Submersible pump waterjet type umbilical-cord cable remote control underwater robot

Abstract

The invention discloses a submersible pump waterjet type umbilical-cord cable remote control underwater robot which comprises a main chamber, a submersible pump, a waterjet pipeline network, a protective cover and a computer, wherein the submersible pump is mounted in the main chamber; the computer is arranged on an overwater workboat; the main chamber is of a rectangular hollow cavity structure;the submersible pump is mounted at the center of the bottom of the main chamber; the waterjet pipeline network comprises solenoid valves, a water spraying pipeline, a pipeline network water inlet andwater spraying ports; the pipeline network water inlet is arranged at a water outlet at the top of the submersible pump; the number of the water spraying ports is ten; the quantity of the solenoid valves is ten; the solenoid valves are respectively arranged at the water spraying ports on the pipelines connected to the corresponding water spraying ports; the solenoid valves and the submersible pump are respectively connected to an umbilical-cord cable; and the umbilical-cord cable is connected to the computer arranged on the overwater workboat through an umbilical-cord cable outlet. A waterjetdevice provided by the invention has the advantages that an underwater working property is stable, an autonomous stability property is stronger, an operation scope is wide, a degree of freedom is high and a control mechanism is simple.

Description

technical field [0001] The invention relates to a carrier of an underwater detection device, in particular to a submersible pump water jet propulsion belt remote control underwater robot. Background technique [0002] The cable remote-controlled underwater robot is an underwater detection device that is increasingly widely used in the dynamic monitoring of underwater environments such as oceans, rivers and lakes. There are special uses in inspection. A remote-controlled underwater robot with cables usually consists of an umbilical cable, an underwater robot, and a robot trajectory and attitude control mechanism. With the improvement of the requirements for rapid on-site monitoring of underwater environment in various countries in the world, the requirements for the trajectory and attitude control capabilities of remote-controlled underwater robots with cables under the control of the control mechanism are also continuously increasing. The working nature of the underwater e...

AI Technical Summary

Problems solved by technology

The main defect of this type of control method is that multiple control propellers and complex manipulation actions are required to achieve stable control of the trajectory and attitude of the robot with different degrees of freedom, and the manipulation of these propellers also requires complex control mechanisms. In the robot motor drive propeller system, the shaft joint between the robot's internal motor system and the propulsion propeller, once water leakage occurs, the drive motor will not work normally

These factors undoubtedly increase the complexity of the design of the robot control system and the risk and difficulty of the user's work, which limits the scope of application of these robots due to the complexity of the control mechanism, the increase in the failure rate of the operation, and the difficulty in having good attitude stability.

Images