CN112572735A

CN112572735A - Heavy underwater robot frame and system thereof

Info

Publication number: CN112572735A
Application number: CN201910934810.7A
Authority: CN
Inventors: 刘可安; 尚敬; 严允; 张定华; 沈克; 杨鸣远; 朱迎谷; 胡斌炜; 吴旋
Original assignee: Zhuzhou CRRC Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2021-03-30
Anticipated expiration: 2039-09-29
Also published as: CN112572735B

Abstract

The invention discloses a heavy underwater robot frame and a system thereof, wherein the frame comprises a middle upright post, a peripheral upright post, a base bearing support, a middle bearing support and a top bearing support; the base bearing support comprises an outer frame and an inner frame, and the outer frame surrounds the inner frame; the inner frame is vertically connected with the middle upright post; the middle bearing support and the top bearing support are sequentially arranged above the base bearing support in parallel and are respectively connected with the middle upright post; the periphery stand is connected the outside frame with top bearing support. The heavy underwater robot frame and the system thereof provided by the embodiment of the invention can reduce the weight of the frame, are convenient to configure a high-power unit, and flexibly arrange robot parts, so that the heavy underwater robot system has a compact structure and is flexible in movement.

Description

Heavy underwater robot frame and system thereof

Technical Field

The invention relates to the field of robots, in particular to a heavy underwater robot frame and a system thereof.

Background

With the decreasing land resources and the worsening of the environment due to excessive mining, humans face significant challenges in the environment and resources, while deep sea contains abundant biological and mineral resources. After twenty-first century, human beings have looked at the ocean, and China is more in the way of promoting the research and resource development of marine organisms into the strategic development direction of China. Scientific investigation and resource development of deep sea are not free from advanced technology and equipment, scientific investigation and operation in the deep sea field at present mainly depend on a deep sea operation-level heavy underwater robot system, the deep sea operation-level heavy underwater robot system is large in operation depth and long in operation time, can resist a relatively severe marine environment, and is widely applied to the fields of marine geology and biological investigation, auxiliary laying of submarine optical cables and pipelines, deep sea rescue and salvage, monitoring and inspection of underwater structures and the like.

The frame structure has important influence on the reliability and performance of the heavy underwater robot system, and the current frame structure cannot meet the requirement of the high-power heavy underwater robot system.

Disclosure of Invention

In view of the above, the present invention provides a heavy underwater robot frame, which can meet the requirements of a high-power heavy underwater robot system.

The invention provides a heavy underwater robot frame based on the aim, which comprises a middle upright post, a peripheral upright post, a base bearing support, a middle bearing support and a top bearing support;

the base bearing support comprises an outer frame and an inner frame, and the outer frame surrounds the inner frame;

the inner frame is vertically connected with the middle upright post;

the middle bearing support and the top bearing support are sequentially arranged above the base bearing support in parallel and are respectively connected with the middle upright post;

the periphery stand is connected the outside frame with top bearing support.

Further, the frame is made of heat treatment strengthened aluminum alloy;

first through holes are regularly distributed on the peripheral upright columns, the base bearing support, the middle bearing support and the top bearing support; the middle upright post is hollow.

The first cross beam is arranged on the outer periphery of the middle upright post, and the first cross beam is arranged on the outer periphery of the middle upright post;

the end part of the first upright column close to the top bearing support is bent towards the direction far away from the second upright column, and extends out of the outer frame and the top bearing support in the direction vertical to the middle upright column;

the ends of the pair of first upright columns, which are close to the top bearing support, are connected with the first cross beam.

Furthermore, the outside frame is the rectangle, first stand setting is in the long limit of outside frame and apart from the certain distance in the junction of long limit and minor face, the second stand setting is in the junction of long limit and minor face of outside frame.

Furthermore, an auxiliary plate is arranged on one surface, away from the middle bearing support, of the base bearing support, and first through holes are distributed in the auxiliary plate.

In a second aspect of an embodiment of the present invention, there is provided a heavy underwater robot system including: the system of the heavy underwater robot frame further comprises a floating body, wherein the floating body is arranged on the top bearing support and is close to the first cross beam.

Further, the floating body device also comprises a protective component which is arranged around the frame and the floating body, wherein,

the protective part comprises a first assembly, the first assembly is arranged on the first cross beam and the short edge positioned on the same side of the first cross beam, and a fillet is arranged on the upstream surface of the first assembly.

And the hydraulic power unit is fixed on the base bearing support and close to one side of the second upright column and is used for providing driving force for the heavy underwater robot system.

Further, still include the compensator, the compensator set up in on the base bearing support, the distance of compensator with first stand is greater than the distance of compensator with the second stand.

Further, the method also comprises the following steps: the lifting device comprises a connecting piece and a hollow lifting rod, and the connecting piece is connected with the middle upright post;

a plurality of third through holes are formed in the cross beam of the connecting piece, and the lifting rod can be connected with different third through holes to adjust the center of gravity; the lifting rod can accommodate an umbilical inside.

From the above, according to the heavy underwater robot frame provided by the invention, the middle upright post and the peripheral upright posts play a role in supporting the base bearing support, the middle bearing support and the top bearing support, so that the space between the base bearing support and the middle bearing support is less blocked, the space between the middle bearing support and the top bearing support is less blocked, the weight of the frame is reduced, meanwhile, a high-power unit is convenient to configure, robot parts are flexibly arranged, and the heavy underwater robot is compact in structure and flexible in movement.

Drawings

Fig. 1 is a schematic structural diagram of a heavy underwater robot frame according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a floating body according to an embodiment of the present invention;

FIG. 3 is a schematic view of a shielding component according to an embodiment of the present invention;

fig. 4 is a schematic overall structure diagram of a heavy underwater robot system according to an embodiment of the present invention;

FIG. 5 is a left side view of a heavy duty underwater robotic system provided in accordance with an embodiment of the present invention;

FIG. 6 is a right side view of a heavy duty underwater robotic system provided in accordance with an embodiment of the present invention;

FIG. 7 is a front view of a heavy duty underwater robotic system provided in accordance with embodiments of the present invention;

FIG. 8 is a top view of a heavy duty underwater robotic system provided in accordance with an embodiment of the present invention;

FIG. 9 is a bottom view of a heavy duty underwater robotic system provided in accordance with embodiments of the present invention;

fig. 10 is a schematic structural diagram of a lifting device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.

It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.

For the heavy underwater robot, a firm framework and reasonable system layout are the prerequisites for ensuring the safe operation of the heavy underwater robot. In order to ensure enough stability, the conventional frame structure is complex and limited in space, the arrangement of a high-power unit is limited, and the requirement of a high-power heavy underwater robot cannot be met. The heavy underwater robot in the present invention may also be called a remote Operated unmanned Vehicle (ROV), and is used for underwater observation, inspection, construction, and the like.

Those skilled in the art will appreciate that a heavy duty underwater robotic system may include, in addition to a frame, a variety of robotic components disposed directly or indirectly on the frame, including but not limited to a propeller, a compensator, a color CCD camera, an underwater light, a pan head, a cable cutter, a low-light camera, a lifting device, a sonar, a pan head mount, an LED light, a seven-function robotic arm, a five-function robotic arm, a beacon, a nameplate, an oil and water filter, an electronic pod, a hydraulic power unit, and the like.

In view of the above objects, a first aspect of embodiments of the present invention proposes an embodiment of a heavy underwater robot frame. Fig. 1 is a schematic structural diagram of a heavy underwater robot frame according to an embodiment of the present invention.

A heavy underwater robot frame comprises a middle upright post 1, a peripheral upright post, a base bearing support 5, a middle bearing support 6 and a top bearing support 7;

said base support frame 5 comprises an outer frame 51 and an inner frame 52, said outer frame 51 surrounding said inner frame 52;

the inner frame 52 is vertically connected with the middle upright post 1;

the middle bearing support 6 and the top bearing support 7 are sequentially arranged above the base bearing support 5 in parallel and are respectively connected with the middle upright post 1;

the peripheral uprights connect the external frame 51 with the top load-bearing support 7.

From the above, according to the heavy underwater robot frame provided by the invention, the middle upright posts and the peripheral upright posts play roles in supporting the base bearing support, the middle bearing support and the top bearing support, so that the space blockage between the base bearing support and the middle bearing support is less, the space blockage between the middle bearing support and the top bearing support is less, the overall structure is simple, the weight of the frame is reduced, meanwhile, a high-power unit is convenient to configure, robot parts are flexibly arranged, and the heavy underwater robot is compact in structure and flexible in movement.

Although the steel frame has higher mechanical strength, the steel frame has larger mass, is not beneficial to the underwater movement and operation of a heavy underwater robot, and has the problem of serious corrosion; the titanium alloy has high mechanical strength, good corrosion resistance and smaller density than steel, but has expensive overall cost and high cost.

In order to further reduce the weight of the frame, in some embodiments of the present invention, the material of the frame is a heat-treatment strengthened aluminum alloy; first through holes are regularly distributed on the peripheral upright columns, the base bearing support 5, the middle bearing support 6 and the top bearing support 7; the middle upright post 1 is hollow.

The aluminum alloy strengthened by the heat treatment can meet the requirement of mechanical strength, and the weight of the frame can be reduced under the same volume because the density of the aluminum alloy is smaller than that of steel and titanium alloy, so that the frame is lighter. In addition, compared with titanium alloy, the alloy is cheap and low in cost.

Through the periphery stand the base bearing support 5 middle part bearing support 6 with set up the first through-hole of regular distribution on the bearing support 7 of top, can further alleviate the weight of frame, simultaneously the water hole can also be regarded as to first through-hole, is favorable to the quick outflow of sea water, reduces the water resistance, is favorable to improving heavy underwater robot's operating performance. It should be noted that the frame of the present invention may also include other components, in which the first through holes are regularly distributed, and the components are not limited to the components listed here, in the case of meeting the strength requirement.

The middle upright post 1 is hollow, and also plays a role in reducing the weight of the frame.

Further, the frame is prepared by welding, for example, the inner frame 52, the middle bearing bracket 6 and the top bearing bracket 7 are connected with the middle upright post 1 by welding.

Optionally, the base bearing support 5, the middle bearing support 6, the top bearing support 7 and the peripheral columns are made of heat treatment reinforced aluminum alloy plates. The first through holes are regularly distributed on the aluminum alloy plate.

In some embodiments of the present invention, the present invention further comprises a first cross beam 2, the peripheral upright column comprises a pair of first upright columns 3 and a pair of second upright columns 4, and the pair of first upright columns 3 and the pair of second upright columns 4 are respectively located at two sides of the middle upright column 1;

the end part of the first upright column 3 close to the top bearing support 7 is bent towards the direction far away from the second upright column 4, and extends out of the outer frame 51 and the top bearing support 7 in the direction vertical to the middle upright column 1;

the ends of the pair of first upright columns 3 close to the top bearing bracket 7 are connected with the first cross beam 2.

Such a structure enables installation of a larger area of the floating body without increasing the area of the bottom and top load-bearing supports, and also provides sufficient buoyancy to maintain smooth operation of the system when the configuration of a powerful power unit causes an increase in the weight of the heavy underwater robot system.

The structure can also play a role in protecting robot parts (such as a mechanical arm, a tripod head, an underwater lamp and a camera) arranged at the lower part of the frame, so that the robot parts are prevented from being directly exposed and prevented from colliding.

Particularly, the end part of the first upright column close to the top bearing support is bent towards the direction far away from the second upright column, so that the frame has a streamline structure, underwater movement resistance can be reduced, and the maneuvering performance is better.

Further, a second cross beam 9 is connected between the first upright 3 and the second upright 4.

Further, a third cross beam 10 is connected between the pair of second upright columns 4.

By providing the second cross member 9 and the third cross member 10, the strength and stability of the frame can be increased. As can be understood by those skilled in the art, the specific number and positions of the second beam 9 and the third beam 10 can be flexibly selected according to the layout of the robot components on the heavy underwater robot.

Those skilled in the art will appreciate that the direction in which the second upright 4 points toward the first upright 3 is a predetermined moving direction of the frame in the water (as indicated by the arrow in fig. 4).

In some embodiments of the present invention, the outer frame 51 is rectangular, the first upright 3 is disposed at a distance from the connection between the long side 511 and the short side 512 of the outer frame 51, and the second upright 4 is disposed at the connection between the long side 511 and the short side 512 of the outer frame 51.

Due to the structural arrangement, the first upright column 3 has a certain distance with the top angle of the external frame 51, so that equipment such as a mechanical arm can be conveniently carried on the base bearing support, and the moving range of the mechanical arm and the like cannot be limited due to the first upright column 3.

Furthermore, the first upright post 3 inclines towards the direction far away from the second upright post, so that the whole line of the first upright post 3 is smoother, the stress is more balanced, and the stability is higher.

Further, the base load-bearing support 5 further comprises a connecting plate 53, and the connecting plate 53 connects the outer frame 51 and the inner frame 52. The strength of the base load-bearing support 5 can be increased by providing the connection plate 53; meanwhile, the connection plate 53 can be used for mounting a robot component.

Further, the inner frame 52 is rectangular. Optionally, the number of the middle upright posts 1 is four, and the four upright posts are respectively located at four top corners of the inner frame 52. Optionally, the number of the connecting plates 53 is four, and the four connecting plates are respectively connected with the four top corners of the outer frame 51 and the inner frame 52, so that the symmetry of the frame can be ensured, and the balance and stability of the stress of the heavy underwater robot system can be ensured.

Further, middle part bearing support 6 includes a pair of first swash plate 61, a pair of second swash plate 62 and a pair of end beam 63, first swash plate 61 is connected and is close to the center pillar 1 of first stand 3 and orientation the second stand 4, second swash plate 62 is connected and is close to the center pillar of second stand 4 and orientation the first stand 3, end beam 63 connects first swash plate 61 with second swash plate 63 and arranges in directly over the long limit of outline 51.

Through the direction of connection that sets up first swash plate 61 and second swash plate 62, richened the atress direction of frame is favorable to improving the intensity of frame. Meanwhile, the length of the end beam 6 is reduced, the weight of the frame is further reduced, and the separation range between the base bearing support 5 and the top bearing support 7 is enlarged, so that robot parts can be arranged more conveniently.

In addition, the first and second

sloping plates

61 and 62 can also function to support the floating body. Specifically, in order to increase the volume of the floating body, the shape of the floating body is irregular, and the first inclined plate 61 and the second inclined plate 62 can play a supporting role for the floating body which passes through the top bearing bracket 7 and extends to the middle bearing bracket 6.

Further, the top load-bearing support 7 comprises a rectangular frame 71, a fourth cross beam 72, a pair of third inclined plates 73 and a pair of fourth inclined plates 74;

the rectangular frame 71 is arranged right above the inner frame 52 and connected with the middle upright post 1;

the third sloping plate 73 is connected with the middle upright column 1 close to the first upright column 3 and the first upright column 3 positioned at the same side, and the fourth sloping plate 74 is connected with the middle upright column 1 close to the second upright column 4 and the second upright column 4 positioned at the same side;

the fourth cross member 72 connects a pair of the third inclined plates 73 and connects the pair of first columns 3.

Optionally, the third cross member 10 connects the pair of fourth sloping plates 74.

Such top bearing support stability is good, and can to first stand 3 provides sufficient joint strength, when the tip of first stand 3 receives the striking, can effectively decompose the impact force to a plurality of directions, improves the reliable and stable nature of frame.

Optionally, a reinforcing plate (not shown) is disposed between the third sloping plate 73 and the fourth cross beam 72, and between the fourth sloping plate 74 and the third cross beam 10 connected thereto. Through the reinforcing plate, the stability of top bearing support is further improved.

With reference to fig. 1 and 9, in some embodiments of the invention, on the side of the base load-bearing support 5 remote from the central load-bearing support 6, an auxiliary plate 54 is provided, on which auxiliary plate 54 first through holes are distributed. In fig. 1, a part of the auxiliary plate 54 is omitted for the sake of clarity of the structure of the base support bracket 5.

By arranging the auxiliary plate 54, the frame can be protected, and robot parts carried on the frame are prevented from directly contacting the seabed, so that collision is avoided. At the same time, the auxiliary plate 54 can also be used for placing lead blocks.

The auxiliary plate 54 is provided with a first through hole for forming a water hole, which is convenient for seawater to flow out and reduces the motion resistance.

In some embodiments of the present invention, a counterweight position is disposed on the auxiliary plate 54, and the counterweight position is used for placing the counterweight lead blocks, so that the gravity center of the heavy underwater robot system can be adjusted by adjusting the number of the counterweight lead blocks.

Particularly, an underwater operation tool interface is reserved on the framework, and different operation tools such as an underwater hydraulic shear, an underwater cutting machine and the like are selected and matched according to different operation requirements. When the underwater operation tools are increased or decreased, the gravity center of the heavy underwater robot system is changed, and the number and the positions of the counterweight lead blocks are adjusted, so that the heavy underwater robot can reach balance again, and the stability of heavy underwater operation is ensured.

As can be understood by those skilled in the art, the weight positions can be flexibly set, such as both ends of the auxiliary plate in the long side direction or both ends of the auxiliary plate in the short side direction. When the counterweight positions are arranged at the two ends in the long edge direction, the front and back balance of the heavy underwater robot system can be adjusted; when the counterweight positions are arranged at two ends in the short side direction, the left and right balance of the heavy underwater robot system can be adjusted.

In view of the above objects, a second aspect of an embodiment of the present invention proposes an embodiment of a system comprising said heavy underwater robot frame. Referring to fig. 4, the heavy underwater robot system further includes a floating body disposed on the top load-bearing support, the floating body being adjacent to the first cross member.

By such an arrangement, the floating body can cover the first upright 3 and the top load-bearing support 7, has a larger area, and can provide larger buoyancy for the heavy underwater robot system.

According to the heavy underwater robot system provided by the embodiment of the invention, the frame structure is bilaterally symmetrical, the four central upright posts 1 are symmetrically distributed in the middle of the base bearing support 5, the floating body is positioned at the upper part of the frame, robot parts such as a hydraulic power unit with larger weight and the like can be conveniently arranged on the base bearing support 5, the layout of the system can ensure that a buoyancy center and a gravity center are separated and positioned on the same plumb surface, the heavy underwater robot system is ensured to be neutral buoyancy in seawater, and the stability, the maneuverability of underwater motion and the convenience of underwater operation are improved.

Further, referring to fig. 2, the floating body includes a front portion 801, a first portion 802, and a second portion 803. The front portion 801 is close to the first beam 2, and the first portion 802 and the second portion 803 are remote from the first beam 2 and symmetrical to each other. Through setting up three independent portion, the body is convenient for machine-shaping and installation. The first portion 802 and the second portion 803 are both provided with a second through hole 804, and the second through hole 804 is used for the middle upright post 1 to penetrate out. According to the arrangement condition of the vertical thruster, a round hole is arranged on the floating body and used for the vertical thruster to penetrate out (see figure 8).

The surface of the floating body is smooth, particularly, the corners of the front part 801, the first part 802 and the second part 802 are provided with round corners, and the structure can reduce the fluid resistance of the heavy underwater robot system during underwater movement.

Further, the floating body is connected with the top bearing support 7 through bolts.

Furthermore, the floating body is made of glass bead composite bubble materials or light composite materials.According to the difference of the submergence depth of the heavy underwater robot system, the material density of the floating body is 0.3-0.7 g/cm³The density range can meet the conventional submergence depth requirement.

As can be appreciated by those skilled in the art, the shape of the float is flexible to increase the volume of the float. The floating body is non-planar on the side near the middle load-bearing support 6 and may extend partially towards the middle load-bearing support 6, where the first sloping plate 61 and the second sloping plate 62 are able to support the floating body.

In some embodiments of the invention, as shown in fig. 3, further comprising a shield member disposed around the frame and the float, wherein,

the protection component comprises a first assembly 811, the first assembly 811 is arranged on the first cross beam 2 and the short side 512 which is positioned on the same side of the first cross beam 2, and the upstream surface of the first assembly 811 is provided with a fillet.

Through setting up protective part, play damping cushioning effect, avoid with other direct impact of object, solve heavy underwater robot system puts the safety protection problem of retrieving and the motion in-process. In addition, the upstream surface of the first assembly is provided with a fillet, so that the fluid resistance of the heavy underwater robot system during advancing can be reduced.

Further, the material of the first component 811 is rubber. The first component 811 is mounted on the first beam 2 and the short side 512 on the same side of the first beam 2 by bolts. And more particularly, on the upstream surface (as those skilled in the art will appreciate, the upstream surface is a surface on which water directly impacts when moving in a preset forward direction of the heavy underwater robot).

The skilled person will be able to solve the problem that the outer surface of the heavy duty underwater robot system comprises the floating body and part of the frame when the floating body is connected to the top load-bearing support 7. Further, the shielding component further comprises a second component 812, wherein the second component 812 is disposed at an outer surface, particularly a corner position, of the heavy underwater robot system, such as the first upright 3, the second upright 4, the long side 511, the second cross beam 9, the end beam 63, and the like.

The material of the second component 812 is polypropylene plastic.

In order to more clearly embody the layout of the heavy underwater robot system in the embodiment of the present invention, some robot parts, such as the floating body, are omitted from fig. 5 and not shown. Referring to fig. 5, in some embodiments of the present invention, a hydraulic power unit 82 is further included, and the hydraulic power unit 82 is fixed on the base load-bearing support 5 and near one side of the second upright 4, and is used for providing driving force for the heavy underwater robot system. Optionally, the hydraulic power unit is fixed by bolts.

By utilizing the framework provided by the invention, the maximum power of the hydraulic power unit can reach 150KW or above, so that high power is provided for the heavy underwater robot system, and the requirement of high-power operation of the heavy underwater robot system is met.

The hydraulic power unit can provide enough power for the propellers selected according to the requirements of different working powers, and the maximum driving force can reach 1100kgf or more.

Further, the hydraulic power unit 82 includes a motor, a pump, a filter, an accumulator and a valve block, the motor drives the pump to rotate, mechanical energy is converted into hydraulic energy, and hydraulic oil pushes the propeller to rotate after passing through the hydraulic control unit.

As shown in fig. 5, in some embodiments of the present invention, the compensator 83 is further included, the compensator 83 is disposed on the base load-bearing support 5, and the distance between the compensator 83 and the first upright 3 is greater than the distance between the compensator 83 and the second upright 4. Optionally, the compensator 83 is fixed to the connection plate 53 of the base support 5 by means of an adapter.

It should be noted that the larger the submergence depth of the heavy underwater robot system is, the larger the hydrostatic pressure is, and the larger the hydrostatic pressure may cause damage to the valve box, the lamp control box and other box bodies, and the compensator 83 is required to balance the external hydrostatic pressure. The compensator 83 senses the external seawater pressure through an elastic element and transmits the external seawater pressure to the interior of the hydraulic system, so that the oil return pressure of the system is equal to the external seawater pressure, and the pressure compensation is automatically adjusted along with the change of the seawater depth, and the pressure compensation under different seawater depths is realized.

Referring to fig. 5 and 10, in some embodiments of the invention, further comprising: a lifting device comprising a connecting piece 843 and a hollow lifting rod 842, wherein the connecting piece 843 is connected with the middle upright post 1; here, four corners of the connecting member 843 may be connected to four middle columns 1, respectively;

a plurality of third through holes are formed in the cross beam 841 of the connecting piece 843, and the lifting rod 842 can be connected with different third through holes to adjust the gravity center; here, the number of the third through holes may be five;

the lifting bar 842 is configured to receive an umbilical therein.

Optionally, the umbilical is connected to an umbilical connection box of the heavy underwater robot.

In this way, the lifting bar 842 can be fixed at different positions by pins according to different loading conditions of the heavy underwater robot system, so as to ensure the overall balance of the heavy underwater robot during releasing and recovering.

Further, the cross beam 841 of the connecting piece 843 is parallel to the long edge, the third through holes are arranged along the direction of the long edge, and at the moment, the front and back balance of the heavy underwater robot can be adjusted by connecting different third through holes; or, the cross beam 841 of the connecting piece 843 is parallel to the short side, the third through holes are arranged along the direction of the short side, and at the moment, the left and right balance of the heavy underwater robot can be adjusted by connecting different third through holes.

Those skilled in the art can understand that the gravity center of the heavy underwater robot can be adjusted through the matching of the positions of the counterweight positions and the arrangement direction of the third through holes, so that the balance of the heavy underwater robot is realized, for example, when the counterweight positions are arranged at two ends in the short side direction, the left and right balance can be adjusted, and the third through holes are arranged in the long side direction so as to adjust the front and back balance.

In some embodiments of the invention, a horizontal thruster 851 and a vertical thruster 852 are also included; the horizontal thrusters 851 are symmetrically arranged on the lower surface of the top load-bearing support 7; the vertical thrusters 852 are symmetrically arranged and connected to the upper surface of the top load-bearing support 7 through short upright posts 11; said horizontal thruster 851 and said vertical thruster 852 are driven by said hydraulic power unit 82.

The horizontal propeller 851 and the vertical propeller 852 are all driven by hydraulic pressure, and the flow of hydraulic oil entering the propellers is controlled by adjusting the opening size of the servo proportional valve, so that the rotating speed of the propellers is controlled, and the moving speed of the heavy underwater robot system is further controlled.

Further, the number of the horizontal thrusters 851 is four, and the horizontal thrusters are symmetrically mounted on the lower surface of the top load-bearing support 7 by bolts. The number of the vertical recommenders 852 is three, and the short columns 11 are distributed in a triangular manner. The short upright post 11 is welded on the upper surface of the top bearing bracket 7, and the vertical propeller 852 is installed on the short upright post 11 through bolts.

It will be appreciated that the number of horizontal recommenders 851 and vertical recommenders 852 may be set according to the power requirements of the subsea operation. When the vertical recommendation 852 needs to be increased, the number of the short columns 11 is increased correspondingly.

In some embodiments of the invention, an electronics compartment 86 is also included, the electronics compartment 86 being secured to the central load bearing support 6 by bolts and fastening straps.

The electronic pod 86 is a core component of the heavy underwater robotic system, and is used for installing an optical fiber communicator, a control circuit board and the like, providing power and data communication for other components, and maintaining real-time signal transmission with a console in a control container. The electronic cabin 86 is provided with a water leakage detection device, the electronic cabin 86 needs to be vacuumized before launching each time, and an alarm can be given when seawater enters.

As shown in fig. 7, in some embodiments of the invention, a seven-function robot 871 and a five-function robot 872 are also included; the seven-function manipulator 871 and the five-function manipulator 872 are fixed to one side of the base bearing bracket 5 close to the first upright post 3 through bolts. The seven-function manipulator has seven degrees of freedom, flexible action and high operation precision, the maximum rated lifting force is 454kg, the rated holding power is 4092N, the rated moment of the wrist is 170Nm, the continuous rotation speed of the wrist is 6-35rpm, and the extension distance is 1.922 m; the five-function mechanical arm is a mechanical arm with five degrees of freedom, can reliably implement the positioning function of the suspension operation of the heavy underwater robot system, and can also consider partial operation tasks.

Optionally, a mounting table 55 (as shown in fig. 1) is disposed on one side of the base bearing bracket 5 close to the first upright 3, and the seven-function manipulator 871 and the five-function manipulator 872 are respectively disposed on the two mounting tables 55.

Further, the seven-function manipulator 871 and the five-function manipulator 872 are made of titanium alloy, anodized aluminum and stainless steel, the working depth can reach 6000m, and the seven-function manipulator and the five-function manipulator can share one hydraulic circuit with a propeller or be designed to be independent hydraulic circuits by means of hydraulic driving operation.

As shown in fig. 6 and 7, in some embodiments of the invention, the system further comprises a pan and tilt head 88, wherein the pan and tilt head 88 is used for carrying a sonar 881, a low-light camera 882, a color CCD camera 883, an underwater light 884, and the like. It should be understood that the sonar 881, the low-light camera 882, the color CCD camera 883, or the underwater light 884 may be set up on the pan/tilt head as desired, or may be set up independently of the pan/tilt head.

Here, the sonar 881 is an acoustic detection apparatus for detecting and positioning an underwater target and an obstacle, and preventing a heavy underwater robot from colliding with the obstacle. Optionally, the sonar 881 shell is made of anodized aluminum, and has good corrosion resistance; possess high frequency (650KHz) and two kinds of operating frequency of low frequency (325KHz), the wave width under the high frequency mode is: vertical 40 degree, horizontal 1.5 degree; the bandwidth in the low frequency mode is: vertical 20 degree, horizontal 3 degree; the range under the high-frequency mode is 0.4-100m, and the range under the low-frequency mode is 0.4-300 m.

Low-light camera 882 is a video camera that still captures high-definition images at lower light intensities.

Natural light can not reach deep sea, the underwater lamp 884 has high brightness and maintenance-free service life, the brightness is 10000 lumens, the maintenance-free service life is 50000 hours, and the maximum beam angle is 80 degrees.

A color CCD camera, in which the CCD is a Charge Coupled Device (Charge Coupled Device), which is a kind of semiconductor imaging Device.

According to different requirements of the observation system, the number of the holders 88 can be correspondingly increased; meanwhile, a color CCD camera 883 and an underwater light 884 may be added accordingly; usually, an underwater light 884 is required beside the color CCD camera 883 to ensure the imaging effect. To enhance the brightness and range of underwater lighting, additional underwater lights 884 may be distributed on the first beam 2 of the frame or on the mounting deck 55 of the base support bracket 6.

Optionally, the pan/tilt head 88 is fixed on the first cross beam 2 or a position close to the first upright post 3 by bolts. By selecting the position, the advancing direction of the heavy underwater robot system can be illuminated, the information of the direction is collected, and the stable operation of the heavy underwater robot system is ensured.

Optionally, sonar 881 is fixed on the upper portion of the pan/tilt head 88 through bolts and fastening belts, the low-light camera 882 is fixed in the middle of the pan/tilt head 88 through bolts and fastening belts, and the underwater light 884 is fixed on both sides of the lower portion of the pan/tilt head through bolts and fastening belts.

As shown in fig. 6 and 7, in some embodiments of the invention, a beacon 89 is also included, the beacon 89 being disposed on the top load bearing support 7 and passing through the float. Here, the beacon 89 is an unattended lighting or other signaling device.

As shown in fig. 6 and 7, in some embodiments of the present invention, LED lamps 90 are further included, and are fixed to both left and right sides of the upper and lower parts of the upstream surface of the heavy underwater robot system by bolts. Here, a Light Emitting Diode (LED) is a solid semiconductor device that converts electric energy into visible Light. The LED lamp shell is made of anodic aluminum oxide, has good corrosion resistance, and the working water depth can reach 6000 m.

In some embodiments of the present invention, a cable cutter 91 (shown in fig. 6) is further included, the cable cutter 91 being disposed below the upstream surface of the heavy duty underwater robotic system, which may be, for example, the mounting platform 55. Here, the rope cutter 91 is a kind of underwater working tool for cutting underwater cables.

Referring to fig. 5, in some embodiments of the invention, the hydraulic interface valve box 92 and the umbilical connection box 93 are further included, and the hydraulic interface valve box 92 and the umbilical connection box 93 are fixed on the bottom bearing bracket 5 and close to one side of the first upright 3; wherein the umbilical connection box 93 is closer to the compensator 2. Here, the hydraulic interface valve box 92 is an integrated device of a plurality of hydraulic valve blocks.

The heavy underwater robot frame and the system thereof disclosed by the embodiment of the invention can meet the operation requirement of a high-power heavy underwater robot system by combining skillfully designed frames and reasonably arranging robot parts. The underwater light, the color CCD camera, the sonar and the like form an observation monitoring system, so that safety guarantee can be provided for underwater operation of the heavy underwater robot; the manipulators distributed on two sides of the bearing support of the base of the heavy underwater robot system can conveniently perform underwater operation; four horizontal propellers arranged in the middle of the heavy underwater robot are distributed in a bilateral symmetry mode, three vertical propellers arranged on the upper portion of the heavy underwater robot are also distributed in a bilateral symmetry mode, and reliable driving force can be improved for ROV underwater movement.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. A heavy underwater robot frame is characterized in that the frame comprises a middle upright post, a peripheral upright post, a base bearing support, a middle bearing support and a top bearing support;

the inner frame is vertically connected with the middle upright post;

the periphery stand is connected the outside frame with top bearing support.

2. The heavy duty underwater robot frame of claim 1,

the frame is made of heat treatment strengthened aluminum alloy;

3. The heavy duty underwater robot frame of claim 1, further comprising a first cross beam, the peripheral uprights including a pair of first uprights and a pair of second uprights, the pair of first uprights and the pair of second uprights being located on either side of the central upright, respectively;

4. The heavy duty underwater robot frame of claim 3, wherein the outer rim is rectangular, the first post is disposed at a long side of the outer rim at a distance from a junction of the long side and the short side, and the second post is disposed at a junction of the long side and the short side of the outer rim.

5. The heavy underwater robot frame of claim 4, wherein an auxiliary plate is disposed on a side of the base load-bearing support away from the middle load-bearing support, and first through holes are distributed on the auxiliary plate.

6. A system comprising the heavy underwater robot frame of any of claims 4 to 5, further comprising a float disposed on the top load-bearing support, the float being proximate to the first cross member.

7. The system of claim 6, further comprising a shield member disposed about the frame and the float, wherein,

8. The system of claim 6, further comprising a hydraulic power unit secured to the base load-bearing support adjacent a side of the second column for providing motive power to the heavy duty underwater robotic system.

9. The system of claim 6, further comprising a compensator disposed on the base load support, the compensator being spaced from the first column by a distance greater than the distance between the compensator and the second column.

10. The system of claim 6, further comprising: the lifting device comprises a connecting piece and a hollow lifting rod, and the connecting piece is connected with the middle upright post;