down; The outer wall of the positive truncated rectangular pyramids in bottom of main cavity is provided with seawater and imports and exports conduit, and the guiding seawater gets into main cavity; Be provided with the underwater exploration sensor in the main cavity cavity; The underwater exploration sensing comprises chemical element sensor or physical sensors under water;
Said suction cylinder comprises fixed support, cylinder, water pipe networking water inlet, screw propeller electric machine support, screw propeller electrical motor and screw propeller; Cylinder is a cylindrical shape, is arranged on the centre of main cavity cavity, connects main cavity cavity top and the bottom; The cylinder middle part is arranged with four water pipe networking water inlets, and fixed support is arranged on cylinder middle part periphery, in order to stationary cylinder; The screw propeller motor is connected with propeller through the slurry axle, and screw propeller is two, is separately positioned on the upper and lower side of cylinder, and the both sides at middle part are provided with the screw propeller electric machine support in cylinder, are used for fixing the screw propeller motor;
Said waterjet propulsion water pipe networking comprises electromagnetic valve, water pipeline and water injector; Water injector is 8, and 8 water injectors are divided on 4 groups of bar limits that are arranged in the main cavity middle part that two positive truncated rectangular pyramids form, and every group of two water injectors are arranged in two trisection point places on every limit; Electromagnetic valve is 8, and each electromagnetic valve is separately positioned on the pipeline of corresponding connection water injector rear end; The quadruplet water pipeline is communicated with four water pipe networking water inlets respectively, and every cover water pipeline is equipped with two electromagnetic valves and two water injectors respectively;
Also be provided with the umbilical cables inner outlet on the suction cylinder, the umbilical cables inner outlet is arranged on suction cylinder cylindrical shell middle part; The umbilical cables outer vent is arranged on the first half of main cavity outer wall; The computing machine that is arranged on the water-surface working boat gets into main cavity through signal cable through the umbilical cables outer vent, respectively be arranged on main cavity in electromagnetic valve is connected the unlatching closure of control electromagnetic valve; Computing machine gets into cylinder through umbilical cables outer vent and umbilical cables inner outlet successively through signal cable, is connected with the screw propeller electrical motor, controls the turning to of screw propeller motor, rotating speed.
2. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, it is characterized in that: the said sensor of chemical element under water comprises the sensor that detects sea water salinity, ammonia nitrogen, nitre ammonia phosphorus, pH value; Said physical sensors comprises and detects the sensor of light, sonar, temperature, pressure under water.
3. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, and it is characterized in that: the outer wall lower end of the positive truncated rectangular pyramids in bottom of main cavity 2 is provided with main body rack, and main body rack is used to support main cavity.
4. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, it is characterized in that: suction cylinder fixed support, cylinder are connected through screw with the screw propeller electric machine support.
5. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, and it is characterized in that: positive truncated rectangular pyramids top, said main cavity top is provided with suspension ring, is used for the lifting operation of robot Inlet and outlet water.
6. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, and it is characterized in that: the cylinder 1 usefulness engineering plastics of said suction cylinder are processed, and thickness is 4～15mm.
7. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, and it is characterized in that: said water pipeline is processed with pvc pipe, and diameter is 20～80mm.
8. each is with cable remote underwater robot to the hydrodynamic force equalization symmetrical configuration according to claim 1, it is characterized in that: said electromagnetic valve is anti-water solenoid valve.
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| CN2011101457951A CN102303695B (en) | 2011-06-01 | 2011-06-01 | Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power |
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| CN2011101457951A CN102303695B (en) | 2011-06-01 | 2011-06-01 | Cable-carrying remote control underwater robot with symmetrical structure and equal all-directional water power |
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| CN103507927A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Robot capable of implementing underwater vertical climbing |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN103847940A (en) * | 2014-03-17 | 2014-06-11 | 南京赫曼机器人自动化有限公司 | Hazard detection robot for interior of fluid container |
| CN103950524A (en) * | 2014-04-15 | 2014-07-30 | 南京航空航天大学 | Spraying type simulative underwater vehicle and working manner thereof |
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| CN111959736A (en) * | 2020-08-21 | 2020-11-20 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| CN112519992A (en) * | 2019-09-17 | 2021-03-19 | 中国石油大学(华东) | Special underwater robot |
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| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
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| CN102620110A (en) * | 2012-04-10 | 2012-08-01 | 苏州大学 | Pipeline robot |
| CN103507927A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Robot capable of implementing underwater vertical climbing |
| CN103523192A (en) * | 2013-10-11 | 2014-01-22 | 浙江大学 | Underwater vehicle with water jet propulsion technology adopted |
| CN103523192B (en) * | 2013-10-11 | 2016-01-06 | 浙江大学 | Adopt the submarine navigation device of waterjet propulsion technology |
| CN103847940A (en) * | 2014-03-17 | 2014-06-11 | 南京赫曼机器人自动化有限公司 | Hazard detection robot for interior of fluid container |
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| CN103950524A (en) * | 2014-04-15 | 2014-07-30 | 南京航空航天大学 | Spraying type simulative underwater vehicle and working manner thereof |
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| CN106741759A (en) * | 2017-03-18 | 2017-05-31 | 欧舶智能科技（上海）有限公司 | A kind of new pressure storage type Submerged moving body attitude control system |
| CN108423138A (en) * | 2018-05-10 | 2018-08-21 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot system towards ocean attachment |
| CN109229323A (en) * | 2018-11-02 | 2019-01-18 | 珠海云洲智能科技有限公司 | Water blocking mechanism for propeller |
| CN109229323B (en) * | 2018-11-02 | 2024-06-04 | 珠海云洲智能科技股份有限公司 | Water retaining mechanism for propeller |
| CN109693775A (en) * | 2019-01-10 | 2019-04-30 | 西北工业大学 | A kind of dish-shaped submarine navigation device of the dynamical system based on valve switch in conjunction with duct motor |
| CN109850105A (en) * | 2019-02-16 | 2019-06-07 | 江苏大学 | A kind of underwater robot driving device |
| CN111762308A (en) * | 2019-04-01 | 2020-10-13 | 北海燕航慧程智能科技有限公司 | ROV water jet propulsion unit and ROV |
| CN112519992A (en) * | 2019-09-17 | 2021-03-19 | 中国石油大学(华东) | Special underwater robot |
| CN111572735A (en) * | 2020-05-14 | 2020-08-25 | 中国石油大学(北京) | Underwater robot |
| CN111959736A (en) * | 2020-08-21 | 2020-11-20 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| CN111959736B (en) * | 2020-08-21 | 2022-04-15 | 南京工程学院 | Water jet propulsion type underwater spherical heavy-load robot |
| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
| CN113120196A (en) * | 2021-04-12 | 2021-07-16 | 南方科技大学 | Motion control method and control system of underwater robot |
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