CN108327873A - A kind of observation grade underwater robot structure - Google Patents
A kind of observation grade underwater robot structure Download PDFInfo
- Publication number
- CN108327873A CN108327873A CN201710038088.XA CN201710038088A CN108327873A CN 108327873 A CN108327873 A CN 108327873A CN 201710038088 A CN201710038088 A CN 201710038088A CN 108327873 A CN108327873 A CN 108327873A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- video camera
- center line
- center
- storehouse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of observation grade underwater robot structures, oblate shape can reduce the resistance that robot is subject to when driving under water, the center line of four side propellers around robot and the center line of video camera are fixed in 45 degree of placements, the rotating speed of each motor can be adjusted individually, four motors cooperate, the resultant force for generating thrust is offseted with the resistance to water-flow that it is subject to, and the underwater robot can be made to keep opposing stationary with ground in the flowing water.Battery compartment, communication storehouse, master control storehouse are all wrapped among circular plastic housing.
Description
Technical field
The present invention relates to a kind of underwater robots, and the knot of grade underwater robot is observed more particularly to a kind of aquaculture
Structure.
Background technology
Grade underwater robot is observed as an important detection system in ocean, is safeguarded in maritime rights and interests and ocean is opened
Important function has been played in hair.Battery flat is one of important component of underwater robot, and the energy is provided for it.Due to underwater
The working environment of robot is more special, and the energy wants safety, good reliability, high pressure resistant, corrosion-resistant, free from environmental pollution.Base
In factors such as fluid motion resistance, bearing capacity and battery specific energies, underwater robot battery flat is typically cylinder.For
It is its common energy form from charged pool for small-sized underwater robot, also needs to ensure that there is foot in robot from charged pool
Enough cruise duration.
Grade underwater robot is observed as an important detection system in ocean, in maritime rights and interests maintenance and ocean development
In played important function.The fish shellfish shrimp crab etc. of underwater culture is observed at many aquaculture families with underwater robot now, than
The observation of going down of previous people directly diving saves cost, and more convenient.But most of underwater robots on the market now
All there is no anti-current function, in the flowing water when, underwater robot be easy is washed away by flow, the floating that cannot stablize in water,
Make robot cisco unity malfunction in flowing water.
Invention content
In view of the above-mentioned problems, the invention discloses a kind of observation grade underwater robot structure, it is made to have anti-current function, not by
Flow washes away.The technical solution adopted in the present invention is：Robot is designed using circular configuration.Battery compartment communicates storehouse, master control storehouse
It is all wrapped among circular plastic housing, appearance smooth-going reduces the resistance that robot is subject to when driving under water.Four push away
Stepper motor and the center line of cylindrical type video camera are fixed in 45 degree of angles on center side, by adjusting the rotating speed of four motors,
The robot is set to be offseted with the resistance for the flow being subject to by the resultant force of four propulsion electric machine thrust, to realize anti-current work(
Energy.
A kind of above-mentioned observation grade underwater robot, including battery flat, main control cabin, communication module, center, upper casing, lower casing, push away
Stepper motor and vertical pusher.Its main feature is that being designed using circular configuration, in four propulsion electric machines and cylindrical type video camera
Heart line is fixed in 45 degree of angles on center side, there is anti-current, maneuverability feature.
A kind of above-mentioned observation grade underwater robot, vertical pusher are fixed on center center, and video camera is fixed on
In the cavity of lower casing protrusion.
A kind of above-mentioned observation grade underwater robot, cylindrical main control cabin and communication module are placed on vertical pusher vertically respectively
Both sides, two battery flats are laterally disposed.
The invention has the advantages that underwater robot monnolithic case of the present invention is in oblateness, battery compartment, communication storehouse, master
Control storehouse is all wrapped up by shell, smooth in appearance, and the resistance being subject in water is smaller.By turn for adjusting four motors around robot
Speed, the underwater robot are capable of the stabilization of holding position in the flowing water.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is installation diagram of the present invention；
Fig. 2 is schematic structural view of the invention；
1. upper casing in figure, 2. video cameras, 3. side propellers, 4. centers, 5. master control storehouses, 6. battery compartments, 7. vertical pushers, 8.
Communicate storehouse, 9. lower casings, 10. communication cables, 11. depth gauges.
Specific implementation mode
【Embodiment 1】
Entire upper casing 1 is made with buoyant material, keeps the centre of buoyancy of robot on the upper side, and in water just at floating state,
Being fixed on the vertical pusher 7 at the underwater robot center can push robot to rise, sink.Embedded in the Underwater Camera of lower casing
2 can shoot video.The center line for being fixed on four side propellers 3 and video camera 2 around robot is placed at 45 degree, often
The rotating speed of a side propeller 3 can be adjusted individually, and four side propellers 3 cooperate, generate the resultant force of thrust with its by
To resistance to water-flow offset, make the underwater robot in the flowing water with ground keep it is opposing stationary.
【Embodiment 2】
In fig. 2, the power cord of two laterally disposed battery compartments 6 out leads to master control storehouse 5, the control of fiveimprovements device from left end
Line processed is drawn from the bottom in master control storehouse 5, and is connected with corresponding propeller.2 connecting line of video camera is drawn in the bottom end for communicating storehouse 8,
And the communication cable 10 being connect with host computer is drawn on the communication line being connect with master control storehouse 5, the top in communication storehouse 8.
Claims (3)
1. a kind of observation grade underwater robot includes mainly upper casing, lower casing, video camera, side propeller, center, master control storehouse, electricity
Chi Cang, vertical pusher, communication storehouse and depth gauge；The underwater robot is in integrally oblate design, and vertical pusher is located at it
Middle communicates storehouse and master control storehouse and is each perpendicular to the both sides that center face is placed on vertical pusher, and two battery compartments are lateral respectively
The both sides of vertical pusher are placed on, video camera is fixed in the cavity of lower casing edge protuberance, 4 side propellers electric shock holder
It is fixed on around center, the center line of center line and video camera is at 45 degree.
2. a kind of observation grade underwater robot according to claim 1, which is characterized in that entire upper casing is to use buoyant material
It makes, the material of lower casing is plastics, and video camera is in the cavity of lower casing protrusion.
3. a kind of observation grade underwater robot according to claim 1, which is characterized in that fixed 4 sides in center edge
The center line of face propeller, center line and video camera is placed at 45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038088.XA CN108327873A (en) | 2017-01-19 | 2017-01-19 | A kind of observation grade underwater robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038088.XA CN108327873A (en) | 2017-01-19 | 2017-01-19 | A kind of observation grade underwater robot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108327873A true CN108327873A (en) | 2018-07-27 |
Family
ID=62921859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710038088.XA Pending CN108327873A (en) | 2017-01-19 | 2017-01-19 | A kind of observation grade underwater robot structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108327873A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN105644745A (en) * | 2016-02-19 | 2016-06-08 | 中国船舶重工集团公司第七研究所 | Control method for underwater vehicle based on multiple propellers |
| CN105947150A (en) * | 2016-05-09 | 2016-09-21 | 浙江大学 | Underwater helicopter |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
-
2017
- 2017-01-19 CN CN201710038088.XA patent/CN108327873A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN105644745A (en) * | 2016-02-19 | 2016-06-08 | 中国船舶重工集团公司第七研究所 | Control method for underwater vehicle based on multiple propellers |
| CN105947150A (en) * | 2016-05-09 | 2016-09-21 | 浙江大学 | Underwater helicopter |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180727 |
|
| WD01 | Invention patent application deemed withdrawn after publication |