CN108860526A - Underwater reconnaissance robot - Google Patents
Underwater reconnaissance robot Download PDFInfo
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- CN108860526A CN108860526A CN201810731169.2A CN201810731169A CN108860526A CN 108860526 A CN108860526 A CN 108860526A CN 201810731169 A CN201810731169 A CN 201810731169A CN 108860526 A CN108860526 A CN 108860526A
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Classifications
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- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of underwater reconnaissance robots, include framing component, propeller mould group, buoyancy piece mould group, electronic compartment mould group, battery modules and functor mould group；Propeller mould group, buoyancy piece mould group, electronic compartment mould group and battery modules are removably mounted on framing component；Framing component includes lateral plate structure, support board structure and cross-over configurations；The lateral plate structure includes left plate and this two blocks of side plates of right side plate, and cross-over configurations direct or indirect connection is on side plate；Support board structure includes left supporting plate and right supporting plate these two types supporting plate, and left supporting plate, right supporting plate are securedly mounted to left plate, on right side plate respectively；Functor mould group includes following either one or two of to be mounted in framing component and/or electronic compartment mould group or appoint multiple structures：Searchlight, camera, sonar.The present invention carries camera and multi-beam sonar simultaneously, and equipped with searchlight and sapphire glass cover, the remote observation being suitble under muddiness water quality, observed range is up to 100m or more.
Description
Technical field
The present invention relates to robot fields, undersea search field, and in particular, to a kind of underwater reconnaissance robot.
Background technique
Currently, domestic many security systems need to do underwater reconnaissance activity, but since underwater environment is complicated and changeable, to peace
Anti- work belt carrys out great inconvenience.So carrying out the security protection work of underwater complex there is an urgent need to a intelligent underwater robot
Make.Existing underwater reconnaissance robot determines the defect of orientation capability difference, it is difficult to accomplish to specified mesh often in the presence of structure is complicated
Target monitors for a long time, and is difficult to adapt to the low underwater environment of visibility.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of underwater reconnaissance robots.
The underwater reconnaissance robot provided according to the present invention includes framing component, propeller mould group, buoyancy piece mould group, electricity
Sub- cabin mould group, battery modules and functor mould group；Propeller mould group, buoyancy piece mould group, electronic compartment mould group and battery modules
It is removably mounted on framing component；
Framing component includes lateral plate structure, support board structure and cross-over configurations；The lateral plate structure includes left plate and the right side
This two blocks of side plates of side plate, cross-over configurations direct or indirect connection is on side plate；Support board structure include left supporting plate and right supporting plate this two
Class supporting plate, left supporting plate, right supporting plate are securedly mounted to left plate, on right side plate respectively；
Functor mould group includes following either one or two of to be mounted in framing component and/or electronic compartment mould group or appoint multiple knots
Structure：Searchlight, camera, sonar.
Preferably, the propeller mould group includes horizontal propeller and both underwater propellers of vertical pusher；It is horizontal
Propeller, vertical pusher are separately mounted to supporting plate, on side plate；
Two be adjacently positioned the supporting plate being mounted on the same side plate is provided with arc groove on two opposite end faces；
Space between two arc grooves being oppositely arranged forms the installation space of vertical pusher.
It preferably, include the first supporting plate and the second supporting plate in multiple left supporting plates；It include third support in multiple right supporting plates
Plate and the 4th supporting plate；
The cross-over configurations include arc-like sheet, between the first supporting plate and third supporting plate and/or the second supporting plate and the 4th supporting plate
Between by the arc-like sheet be connected；
The electronic compartment mould group is mounted on arc-like sheet.
Preferably, the cross-over configurations include bottom plate, and the both ends of bottom plate are connected directly with left plate, right side plate respectively；
The battery modules are mounted on bottom plate.
Preferably, it is provided with the first plate hole on the supporting plate, the first connecting hole is provided on side plate；
Embedded nut is provided in first plate hole, the first bolt of setting penetrates rear and embedded spiral shell from the first connecting hole
Supporting plate is fixed on side plate by mother's cooperation；
Colloid layer is additionally provided between first bolt and embedded nut；
Buoyancy piece mould group includes buoyancy cover and buoyant mass, and buoyancy cover is securedly mounted on supporting plate, and buoyant mass is located at buoyancy cover
Between supporting plate.
Preferably, underwater propeller includes electric machine structure, support guide structure and one or more paddle blades；
The electric machine structure includes rotor assembly and stator module；Support guide structure, paddle blade are separately mounted to stator
On component, rotor assembly；
The rotor assembly includes shell, and multiple paddle blades are directly securedly mounted on shell along circumferential direction respectively；Or
Person is indirectly attached on shell after multiple paddle blades are molded as one by the blade connection being arranged；The shell is located at fixed
The radial outside of sub-component；
Support guide structure includes guide pipe, and the paddle blade is located at the radially inner side of guide pipe.
Preferably, the rotor assembly also includes shaft, rotor magnet and first end cover, and first end cover and shell fasten
Connection is integrally formed, and the rotor magnet is mounted on the inner wall of shell；Shaft is circumferentially fixed in first end cover；
The stator module includes excitation winding, inner support and second end cover, and inner support and second end cover are integrally formed
Or be fastenedly connected, the excitation winding is mounted on the outer peripheral surface of inner support；
Space that first end cover, second end cover and shell surround formed article containing space, the rotor magnet and excitation around
Group is respectively positioned in article containing space；
The support guide structure also includes the first housing and the second housing, and the second housing is securedly mounted to second end cover
On；
The guide pipe includes to be fastenedly connected or integrally formed diameter socket part and guide part, the support that the second housing passes through setting
Opening lever is connected in diameter socket part, and the first housing is fastenedly connected on guide part by the fender rod being arranged；
It is also fastenedly connected with mounting bracket on guide pipe, is provided with embedded nut in the connecting hole being arranged in mounting bracket.
Preferably, the electronic compartment mould group includes that pressure-resistant control cabinet and underwater manipulator, the underwater manipulator are mounted on
In pressure-resistant control cabinet；
Pressure-resistant control cabinet includes to axially extend the sequentially connected first control hatchcover in direction, control cabinet shell, the second control
Hatchcover；The battery modules include that pressure-resistant battery flat and battery, the battery are mounted in pressure-resistant battery flat；Pressure-resistant battery flat packet
Containing battery hatch；
It is described first control hatchcover and/or second control hatchcover and/or battery hatch on be provided with it is following any one or appoint
Multiple structures：Waterproof quick coupling, air vent connector, connector connect bolt.
Preferably, the first control hatchcover, the second control cabinet cover and are connected with umbilical cables by fast waterproof connector respectively, take the photograph
As head；
The umbilical cables include cable protective sleeve, form cabling space inside cable protective sleeve；The cable protective sleeve packet
Containing the polyethylene outer sheath being radially arranged from outside to inside, two-sided cover plastic-steel belt；Be provided in cabling space it is following any one
Or appoint multiple structures：Power supply line, optical fiber, gasket for packing, metal reinforcement；
Second control cabinet, which covers, is additionally provided with sapphire glass cover, and the camera is located in sapphire glass cover；
The camera includes low-light (level) video camera.
Preferably, functor mould group also includes robot manipulator structure, and the robot manipulator structure includes linear motor and clamping part；
Clamping part is removably mounted on linear motor；
The linear motor includes cover assembly, driving motor and straight line adjustment structure；
The cover assembly inner space forms isobaric space, and driving motor is mounted in isobaric space；It is described isobaric empty
Between the middle full isobaric fluid of filling；
The straight line adjustment structure includes push rod and screw rod, the screw rod and the circumferentially fixed connection of driving motor；Push rod edge
Axial one end is fastenedly connected or integrally formed with adjusting nut, and the other end, which axially extends, reaches the external empty of isobaric space
Between；
Adjusting nut and screw rod collectively form Leadscrew drive system, are provided with dynamic sealing knot between push rod and isobaric shell
Structure.
Compared with prior art, the present invention has following beneficial effect：
1, the present invention carries camera and multi-beam sonar simultaneously, equipped with searchlight and sapphire glass cover, is suitble to muddiness
Remote observation under water quality, observed range is up to 100m or more.
2, the present invention is with structural moduleization and control system modular technology, realize quick assembling, diversification combination with
And the quickly functions such as expansion, and stress levels height, it is small in size, it is at low cost, it can quickly connect.
3, diversification configuration, buoyant material, kentledge can arbitrarily arrange in pairs or groups according to statics Analysis structure；Configure different pressure resistances
Propeller, buoyant material, the pressure-resistance structure of grade can produce the underwater reconnaissance robot of different stress levels.
4, the present invention solves the key problem of submersible machine waterproof, it is not necessary to do pressure-resistant seal cabin again for motor complete machine, greatly
The structure of propeller is simplified greatly, and weight, size and manufacturing cost are effectively reduced.
5, when working in water, the water flow near the present invention provides excellent water cooling, catheter propeller for high-speed rotating motor
While the structure of formula is capable of providing efficient thrust, it effectively prevent being involved in for underwater sundries.
6, framing component overall construction design is reasonable, can be underwater reconnaissance machine under the premise of using less parts as far as possible
The component of device people provides sufficient installation site, alleviates the weight of frame, saves material cost；It also ensures simultaneously whole
Installation strength.
7, the present invention is also equipped with manipulator, can be grabbed after detecting object.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is underwater reconnaissance robot perspective view；
Fig. 2 is the perspective view of camera installation site in reconnaissance robot under reaction water；
Fig. 3 is framing component schematic perspective view；
Fig. 4 is schematic perspective view when underwater reconnaissance robot part is truncated；
Fig. 5 is battery hatch partial enlarged view；
Fig. 6 is the first control hatchcover partial enlarged view；
Fig. 7 is underwater reconnaissance robot bottom view；
Fig. 8 is underwater propeller schematic perspective view；
Fig. 9 is underwater propeller side view；
Figure 10 is underwater propeller cross-sectional view；
Figure 11 is perspective view under one visual direction of electric machine structure；
Figure 12 is electric machine structure cross-sectional view；
Figure 13 is perspective view under another visual direction of electric machine structure；
Figure 14 is umbilical cables cross-sectional view；
Figure 15 is structure of the linear motion actuator schematic diagram；
Figure 16 is that linear motor and clamping part assemble detail drawing；
Figure 17 is that linear motor and clamping part assemble outline drawing.
It is shown in figure：
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Figure 1 and Figure 2, underwater reconnaissance robot provided by the invention includes framing component 400, propeller mould group
610, buoyancy piece mould group 620, electronic compartment mould group 630, battery modules 640 and functor mould group；Propeller mould group 610, buoyancy
Part mould group 620, electronic compartment mould group 630 and battery modules 640 are removably mounted on framing component 400；Framing component 400
Include lateral plate structure 410, support board structure 420 and cross-over configurations 430；The lateral plate structure 410 includes left plate 411 and right side
This two blocks of side plates of plate 412,430 direct or indirect connection of cross-over configurations is on side plate；Support board structure 420 includes left supporting plate and right support
Plate these two types supporting plate, left supporting plate, right supporting plate are securedly mounted to left plate 411, on right side plate 412 respectively；Functor mould group includes
Multiple structures either one or two of are mounted in framing component 400 and/or electronic compartment mould group 630 or appointed below：Searchlight 681, camera shooting
First 682, sonar.
Any of lateral plate structure 410, support board structure 420, cross-over configurations 430 structure appoints multiple structures to include HDPE
Part.High density polyethylene (HDPE) (HDPE) material is that a kind of crystallinity is high, and nonpolar thermoplastic resin is nontoxic, tasteless, is had good
Heat resistance and cold resistance, chemical stability is good, and rigidity and toughness with higher, mechanical strength is good, and water imbibition is low.Compared to existing
Some metal frameworks, weight can be effectively reduced with manufacturing cost.
It include the first supporting plate 421 and the second supporting plate 422 in multiple left supporting plates；It include third supporting plate in multiple right supporting plates
423 and the 4th supporting plate 424.As shown in Fig. 2, being provided with the first plate hole 454 on the supporting plate, the first connecting hole is provided on side plate
455, embedded nut 456 is provided in first plate hole 454, after the first bolt 461 of setting is penetrated from the first connecting hole 455
Cooperate with embedded nut 456 and supporting plate is fixed on side plate.It is additionally provided between first bolt 461 and embedded nut 456
Nut in practical application, at the beginning of assembly, is thrown into make embedded nut among the first plate hole 454 first by colloid layer
456, for each supporting plate and side plate to be connected into a general frame, connected in the first bolt 461 and embedded nut 456
When connecing, a kind of anaerobism colloid is poured into embedded nut 456, can guarantee not generating between supporting plate and side plate so opposite
Movement connects stronger, the stability of enhancing structure.
The propeller mould group 610 includes horizontal propeller 611 and both underwater propellers 200 of vertical pusher 612；
Horizontal propeller 611, vertical pusher 612 are separately mounted to supporting plate, on side plate；It is mounted on being adjacently positioned on the same side plate
Opposite two end faces of two supporting plates on be provided with arc groove 441；The space between two arc grooves 441 being oppositely arranged
Form the installation space of vertical pusher 612.As shown in fig. 7, being provided with 4 horizontal propellers 611 and 2 altogether in embodiment
Vertical pusher 612, in practical application, the quantity of underwater propeller 200 can be adjusted as needed.Preferably, the side
It is provided with lamp secured adjusted hole 457 on plate, lamp mounting rack 458, the searchlight are provided in lamp secured adjusted hole 457
681 are just mounted on lamp mounting rack 458.Since searchlight 681 is different from the power demands of underwater propeller 200, battery modules
After 640 connections one are for the electronic device of electric adjustment, then respectively on searchlight 681, underwater propeller 200.Preferably, side
Hand-held hole 461 is additionally provided on plate.
The cross-over configurations 430 include arc-like sheet 431 and bottom plate 432, between the first supporting plate 421 and third supporting plate 423 and/
Or second be connected between supporting plate 422 and the 4th supporting plate 424 by the arc-like sheet 431.On the one hand arc-like sheet increases two sides
On the other hand connective stability between plate provides positioning and installation space for electronic compartment mould group 630.The both ends of bottom plate 432
It is connected directly respectively with left plate 411, right side plate 412；Kentledge hole 451 is provided on bottom plate 432, it can on kentledge hole 451
Clump weight is installed, cooperation buoyancy piece mould group 620 controls the buoyancy that underwater reconnaissance robot is integrally subject to, convenient for underwater operation.Separately
Outside, the battery modules 640 are also mounted on bottom plate (432).Preferably, 432 shape of bottom plate is H-shaped, the bottom plate 432
On be provided with the second connecting hole, second connecting hole is located at the middle part of H-shaped bottom plate 432, can be used for fixing battery modules 640 etc.
Structure.
As shown in figure 3, being provided with main lightening hole 452, along height extending direction, the supporting plate, bottom plate on the side plate
432 are located at the two sides of main lightening hole 452.Time lightening hole 453, the secondary lightening hole are additionally provided on supporting plate and/or side plate
453 be following any or various shapes：Circle, polygon, waist-shaped hole shape, ellipse, irregular shape.On framing component
Aperture be on the one hand conducive to mitigate overall weight, on the other hand, the supplement of clump weight may be implemented, harness is tied up, is whole
The lifting of structure and the adjustment for facilitating whole trim and center of gravity.Generally speaking, the present invention is to framing component and underwater reconnaissance
The whole center of gravity and weight of robot have stringent control, so in terms of the plates such as side plate, supporting plate, bottom plate 432, need by
Many experiments and calculating, the final the number of openings for determining plate fabrication hole and position, are allowed to not only meet installation requirement, but also reach
Center of gravity and weight demands.
As shown in Fig. 8 to Figure 10, underwater propeller 200 provided by the invention includes electric machine structure 100, support guide knot
Structure 210 and one or more paddle blades 240；The electric machine structure 100 includes rotor assembly 110 and stator module 120；Support
Guide frame 210, paddle blade 240 are separately mounted to stator module 120, on rotor assembly 110；The rotor assembly 110 includes
Shell 114, the shell 114 are located at the radial outside of stator module 120.Multiple paddle blades 240 are direct along circumferential direction respectively
It is securedly mounted on shell 114；Alternatively, pacifying indirectly after multiple paddle blades 240 are molded as one by the blade connection being arranged
On shell 114；Support guide structure 210 includes guide pipe 220, and the diameter that the paddle blade 240 is located at guide pipe 220 is inside
Side.
As shown in Figure 11 to Figure 13, the rotor assembly 110 also includes shaft 111, rotor magnet 112 and first end cover
113, first end cover 113 is fastenedly connected or is integrally formed with shell 114, and the rotor magnet 112 is mounted on the inner wall of shell 114
On face；Shaft 111 is circumferentially fixed in first end cover 113；The stator module 120 includes excitation winding 121, inner support 122
And second end cover 123, inner support 122 are integrally formed or are fastenedly connected with second end cover 123, the excitation winding 121 is installed
On the outer peripheral surface of inner support 122；The space that first end cover 113, second end cover 123 and shell 114 surround forms tolerant sky
Between, the rotor magnet 112 is respectively positioned in article containing space with excitation winding 121；Stator module 120 passes through with rotor assembly 110
One or more sliding bearings 130 connect.Preferably, the inner support 122 is tubulose, and the shaft 111 is through setting in pipe
In the axially extending bore of shape inner support 122, shaft 111 is connect with inner support 122 by the sliding bearing 130；Multiple excitations around
Group 121 is circumferentially distributed in the outside wall surface of inner tubular support 122；Multiple rotor magnets 112 are with excitation winding 121 in radial side
It is oppositely arranged upwards.Preferably, the cross-sectional shape of the inner support 122 is also possible to polygon, multiple excitation windings 121
It is located on multiple radial end faces of inner support 122.Preferably, can have with preprocessing for pacifying in the inner support 122
The locating slot of the excitation winding 121 of dress can increase excitation winding 121 and inner support when being potted to excitation winding 121
Effective fixed-area between 122 increases fixing intensity.
The support guide structure 210 also includes the first housing 231 and the second housing 232, the fastening installation of the second housing 232
In second end cover 123；The guide pipe 220 includes to be fastenedly connected or integrally formed diameter socket part 221 and guide part 222, the
Two housings 232 are connected in diameter socket part 221 by the bar 233 that struts of setting, the fender rod 234 that the first housing 231 passes through setting
It is fastenedly connected on guide part 222.Mounting bracket 260 is also fastenedly connected on guide pipe 220；The fender rod 234 is in cross
Arrangement.Preferably, the paddle blade 240 is biconvex profile, plano-convex aerofoil profile or concave-convex aerofoil profile.Compared to existing underwater propulsion knot
The circular section rotation oar blade that structure uses, is conducive to provide bigger push away using the aerofoil profile paddle blade structure for being usually used in aviation field
Power.Paddle blade 240, guide pipe 220 and fender rod 234 collectively form the structure of conduit paddle, are providing the same of efficient thrust
When, it effectively prevent being involved in for underwater sundries.It is, of course, preferable to ground, the paddle blade 240, fender rod 234 and bar 233 is strutted
Number can be allocated according to actual needs.Preferably, as shown in Figure 10, diameter socket part 221 and guide part 222 are in inner wall and outside
Smoothed section connection on wall；The diameter socket part 221 is along the direction with 222 connecting pin of guide part to 221 free end of diameter socket part
On, the diameter of inner wall and outer wall increases.For guide part 222, outer wall is in cylindrical shape, opposite 221 place end of diameter socket part
Inner diameter remain unchanged, the inner diameter at end is gradually increased outward where the free end of guide part 222, is in reaming shape, has
Conducive to the resistance of motion reduced in water.
Preferably, waterproof coating layer is provided on the excitation winding 121 and/or rotor magnet 112；The sliding bearing
130 include polymer composite bearing, and the shaft 111 includes No. 45 rotating steel shafts.The sliding bearing 130 is plastic shaft
Hold, such bearing be it is special underwater using bearing, have the following advantages that：It is wear-resisting, it is can absorb top load, it is chemically resistant,
It is corrosion-resistant, and can be worked normally in -40 degrees Celsius to+200 degrees Celsius of temperature.It is provided in the second end cover 123
Threading hole 141, the excitation winding 121 are connected with motor lines, and motor lines are threaded through in threading hole 141；The threading hole 141
Encapsulating layer is provided between wall surface of the hole and motor lines；Sealant pouring and sealing, which fills up motor line outlet, makes motor of the naked leakage in external environment
Line is all sealed in Embedding Material, is reached to motor lines water proof anti-corrosion pressure resistance effect.Correspondingly, on second housing 232
It is provided with cable-through hole, motor lines run through cable-through hole in the direction of extension.Preferably, the first end cover 113, second end cover 123
On be respectively arranged with first through hole 142, the second through-hole 143.In addition, axially extending on direction, shell 114 and second end cover
There are gaps between 123.Article containing space and external pressure difference can be balanced by above structure.Preferably, shell 114 and second
End cap 123 is connected by bearing arrangement, and the structure connection of electric machine structure 100 entire in this way is even closer, and intensity is relatively reliable.
As shown in fig. 7, the first end cover 113 includes integrally formed radial extension 151 and fastening part 152, shaft
111 is circumferentially fixed on fastening part 152 along axial one end；Shaft 111 is reached along the axial other end through second end cover 123
The outside of article containing space, shaft 111 are equipped with shaft end clamping plate 161 along the axial other end, and shaft end clamping plate 161 is tight by setting
Rationed marketing 162 is circumferentially fixed in shaft 111.It is provided with annular groove in the second end cover 123, the shaft end clamping plate 161 is along axis
It is rotatably installed in annular groove to the one end in direction.Electric machine structure 100 entire in this way sees that structure is more compact in shape, shaft end
Snap-gauge 161 is rotated with shaft 111, and plays protection sliding bearing 130, and limit the radial deflection that shaft 111 moves
Effect.
Preferably, capsul is additionally provided in article containing space, the capsul is securedly mounted in inner support 122；Sealing
Sealing space is formed inside shell, the excitation winding 121 is mounted in sealing space, and it is filled in sealing space and completely waits press liquids,
The equal press liquids are insulating liquid.The purpose of capsul setting is that insulation and opposing stationary ring are built in sealing space
The waterproof coating on excitation winding 121 and 121 surface of excitation winding is further protected in border.Compared with the existing technology, in the present invention
The size of capsul is required smaller, therefore same thickness is able to bear bigger pressure difference, in addition, be in time under high pressure,
Capsul is destroyed, and is also only to have lost part beneficial effect, the normal operation without will affect equipment.The capsul can
To be stiff case, it is also possible to the shell with certain elasticity, for stiff case, the pressure difference inside and outside sealing space is by sealing
Shell itself undertakes, and reliability is high, but to the material requirements of capsul higher；For having the shell of certain elasticity, such as rubber
Glue etc. itself is able to bear certain external pressure, and certain deformation can be generated under deepwater high-pressure environment, so that insulating liquid
Pressure increase, but be unlikely to increase very much too many, form certain barometric gradient, be ultimately applied to excitation winding 121 or its table
The pressure of the waterproof coating in face is also relatively small, improves operation stability and service life.
As shown in figure 4, buoyancy piece mould group 620 includes buoyancy cover 621 and buoyant mass 622, buoyancy cover 621 is securedly mounted to hold in the palm
On plate, buoyant mass 622 is between buoyancy cover 621 and supporting plate.Buoyant mass 622 is made of buoyant material, and buoyant material refers to close
Degree is lower than the material of water.According to statics trim demand, buoyant mass 622 is cut into the fritter of needs, is placed in buoyancy cover 621
Interior, buoyancy cover 621 is taken with supporting plate to be bolted.621 function of buoyancy cover is anticollision and and the framing component of buoyant mass 622
400 are fixedly connected.
The electronic compartment mould group 630 includes that pressure-resistant control cabinet 631 and underwater manipulator, the underwater manipulator are mounted on resistance to
It presses in control cabinet 631；Pressure-resistant control cabinet 631 includes to axially extend direction sequentially connected first control hatchcover 632, control cabinet
Shell 633, second controls hatchcover 634；The battery modules 640 include that pressure-resistant battery flat 641 and battery, the battery are mounted on resistance to
In piezoelectric battery cabin 641；Pressure-resistant battery flat 641 includes battery hatch 642.As shown in Figure 5, Figure 6, the first control hatchcover 632
And/or second control hatchcover 634 and/or battery hatch 642 on be provided with it is following any one or appoint multiple structures：The fast quick access of waterproof
First 651, air vent connector 652, connector connect bolt 653.Air vent connector 652 is used for pneumatic sealing test, and rear enclosed gas is completed in detection
Hole.When opening the cabin, stomata is first opened, for ventilating, can simply open hatchcover.Fast waterproof connector 651 connects bolt with connector
653 connect and carry out vulcanization sealing.Preferably, the present invention is also equipped with water surface control unit, and underwater manipulator passes through wire communication
Or the mode and water surface control unit of wireless communication carry out the transmitting of signal.Underwater manipulator includes two micro computers, is used respectively
In system control and motion control.The water surface control unit show that sensing data is shown for image, control instruction acquire and under
It passes.Preferably, water surface control unit is connect using network, USB or signal quick coupling with underwater manipulator, and underwater manipulator is pre-
User interface is stayed, in case user development.All signals pass through the measure voltage & current function of governor circuit, and it is aobvious to upload the water surface
Show, underwater situation is uploaded to water surface control unit by 9 sensor collection signals and is shown.Water surface control unit is not according to
Same motion requirement, presets different motion algorithms.Preferably, the pressure-resistant control cabinet 631 and/or pressure-resistant battery flat 641
It is provided with equal press liquids, working principle is consistent with the equal setting of press liquids in electric machine structure 100.
Preferably, the first control hatchcover 632, second, which controls, is connected with navel by fast waterproof connector respectively on hatchcover 634
With cable 660, camera 682, it is additionally provided with sapphire glass cover 671 on the second control hatchcover 634, the camera 682 is located at
In sapphire glass cover 671.Umbilical cables 660 are for connecting water surface control unit and underwater reconnaissance robot, as shown in figure 14, navel
Band cable 660 includes cable protective sleeve, forms cabling space inside cable protective sleeve；The cable protective sleeve includes radially from outer
To interior setting polyethylene outer sheath 661, two-sided cover plastic-steel belt 662；Be provided in cabling space it is following any one or appoint it is more
A structure：Power supply line 663, optical fiber 664, gasket for packing 665, metal reinforcement 666.Umbilical cables 660 provided by the invention can be real
Existing neutral buoyancy and the compound function of photoelectricity.Preferably, the camera (682) includes low-light (level) video camera, when subject
Brightness as low as to a certain degree and make video camera export video level as low as when a certain specified value adjust scenery brightness
Value.There are ultra-sensitivity imaging sensor and exclusive electron multiplication and noise control technology that can greatly improve video camera simultaneously
Sensitivity, better met the demand to high-quality camera shooting, and small power consumption, image effect are true, not colour cast.
Preferably, functor mould group also includes robot manipulator structure, and as shown in figure 15, the robot manipulator structure includes straight-line electric
Machine 500 and clamping part 561；Clamping part 561 is removably mounted on linear motor 500；The linear motor 500 includes shield group
Part 510, driving motor 501 and straight line adjustment structure 520；510 inner space of cover assembly forms isobaric space, driving
Motor 501 is mounted in isobaric space；Full isobaric fluid is filled in the isobaric space；The straight line adjustment structure 520 includes
Push rod 521 and screw rod 523, the screw rod 523 and the circumferentially fixed connection of driving motor 501；Push rod 521 is fastened along axial one end
It connects or integrally formed with adjusting nut 522, the other end axially extends the exterior space for reaching isobaric space；Adjusting nut
522 collectively form Leadscrew drive system with screw rod 523, are provided with movable sealing structure between push rod 521 and isobaric shell 512.
The cover assembly 510 includes the first end shield 511 being successively fastenedly connected, isobaric shell 512, the second end shield 513.
It is provided with static seal annular groove on first end shield 511 and the second end shield 513, static sealing ring 531 is equipped in static seal annular groove, it is quiet
Sealing ring 531 is contacted with the isobaric shell 512.Second end shield 513 is in axial direction provided with guide through hole, the push rod
521, which slide axially, is mounted in guide through hole；Blind hole is provided on push rod 521, the free end of the screw rod 523 extends to described
In blind hole.As shown in figure 5, being provided with dynamic sealing annular groove on the inner wall of guide through hole, dynamic seal ring is equipped in dynamic sealing annular groove
532, dynamic seal ring 532 is contacted with push rod 521 always.The present invention is used using contact Sealing Method, i.e., between two contact surfaces
One, folder has the auxiliary element of very high mechanical strength and elasticity, existing gap is filled up, prevention has the seawater of pressure to pass through
Gap enters.It is sealed, is made by interference fit close such as rubber pad using sealing ring between two contact surface of movable sealing structure
Seal has deformation restoration, reaches resistance so that the gap of two contact surfaces tends to 0 to generate and automatically compress stress effect
The purpose of stopping leak leakage.Therefore, the dynamic seal ring 532 needs sufficiently resilient and wearability.
As shown in figure 16, in embodiment, the driving motor 501 passes through shaft coupling 551 or the circumferentially fixed connection of bond structure
Onto screw rod 523；Bearing arrangement 552 is additionally provided in isobaric space, two parts that bearing arrangement 552 relatively rotates are separately connected
To screw rod 523, the second end shield 513.Preferably, positioning shaft shoulder 540, isobaric shell are additionally provided on second end shield 513
512 one of end face in axial direction is contacted with positioning shaft shoulder 540.Along 513 axial direction of the second end shield, stationary seal ring
Slot, positioning shaft shoulder 540, dynamic sealing annular groove are sequentially arranged.It preferably, also include attaching conducting piece 553, attaching conducting piece 553 is tight
Guan County is on the second end shield 513.
Preferably, support frame, pressure regulating valve and fairlead are provided on first end shield 511, driving motor 501 is pacified
Dress is on the support frame.In addition, the equipressure fluid uses liquid oil, play the role of insulation.It can equity by pressure regulating valve
Oil pressure in pressure space is adjusted, and the internal pressure for generating pre-add to cover assembly 510 acts on, when linear motor 500 moves to water
When below face, the hydraulically-formed external pressure to cover assembly 510 is acted on, and under internal pressure and the collective effect of external pressure, is reached and is waited densification
Effect is sealed, stress of the cover assembly 510 in deepwater environment is reduced.Preferably, the isobaric shell 512 is titanium alloy structure.
Preferably, isobaric shell 512 is also possible to the structure with certain elasticity, bears a part of external pressure by the intensity of itself, together
When by deformation isobaric space volume is reduced, the internal pressure that isobaric fluid generates increases, and further balances external pressure.Fairlead is used
In penetrating cable, power supply and control to driving motor 501 are realized, encapsulating layer is set between fairlead and cable, guarantee isobaric
The leakproofness in space.Preferably, it is additionally provided with power supply in the isobaric space, directly powered for driving motor 501.
As shown in figure 17, driving motor 501 drives screw rod 523 to rotate, according to the job specification of Leadscrew drive system, push rod
521 will in axial direction move forward and backward, and the reciprocating motion of push rod 521 is eventually converted into the opening of clamping part 561 and closure is moved
Make.The clamping part 561 can be directly connected on push rod 521, be also possible to be indirectly connected with by attaching conducting piece 553
On push rod 521, be provided with Detachable connection structure on attaching conducting piece 553, convenient for clamping part 561 fast quick-detach with
The movement of push rod 521 is transmitted on clamping part 561, is conducive in addition, attaching conducting piece 553 also has drive mechanism by installation
Realize the movement transmitting of long range.
Preferably, the functor mould group includes metal detector and/or sensor.The sensor includes pressure sensing
Device, depth transducer, inertial sensor etc., the inertial sensor include 3-axis acceleration sensor, three-axis gyroscope, three axis
Magnetometer.Preferably, also sapphire glass wakes up with a start surface polishing to the lampshade of the camera lens of camera 682 and searchlight 681, makes underwater
Reconnaissance robot can also capture under deep-marine-environment compares clear photograph and image.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of underwater reconnaissance robot, which is characterized in that include framing component (400), propeller mould group (610), buoyancy piece
Mould group (620), electronic compartment mould group (630), battery modules (640) and functor mould group；Propeller mould group (610), buoyancy piece
Mould group (620), electronic compartment mould group (630) and battery modules (640) are removably mounted on framing component (400)；
Framing component (400) includes lateral plate structure (410), support board structure (420) and cross-over configurations (430)；The side plate knot
Structure (410) includes left plate (411) and right side plate (412) this two blocks of side plates, and cross-over configurations (430) direct or indirect connection is in side
On plate；Support board structure (420) includes left supporting plate and right supporting plate these two types supporting plate, and left supporting plate, right supporting plate are securedly mounted to a left side respectively
On side plate (411), right side plate (412)；
Functor mould group includes following either one or two of to be mounted in framing component (400) and/or electronic compartment mould group (630) or appoint more
A structure：Searchlight (681), camera (682), sonar.
2. underwater reconnaissance robot according to claim 1, which is characterized in that the propeller mould group (610) includes water
Flat propeller (611) and vertical pusher (612) both underwater propellers (200)；Horizontal propeller (611), vertical thrust
Device (612) is separately mounted to supporting plate, on side plate；
Two be adjacently positioned the supporting plate being mounted on the same side plate is provided with arc groove on two opposite end faces
(441)；Space between two arc grooves (441) being oppositely arranged forms the installation space of vertical pusher (612).
3. underwater reconnaissance robot according to claim 1, which is characterized in that include the first supporting plate in multiple left supporting plates
(421) with the second supporting plate (422)；It include third supporting plate (423) and the 4th supporting plate (424) in multiple right supporting plates；
The cross-over configurations (430) include arc-like sheet (431), between the first supporting plate (421) and third supporting plate (423) and/or the
It is connected between two supporting plates (422) and the 4th supporting plate (424) by the arc-like sheet (431)；
The electronic compartment mould group (630) is mounted on arc-like sheet (431).
4. underwater reconnaissance robot according to claim 1, which is characterized in that the cross-over configurations (430) include bottom plate
(432), the both ends of bottom plate (432) are connected directly with left plate (411), right side plate (412) respectively；
The battery modules (640) are mounted on bottom plate (432).
5. underwater reconnaissance robot according to claim 1, which is characterized in that be provided with the first plate hole on the supporting plate
(454), the first connecting hole (455) are provided on side plate；
It is provided with embedded nut (456) in first plate hole (454), the first bolt (461) of setting is from the first connecting hole
(455) supporting plate is fixed on side plate with embedded nut (456) cooperation after penetrating；
Colloid layer is additionally provided between first bolt (461) and embedded nut (456)；
Buoyancy piece mould group (620) includes buoyancy cover (621) and buoyant mass (622), and buoyancy cover (621) is securedly mounted on supporting plate,
Buoyant mass (622) is located between buoyancy cover (621) and supporting plate.
6. underwater reconnaissance robot according to claim 2, which is characterized in that underwater propeller (200) includes motor knot
Structure (100), support guide structure (210) and one or more paddle blades (240)；
The electric machine structure (100) includes rotor assembly (110) and stator module (120)；Support guide structure (210), blade
Piece (240) is separately mounted to stator module (120), on rotor assembly (110)；
The rotor assembly (110) includes shell (114), the directly fastening installation along circumferential direction respectively of multiple paddle blades (240)
On shell (114)；Alternatively, being indirectly attached to after multiple paddle blades (240) are molded as one by the blade connection being arranged
On shell (114)；The shell (114) is located at the radial outside of stator module (120)；
Support guide structure (210) includes guide pipe (220), and the diameter that the paddle blade (240) is located at guide pipe (220) is inside
Side.
7. underwater reconnaissance robot according to claim 6, which is characterized in that the rotor assembly (110) is also comprising turning
Axis (111), rotor magnet (112) and first end cover (113), first end cover (113) is fastenedly connected with shell (114) or one
Molding, the rotor magnet (112) are mounted on the inner wall of shell (114)；Shaft (111) is circumferentially fixed in first end cover
(113) on；
The stator module (120) includes excitation winding (121), inner support (122) and second end cover (123), inner support
(122) it is integrally formed or is fastenedly connected with second end cover (123), the excitation winding (121) is mounted on the outer of inner support (122)
On circumferential surface；
The space that first end cover (113), second end cover (123) and shell (114) surround forms article containing space, the rotor magnetic
Body (112) and excitation winding (121) are respectively positioned in article containing space；
The support guide structure (210) is also comprising the first housing (231) and the second housing (232), the second housing (232) fastening
It is mounted on second end cover (123)；
The guide pipe (220) includes to be fastenedly connected or integrally formed diameter socket part (221) and guide part (222), the second housing
(232) it is connected on diameter socket part (221) by the bar (233) that struts of setting, the fender rod that the first housing (231) passes through setting
(234) it is fastenedly connected on guide part (222)；
It is also fastenedly connected on guide pipe (220) mounting bracket (260), is arranged in the connecting hole being arranged in mounting bracket (260)
There are embedded nut (456).
8. underwater reconnaissance robot according to claim 1, which is characterized in that the electronic compartment mould group (630) includes resistance to
Pressure control cabinet (631) and underwater manipulator, the underwater manipulator are mounted in pressure-resistant control cabinet (631)；
Pressure-resistant control cabinet (631) includes to axially extend direction sequentially connected first control hatchcover (632), control cabinet shell
(633), the second control hatchcover (634)；The battery modules (640) include pressure-resistant battery flat (641) and battery, the battery peace
In pressure-resistant battery flat (641)；Pressure-resistant battery flat (641) includes battery hatch (642)；
It is provided in first control hatchcover (632) and/or the second control hatchcover (634) and/or battery hatch (642) following
Any one appoints multiple structures：Waterproof quick coupling (651), air vent connector (652), connector connection bolt (653).
9. underwater reconnaissance robot according to claim 8, which is characterized in that the first control hatchcover (632), the second control
Umbilical cables (660), camera (682) are connected with by fast waterproof connector respectively on hatchcover (634)；
The umbilical cables (660) include cable protective sleeve, form cabling space inside cable protective sleeve；The cable protective sleeve packet
Containing the polyethylene outer sheath (661) being radially arranged from outside to inside, two-sided cover plastic-steel belt (662)；It is provided in cabling space
Below any one or appoint multiple structures：Power supply line (663), optical fiber (664), gasket for packing (665), metal reinforcement (666)；
It is additionally provided with sapphire glass cover (671) in second control hatchcover (634), the camera (682) is located at sapphire glass
In glass cover (671)；
The camera (682) includes low-light (level) video camera.
10. underwater reconnaissance robot according to claim 1, which is characterized in that functor mould group also includes manipulator knot
Structure, the robot manipulator structure include linear motor (500) and clamping part (561)；Clamping part (561) is removably mounted at straight-line electric
On machine (500)；
The linear motor (500) includes cover assembly (510), driving motor (501) and straight line adjustment structure (520)；
Cover assembly (510) inner space forms isobaric space, and driving motor (501) is mounted in isobaric space；It is described
Full isobaric fluid is filled in isobaric space；
The straight line adjustment structure (520) includes push rod (521) and screw rod (523), the screw rod (523) and driving motor
(501) circumferentially fixed connection；Push rod (521) is fastenedly connected along axial one end or integrally formed with adjusting nut (522), another
End axially extends the exterior space for reaching isobaric space；
Adjusting nut (522) and screw rod (523) collectively form Leadscrew drive system, between push rod (521) and isobaric shell (512)
It is provided with movable sealing structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731169.2A CN108860526A (en) | 2018-07-05 | 2018-07-05 | Underwater reconnaissance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731169.2A CN108860526A (en) | 2018-07-05 | 2018-07-05 | Underwater reconnaissance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860526A true CN108860526A (en) | 2018-11-23 |
Family
ID=64299212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810731169.2A Pending CN108860526A (en) | 2018-07-05 | 2018-07-05 | Underwater reconnaissance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860526A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533242A (en) * | 2019-01-04 | 2019-03-29 | 王金霞 | A kind of soundd navigation and ranging being automatically positioned |
| CN111591415A (en) * | 2020-06-03 | 2020-08-28 | 曾珊 | Semi-submersible type ocean profile observation intelligent robot |
| CN112032495A (en) * | 2020-09-10 | 2020-12-04 | 深圳市博铭维智能科技有限公司 | Simple cradle head |
| CN113899250A (en) * | 2021-09-15 | 2022-01-07 | 精兵特种装备(福建)有限公司 | Underwater target robot |
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Application publication date: 20181123 |