CN108639284A - A kind of underwater duct braiding machine people - Google Patents
A kind of underwater duct braiding machine people Download PDFInfo
- Publication number
- CN108639284A CN108639284A CN201810237594.6A CN201810237594A CN108639284A CN 108639284 A CN108639284 A CN 108639284A CN 201810237594 A CN201810237594 A CN 201810237594A CN 108639284 A CN108639284 A CN 108639284A
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- China
- Prior art keywords
- underwater
- machine people
- camera
- braiding machine
- main frame
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- Pending
Links
- 238000009954 braiding Methods 0.000 title claims abstract description 27
- 229910052736 halogen Inorganic materials 0.000 claims abstract description 10
- 150000002367 halogens Chemical class 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 229910001220 stainless steel Inorganic materials 0.000 claims description 20
- 239000010935 stainless steel Substances 0.000 claims description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 239000003643 water by type Substances 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
- H02G1/088—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using pulling devices movable inside conduits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of underwater duct braiding machine people, including main frame, main nacelle and camera cabin, main nacelle to be set in main frame, and camera cabin is set to the front end of main frame；Equipped with directive wheel, horizontal propeller, vertical propeller and halogen lamp on the main frame；It is provided with master control borad, electron speed regulator, optical transmitter and receiver and interior oil sac in the main nacelle, the outside of main nacelle is provided with outer oil sac, interior oil sac is connected with outer oil sac, and is controlled by buoyancy regulating device；Camera, electronic platform and NVR are provided in the camera cabin, camera is mounted on electronic platform, and camera is connect with NVR.Underwater control of the present invention is convenient, flexible, it climbs top formula motion mode and ensures that water quality is limpid, high-definition camera can real time reaction sub-marine situations, underwater duct threading work can be cleverly carried out using the umbilical cables of underwater duct robot, to solve the problems, such as that underwater duct threading is difficult, and then advantageously account for across waters energy delivery problem.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of underwater duct braiding machine people.
Background technology
Continuous increase with people to long range energy delivery demand, cross a river stream, across the lake even energy in ocean over strait
Conveying increases in succession, underwater culvert, and submarine pipeline threading technology is the indispensable technology across waters energy delivery.
Common, existing culvert threading technology can be divided into two kinds, and one is divers to thread technology, and it is latent that diver takes cable
Water passes through culvert, is manually threaded.Another kind is robot threading technology, and existing underwater braiding machine people is generally divided into two
Class, one kind are bottom-sitting type robots, and underwater robot is walked by track drive or in-wheel driving in culvert bottom, and culvert is passed through,
Complete threading；Another kind of is to be driven across culvert with horizontal propeller and vertical propeller to complete threading.
But environment is complicated in culvert and closes, if the diver thread technology occur during the work time it is special
Situation will produce lethal challenge to the personal safety of diver.There is a large amount of mud in culvert, especially adhere in culvert bottom
A large amount of sediments, seat bottom track drive, in-wheel driving and the simple impeller driven of existing underwater robot threading technology can incite somebody to action
Sediment and mud stir, and make water body muddiness in culvert, the working effect of Underwater Camera are seriously affected, to make land operate
Personnel can not correctly grasp sub-marine situations, be unable to complete successfully underwater culvert threading work.
Invention content
Based on above-mentioned technical problem, the present invention provides a kind of underwater duct braiding machine people.
The adopted technical solution is that：
A kind of underwater duct braiding machine people, including main frame, main nacelle and camera cabin, main nacelle are set to main frame
Interior, camera cabin is set to the front end of main frame；
Equipped with directive wheel, horizontal propeller, vertical propeller and halogen lamp on the main frame；Main frame includes 2
Disk and several stainless steel leading screws across 2 disks, all stainless steel leading screws are uniformly distributed along the border of disk, described to lead
It is fixed by the bracket on stainless steel leading screw to wheel, horizontal propeller, vertical propeller and halogen lamp；
Be provided with master control borad, electron speed regulator, optical transmitter and receiver and interior oil sac in the main nacelle, master control borad respectively with electronics tune
Fast device is connected with optical transmitter and receiver, and electron speed regulator is separately connected horizontal propeller and vertical propeller；In the external setting of main nacelle
There is outer oil sac, interior oil sac is connected with outer oil sac, and is controlled by buoyancy regulating device, and buoyancy regulating device connects with master control borad
It connects；Master control borad connects umbilical cables；
Camera, electronic platform and NVR are provided in the camera cabin, camera is mounted on electronic platform, camera shooting
Head is connect with NVR, NVR connection optical transmitter and receivers.
Preferably, the directive wheel is arranged 8 altogether, each in the top stainless steel leading screw and lower part stainless steel leading screw of main frame
Installation 4；The horizontal propeller, vertical propeller and halogen lamp are respectively provided with 2, and the both sides for being sequentially arranged at main frame are stainless
On steel wire thick stick, it is symmetric；The stainless steel leading screw is arranged 6 altogether.
Preferably, braiding machine people further includes the pressure sensor for measuring Underwater Pressure, for measuring underwater temperature
The temperature sensor of degree, and electronic compass and gyroscope for the underwater posture of mensuration machine people.
Preferably, it is also configured with jettison system on braiding machine people.
Preferably, the jettison system is electromagnet.
Preferably, the entirety of braiding machine people is streamlined.
Preferably, the master control borad is STM32 microcontrollers.
The method have the benefit that：
The underwater duct braiding machine people's underwater control of the present invention is convenient, flexible, climbs top formula motion mode and ensures that water quality is limpid,
High-definition camera can real time reaction sub-marine situations, can cleverly carry out underwater duct using the umbilical cables of underwater duct robot and wear
Line works.The present invention is threaded with robot and is threaded instead of traditional diver, avoids duct threading to the greatest extent to latent
The hazard to person of water person to solve the problems, such as that underwater duct threading is difficult, and then advantageously accounts for across waters energy delivery problem.
Description of the drawings
The invention will be further described with specific implementation mode below in conjunction with the accompanying drawings：
Fig. 1 is overall structure of the present invention；
Fig. 2 is mechanical structure front view of the present invention；
Fig. 3 is mechanical structure top view of the present invention；
Fig. 4 is mechanical structure left view of the present invention；
Fig. 5 is mechanical structure perspective view of the present invention；
Fig. 6 is workflow schematic diagram of the present invention.
Specific implementation mode
In conjunction with attached drawing, a kind of underwater duct braiding machine people, including main frame 100, main nacelle 200 and camera cabin 300,
Main nacelle 200 is set in main frame 100, and camera cabin 300 is set to the front end of main frame 100.Underwater duct braiding machine
People's global design is streamlined.
Directive wheel 103, horizontal propeller 101, vertical propeller 102 and halogen lamp 104 are carried on main frame 100.It is horizontal
Propeller 101 is high-power, and vertical propeller 102 is small-power.If main frame 100 includes 2 disks and across 2 disks
Dry root stainless steel leading screw, all stainless steel leading screws are uniformly distributed along the border of disk, the directive wheel 103, horizontal propeller
101, vertical propeller 102 and halogen lamp 104 are mounted on by holder and nut on stainless steel leading screw, can arbitrarily be adjusted along leading screw
Whole position, flexibly and easily.
Battery 205, master control borad 204, electron speed regulator 206, optical transmitter and receiver 203 and interior oil sac are provided in main nacelle 200
202.Master control borad 204 is connect with electron speed regulator 206 and optical transmitter and receiver 203 respectively, and electron speed regulator 206 is separately connected horizontal propulsion
Device 101 and vertical propeller 102.The outside of main nacelle 200 is provided with outer oil sac 201,201 phase of interior oil sac 202 and outer oil sac
Connection, and controlled by buoyancy regulating device, buoyancy regulating device is connect with master control borad 204.Buoyancy regulating device tune can be passed through
Oil mass in whole inside and outside oil sac changes the displacement of volume of braiding machine people, and then adjusts the buoyancy of robot.Master control borad 204 is logical
Umbilical cables 106 are crossed to connect with console.
High-definition camera 301, electronic platform 302 and NVR 303 are provided in camera cabin.High-definition camera 301 is installed
On electronic platform 302, high-definition camera 301 is connect with NVR 303, NVR connections optical transmitter and receiver 203.High-definition camera can lead to
It crosses umbilical cables 106 and HD video is transmitted to land, high-definition camera is configured with electronic platform 302, and console is by controlling hand
Handle can adjust the comprehensive viewing of the angle realization underwater picture of electronic platform, and the NVR being arranged in camera cabin can be stored
The video data that high definition underwater camera is recorded.
As the further design to the present invention, the directive wheel 103 is arranged 8 altogether, in the top stainless steel of main frame
4 are respectively installed on leading screw and lower part stainless steel leading screw, is uniformly distributed.The horizontal propeller 101, vertical propeller 102 and halogen
Plain lamp 104 is respectively provided with 2, is sequentially arranged on the both sides stainless steel leading screw of main frame, and be symmetric.The stainless steel wire
Thick stick is arranged 6 altogether.The structure is arranged, ingenious rationally to ensure airflow design, and is convenient for making propeller force action in machine
In device people's center of gravity, and assemble simply, it is of low cost.
Further, braiding machine people further includes the pressure sensor 207 for measuring Underwater Pressure, for measuring
The temperature sensor 208 of submarine temperatures, and electronic compass 209 and gyroscope 210 for the underwater posture of mensuration machine people.Institute
Stating pressure sensor 207, temperature sensor 208, electronic compass 209 and gyroscope 210 can be by submarine temperatures, pressure and posture number
According to passing through umbilical cables real-time Transmission to land.
Further, it is also configured with jettison system 105 on braiding machine people.The jettison system preferably uses electromagnetism
Iron, when work, can control weight release by way of power-off.
Further, the master control borad 204 selects STM32 microcontrollers.
More intuitively to show technical scheme of the present invention, with reference to underwater duct braiding machine people the course of work into
Row furthers elucidate：
(1) robot is transferred to the water surface by vertical shaft direction using crane.
(2) crane line breaks off relations.
(3) buoyancy regulating device is controlled, pressure oil is discharged into interior oil sac 202 by outer oil sac 201,201 volume of outer oil sac subtracts
Small, displacement reduces, and robot buoyancy reduces.
(4) robot free-falling since the water surface utilizes the high-definition camera of having electronic holder 302 in dropping process
301 find the entrance of culvert.
(5) after finding entrance, buoyancy adjustment device is controlled using console, pressure oil is discharged into outer oil by interior oil sac 202
Capsule 201,201 volume of outer oil sac increase, and displacement increases, and robot buoyancy increases, robot hovering alignment hole, when inessential
The vertical propeller 102 for not starting robot, to keep underwater environment limpid.
(6) controlled level propeller 101 pushes robot to enter hole, controls 105 jettisoning weight of jettison system, robot
Directive wheel 103 is floated up to be close at the top of duct.
(7) start horizontal propeller 101, robot advances along at the top of duct, to avoid having stirred duct bottom
Soil influence underwater environment can visual degree, adjust the angle of high definition underwater camera 301 using electronic platform 302 come to underwater
Environment is observed in real time, and video information is transmitted to ground by umbilical cables 106, while NVR303 stores video information.
(8) when encountering the special circumstances of environment complexity causes robot that can not continue on advance at the top of duct, start perpendicular
Straight propeller 102, adjusts robot location.
(9) in robot threading process, pressure sensor 207, temperature sensor 208, electronic compass 209 and gyroscope
Submarine temperatures, pressure and attitude data can be passed through 106 real-time Transmission of umbilical cables to ground by 210.
(10) after going out duct mouth, recycling machine people unlocks the umbilical cables 106 on underwater robot and console, it would be desirable to
The hawser passed through ties up in the umbilical cables of outlet end.
(11) umbilical cables 106 are pulled in Shaft Location setting winch.
(12) umbilical cables are recycled, the hawser tied up in umbilical cables 106 is unlocked, is finally completed threading task.
It takes or uses for reference prior art and can be realized in the part that do not addressed in aforesaid way.
The above is only the embodiment of the present invention, is not intended to limit the present invention in any form, any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, utilizes the method content pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications, is all within the protection scope of the claims.
Claims (7)
1. a kind of underwater duct braiding machine people, it is characterised in that：It is set including main frame, main nacelle and camera cabin, main nacelle
It is placed in main frame, camera cabin is set to the front end of main frame；
Equipped with directive wheel, horizontal propeller, vertical propeller and halogen lamp on the main frame；Main frame includes 2 disks
With several stainless steel leading screws across 2 disks, all stainless steel leading screws are uniformly distributed along the border of disk, the guiding
Wheel, horizontal propeller, vertical propeller and halogen lamp are fixed by the bracket on stainless steel leading screw；
Be provided with master control borad, electron speed regulator, optical transmitter and receiver and interior oil sac in the main nacelle, master control borad respectively with electron speed regulator
It is connected with optical transmitter and receiver, electron speed regulator is separately connected horizontal propeller and vertical propeller；It is provided in the outside of main nacelle outer
Oil sac, interior oil sac is connected with outer oil sac, and is controlled by buoyancy regulating device, and buoyancy regulating device is connect with master control borad；It is main
It controls plate and connects umbilical cables；
Be provided with camera, electronic platform and NVR in the camera cabin, camera is mounted on electronic platform, camera with
NVR connections, NVR connection optical transmitter and receivers.
2. a kind of underwater duct braiding machine people according to claim 1, it is characterised in that：The directive wheel is arranged 8 altogether
It is a, respectively install 4 in the top stainless steel leading screw and lower part stainless steel leading screw of main frame；The horizontal propeller, vertical propulsion
Device and halogen lamp are respectively provided with 2, are sequentially arranged on the both sides stainless steel leading screw of main frame, are symmetric；The stainless steel
Leading screw is arranged 6 altogether.
3. a kind of underwater duct braiding machine people according to claim 1, it is characterised in that：Braiding machine people further includes
Pressure sensor for measuring Underwater Pressure, the temperature sensor for measuring submarine temperatures, and it is used for mensuration machine people
The electronic compass and gyroscope of underwater posture.
4. a kind of underwater duct braiding machine people according to claim 1, it is characterised in that：Also match on braiding machine people
It is equipped with jettison system.
5. a kind of underwater duct braiding machine people according to claim 4, it is characterised in that：The jettison system is electromagnetism
Iron.
6. a kind of underwater duct braiding machine people according to claim 1, it is characterised in that：The entirety of braiding machine people
It is streamlined.
7. a kind of underwater duct braiding machine people according to claim 1, it is characterised in that：The master control borad is STM32
Microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810237594.6A CN108639284A (en) | 2018-03-22 | 2018-03-22 | A kind of underwater duct braiding machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810237594.6A CN108639284A (en) | 2018-03-22 | 2018-03-22 | A kind of underwater duct braiding machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108639284A true CN108639284A (en) | 2018-10-12 |
Family
ID=63744532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237594.6A Pending CN108639284A (en) | 2018-03-22 | 2018-03-22 | A kind of underwater duct braiding machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108639284A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103814A (en) * | 2018-10-18 | 2018-12-28 | 国网山西省电力公司太原供电公司 | A kind of buried cable installation aiding device |
| CN109737268A (en) * | 2019-03-12 | 2019-05-10 | 韩金正 | Enclosed fluid pipeline repairing apparatus |
| CN110649513A (en) * | 2019-10-10 | 2020-01-03 | 国网辽宁省电力有限公司盘锦供电公司 | Cable conduit remote control car with rope |
| WO2021160487A1 (en) * | 2020-02-10 | 2021-08-19 | Igus Gmbh | Spatially movable line guiding device, and roller unit and guide body therefor |
| CN114421364A (en) * | 2021-12-29 | 2022-04-29 | 南京安透可智能***有限公司 | Equipment and method for threading sewer pipe |
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| US6880195B1 (en) * | 1999-04-17 | 2005-04-19 | P.A.C.T. Engineering (Scotland) Limited | Pipe cleaning device |
| CN102788225A (en) * | 2012-08-24 | 2012-11-21 | 浙江农林大学 | Jet-flow propelled pipeline robot |
| CN104345683A (en) * | 2014-10-21 | 2015-02-11 | 国家电网公司 | Temperature monitoring system for intelligent patrol robot of valve hall |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
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| CN106926996A (en) * | 2017-03-09 | 2017-07-07 | 德海电子科技（上海）有限公司 | The portable small-sized underwater robot of closed shelves |
| CN208021694U (en) * | 2018-03-22 | 2018-10-30 | 中国海洋大学 | A kind of underwater duct braiding machine people |
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| JPH0558386A (en) * | 1991-08-29 | 1993-03-09 | Mitsubishi Heavy Ind Ltd | Submerged robot for culvert work |
| US6880195B1 (en) * | 1999-04-17 | 2005-04-19 | P.A.C.T. Engineering (Scotland) Limited | Pipe cleaning device |
| CN102788225A (en) * | 2012-08-24 | 2012-11-21 | 浙江农林大学 | Jet-flow propelled pipeline robot |
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| CN104345683A (en) * | 2014-10-21 | 2015-02-11 | 国家电网公司 | Temperature monitoring system for intelligent patrol robot of valve hall |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103814A (en) * | 2018-10-18 | 2018-12-28 | 国网山西省电力公司太原供电公司 | A kind of buried cable installation aiding device |
| CN109737268A (en) * | 2019-03-12 | 2019-05-10 | 韩金正 | Enclosed fluid pipeline repairing apparatus |
| CN110649513A (en) * | 2019-10-10 | 2020-01-03 | 国网辽宁省电力有限公司盘锦供电公司 | Cable conduit remote control car with rope |
| WO2021160487A1 (en) * | 2020-02-10 | 2021-08-19 | Igus Gmbh | Spatially movable line guiding device, and roller unit and guide body therefor |
| CN114421364A (en) * | 2021-12-29 | 2022-04-29 | 南京安透可智能***有限公司 | Equipment and method for threading sewer pipe |
| CN114421364B (en) * | 2021-12-29 | 2023-09-26 | 南京安透可智能***有限公司 | Device and method for threading sewer pipeline |
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