Self-adapting stable power supply device for underwater ship inspection robot
By introducing buoyancy balls into the power supply equipment of the underwater ship inspection robot, the problem of the weight of the steel armored cable affecting underwater balance and control was solved, thus achieving stability and safety in power supply.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUHAN HAIAN INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2026-04-07
- Publication Date
- 2026-06-26
Smart Images
Figure CN122292243A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of underwater ship inspection robot technology, specifically to a self-adaptive voltage regulator for underwater ship inspection robots. Background Technology
[0002] Underwater inspection robots are gradually replacing traditional divers and becoming a core tool for the intelligent upgrading of the ship inspection field. Equipped with high-definition cameras, high-intensity lighting, underwater positioning, and robotic arms, these robots can perform efficient and safe inspection and cleaning of underwater parts of the ship without draining ballast water or requiring the ship to enter dry dock. Their application not only significantly shortens inspection time but also substantially reduces the risks and costs of manual diving. Underwater inspection robots are equipped with dedicated power supply equipment to power their operation. The location of the power supply equipment depends on the type and operating mode of the underwater inspection robot, mainly divided into two types: surface power supply and underwater self-contained power supply.
[0003] However, existing surface-powered underwater inspection robots suffer from the following problems during use: the umbilical cable used in these robots is subjected to prolonged towing operations in complex water conditions, making it susceptible to stretching, twisting, wear, and compression damage. Therefore, to ensure the strength and safety of the umbilical cable, steel-armored cables are often used. While steel-armored cables offer high strength during power supply, their own weight significantly affects the underwater balance and maneuverability of the robot in actual use. Therefore, it is necessary to design corresponding technical solutions to address these problems. Summary of the Invention
[0004] The purpose of this invention is to provide a self-adaptive voltage regulator for underwater inspection robots, which solves the problem that the umbilical cables used in underwater inspection robots are easily subjected to tension, torsion, wear and pressure damage during long-term towing operations in complex water conditions. Therefore, in order to ensure the strength and safety of the umbilical cables, steel armored cables are often used. Although steel armored cables have high strength during power supply, in actual use, the weight of the cable itself will significantly affect the underwater balance and maneuverability of the underwater inspection robot.
[0005] To achieve the above objectives, the present invention provides the following technical solution: a self-adaptive voltage regulator for an underwater inspection robot, comprising a power supply cabinet, a cable reel, a steel-armored cable, a cable buoyancy mounting mechanism, and a buoyancy ball. The cable reel is installed on one side of the power supply cabinet. One end of the steel-armored cable is connected to the power supply cabinet, and the other end is connected to the underwater inspection robot. The steel-armored cable is wound around the cable reel and passes through the cable buoyancy mounting mechanism, which is installed on the power supply cabinet. The cable buoyancy mounting mechanism includes a collection container, a mounting box, a ball adjustment and mounting assembly, and a ball separator. The collection container has a collection cavity inside and an inlet at the top. The inlet is equipped with a sealing plate. The bottom of the collection container is connected to the mounting box. The front end of the mounting box is equipped with a cable conduit and the bottom has a discharge port. The steel-armored cable passes through the cable conduit. The sphere adjustment and mounting assembly is fixed inside the mounting box and includes an adjustment frame, an adjuster, and a pressing component. The adjustment frame is fixed inside the mounting box. The adjuster is divided into two groups and symmetrically installed on the left and right inner walls of the adjustment frame. The pressing component is located inside the adjustment frame. A guide plate is installed at the upper right corner of the mounting box and is located directly below the collection container. The sphere separator is located at the bottom of the sphere adjustment and mounting assembly. The buoyancy balls are divided into several groups and evenly stacked in the collection cavity.
[0006] In a preferred embodiment of the present invention, the adjustment frame is generally arc-shaped and has an internal cavity, the diameter of which is equal to the diameter of the buoyancy ball.
[0007] In a preferred embodiment of the present invention, the regulator includes a movable plate, guide blocks, a motor, a rotating disk, a toggle plate, and a return spring. The movable plate is located inside the adjustment frame. The guide blocks are arranged in several groups and evenly distributed above and below the movable plate. The motor is located at one end of the movable plate and its power output end is connected to the rotating disk. The edge of the rotating disk is connected to the toggle plate. The return spring is located at the other end of the movable plate.
[0008] In a preferred embodiment of the present invention, the surface of the movable plate is formed with an anti-slip texture, the anti-slip texture having a wavy structure, and the movable plate is in contact with the buoyancy ball.
[0009] In a preferred embodiment of the present invention, the actuating plate has a fan-shaped structure with one end being narrower than the other end, and the actuating plate is in contact with the end of the moving plate.
[0010] In a preferred embodiment of the present invention, the pressing assembly includes a hydraulic cylinder and a pressing plate installed at the power output end of the hydraulic cylinder. The pressing plate is located in the built-in cavity and has an arc-shaped bottom structure. The bottom arc of the pressing plate is the same as the top arc of the buoyancy ball.
[0011] In a preferred embodiment of the present invention, the ball separator includes a support rod, a cross plate, and an electric push rod. The support rods are arranged in two groups and symmetrically installed on the adjustment frame. The cross plate is located below the two groups of support rods. The electric push rod is installed at the bottom of the adjustment frame and its power output end is connected to the cross plate.
[0012] In a preferred embodiment of the present invention, the length of the support rod is equal to one time the diameter of the buoyancy ball, the inner end of the support rod is rotatably connected to the adjustment frame, and the two sets of support rods are respectively located on both sides of the steel-armored cable.
[0013] In a preferred embodiment of the present invention, the buoyancy ball includes a sphere with a notch at the bottom and clamping plates symmetrically arranged on both sides of the notch. The width of the notch is equal to the diameter of the steel-armored cable. The two sets of clamping plates respectively abut against both sides of the steel-armored cable. The sphere is made of a buoyancy material.
[0014] In a preferred embodiment of the present invention, the clamping plate is made of elastic metal material and the inner wall is formed with anti-slip ridges, and several groups of the anti-slip ridges are distributed in a corrugated shape.
[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0016] 1. This invention improves the power supply equipment of existing underwater inspection robots. The power supply equipment includes a power supply cabinet, a cable reel, a steel-armored cable, a cable buoyancy installation mechanism, and buoyancy balls. The power supply cabinet is connected to the underwater inspection robot through the steel-armored cable and provides power to the underwater inspection robot. During the cable unfolding process, the cable passes through the cable buoyancy installation mechanism. The cable buoyancy installation mechanism can evenly install buoyancy balls on the steel-armored cable, thereby increasing the buoyancy of the steel-armored cable, reducing the impact of the weight of the steel-armored cable itself on the underwater inspection robot, thereby improving the underwater balance and control performance of the underwater inspection robot, and ensuring the stability of the power supply.
[0017] 2. The power supply equipment for the underwater inspection robot designed in this invention can supplement the buoyancy of the underwater inspection robot's connecting cable, thereby reducing the impact of the cable's own weight on the underwater inspection robot's operation. Attached Figure Description
[0018] Figure 1 This is an overall structural diagram of the present invention;
[0019] Figure 2 This is a structural diagram of the cable buoyancy installation mechanism described in this invention;
[0020] Figure 3 This is a structural diagram showing the distribution of the sphere adjustment and mounting assembly and the sphere separator described in this invention.
[0021] Figure 4 This is a partial structural diagram of the present invention (A section).
[0022] Figure 5 This is a structural diagram of the buoyancy ball described in this invention.
[0023] In the diagram: 1. Power supply cabinet; 2. Cable reel; 3. Steel armored cable; 4. Cable buoyancy installation mechanism; 5. Buoyancy ball; 6. Collection container; 7. Mounting box; 8. Ball adjustment and installation assembly; 9. Ball separator; 10. Collection chamber; 11. Feed inlet; 12. Enclosed plate; 13. Cable outer conduit; 14. Discharge port; 15. Adjustment frame; 16. Regulator; 17. Pressing assembly; 18. Guide plate; 19. Internal cavity; 20. Moving plate; 21. Guide block; 22. Motor; 23. Rotary disc; 24. Actuating plate; 25. Return spring; 26. Anti-slip texture; 27. Hydraulic cylinder; 28. Pressing plate; 29. Support rod; 30. Horizontal plate; 31. Electric push rod; 32. Notch; 33. Ball; 34. Clamping plate; 35. Anti-slip ridge. Detailed Implementation
[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0025] Please see Figure 1-5This invention provides a technical solution: a self-adaptive voltage regulator for an underwater inspection robot, comprising a power supply cabinet 1, a cable winding frame 2, a steel-armored cable 3, a cable buoyancy mounting mechanism 4, and a buoyancy ball 5. The cable winding frame 2 is installed on one side of the power supply cabinet 1. One end of the steel-armored cable 3 is connected to the power supply cabinet 1, and the other end is connected to the underwater inspection robot. The steel-armored cable 3 is wound around the cable winding frame 2 and passes through the cable buoyancy mounting mechanism 4, which is installed on the power supply cabinet 1. The cable buoyancy mounting mechanism 4 includes a collection container 6, a mounting box 7, a ball adjustment and mounting assembly 8, and a ball separator 9. The collection container 6 has a collection cavity 10 inside and an inlet 11 at the top. A closed plate 12 is installed at the bottom of the collection container 6, which is connected to the installation box 7. The front end of the installation box 7 is equipped with a cable conduit 13 and a discharge port 14 is opened at the bottom. The steel armored cable 3 passes through the cable conduit 13. The ball adjustment installation assembly 8 is fixed inside the installation box 7 and includes an adjustment frame 15, an adjuster 16 and a pressing assembly 17. The adjustment frame 15 is fixed inside the installation box 7. The adjuster 16 is divided into two groups and symmetrically installed on the left and right inner walls of the adjustment frame 15. The pressing assembly 17 is located inside the adjustment frame 15. A guide plate 18 is installed at the upper right corner of the installation box 7. The guide plate 18 is located directly below the collection container 6. The ball separator 9 is located at the bottom of the ball adjustment installation assembly 8. The buoyancy balls 5 are divided into several groups and evenly stacked in the collection cavity 10.
[0026] Further improvements, such as Figure 3 As shown, the adjustment frame 15 has an overall arc-shaped structure and an internal cavity 19, the diameter of which is equal to the diameter of the buoyancy ball 5.
[0027] Further improvements, such as Figure 4 As shown, the regulator 16 includes a movable plate 20, a guide block 21, a motor 22, a rotating disk 23, a toggle plate 24, and a return spring 25. The movable plate 20 is located inside the adjustment frame 15. The guide blocks 21 are arranged in several groups and evenly distributed above and below the movable plate 20. The motor 22 is located at one end of the movable plate 20 and its power output end is connected to the rotating disk 23. The edge of the rotating disk 23 is connected to the toggle plate 24. The return spring 25 is located at the other end of the movable plate 20. The motor 22 drives the rotating disk 23 to rotate. During the rotation of the rotating disk 23, the toggle plate 24 rotates synchronously. The toggle plate 24 acts intermittently on the end of the movable plate 20. Through the cooperation of the two groups of movable plates 20, the angle of the buoyancy ball 5 can be adjusted so that the steel armored cable 3 can be inserted into the notch 32.
[0028] Further improvements, such as Figure 4As shown, the surface of the movable plate 20 is processed with anti-slip texture 26, which has a wavy structure. The movable plate 20 is in contact with the buoyancy ball 5, and the left and right sets of movable plates 20 move in opposite directions.
[0029] Further improvements, such as Figure 4 As shown, the actuating plate 24 has a fan-shaped structure with one end being narrower than the other. The actuating plate 24 is in contact with the end of the moving plate 20. The actuating block 24 acts intermittently on the moving plate 20 during rotation, which can achieve the purpose of moving the moving plate 20 left and right.
[0030] Further improvements, such as Figure 3 As shown, the pressing assembly 17 includes a hydraulic cylinder 27 and a pressing plate 28 installed at the power output end of the hydraulic cylinder 27. The pressing plate 28 is located in the built-in cavity 19 and has an arc-shaped structure at the bottom. The bottom arc of the pressing plate 28 is the same as the top arc of the buoyancy ball 5. The pressing plate 28 is pushed down by the hydraulic cylinder 27, and the pressing plate 28 acts on the buoyancy ball 5, so that the buoyancy ball 5 is inserted into the steel armor cable 3.
[0031] Further improvements, such as Figure 3 As shown, the ball separator 9 includes a support rod 29, a horizontal plate 30, and an electric push rod 31. The support rods 29 are arranged in two sets and symmetrically installed on the adjustment frame 15. The horizontal plate 30 is located below the two sets of support rods 29. The electric push rod 31 is installed at the bottom of the adjustment frame 15 and its power output end is connected to the horizontal plate 30. The height of the horizontal plate 30 is adjusted by pushing the electric push rod 31, thereby flipping the support rods 29. The front end of the support rod 29 flips and moves upward, which can lift and separate the buoyancy ball 5.
[0032] Further improvements, such as Figure 3 As shown, the length of the support rod 29 is equal to one time the diameter of the buoyancy ball 5. The inner end of the support rod 29 is rotatably connected to the adjustment frame 15. The two sets of support rods 29 are located on both sides of the steel armored cable 3. When it is necessary to separate the buoyancy ball 5 on the steel armored cable 3, the buoyancy ball 5 can be peeled off by flipping and adjusting the support rod 29.
[0033] Further improvements, such as Figure 5 As shown, the buoyancy ball 5 includes a ball 33 with a notch 32 at the bottom and clamping plates 34 symmetrically arranged on both sides of the notch 32. The width of the notch 32 is equal to the diameter of the steel armored cable 3. The two sets of clamping plates 34 respectively abut against the two sides of the steel armored cable 3. The ball 33 is made of buoyancy material and is fixed to the steel armored cable 3 by the clamping plates 34.
[0034] Specifically, the clamping plate 34 is made of elastic metal material and has anti-slip ridges 35 formed on its inner wall. Several sets of anti-slip ridges 35 are distributed in a corrugated shape. The clamping plate 34 can fix the buoyancy ball 5 to the steel armor cable 3, reducing the impact of the weight of the steel armor cable 3 on the operation of the underwater inspection robot.
[0035] In use: During the movement of the underwater inspection robot, the steel-armored cable 3 is pulled out. As it unfolds, the steel-armored cable 3 passes through the cable buoyancy mounting mechanism 4 and moves. Simultaneously, the buoyancy ball 5 falls down along the collection chamber 10 and enters the adjustment frame 15 through the guide plate 18. The motor 22 drives the rotating disk 23 to rotate, and the rotating disk 23 drives the actuating plate 24 to rotate synchronously. The actuating plate 24 intermittently acts on the end of the moving plate 20. Through the cooperation of the two sets of moving plates 20, the angle of the buoyancy ball 5 can be adjusted. The hydraulic cylinder 27 pushes and presses down. The plate 28 moves down, and the pressure plate 28 acts on the buoyancy ball 5, which is then inserted into the steel armor cable 3, allowing the steel armor cable 3 to be inserted into the notch 32. In this way, the buoyancy ball 5 can be evenly installed on the steel armor cable 3, thereby reducing the impact of the cable's own weight on the underwater inspection robot's operation. In addition, during the rewinding and return process of the steel armor cable 3, the electric push rod 31 pushes the horizontal plate 30 to adjust its height, thereby flipping the support rod 29. The front end of the support rod 29 flips and moves upward, which can lift and separate the buoyancy ball 5. The separated buoyancy ball 5 is discharged through the discharge port 14.
[0036] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0037] Furthermore, the terms “first,” “second,” “third,” and “fourth” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as “first,” “second,” “third,” or “fourth” may explicitly or implicitly include at least one of those features.
[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0039] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A self-adaptive voltage regulator for an underwater inspection robot, characterized in that: The system includes a power supply cabinet (1), a cable winding frame (2), a steel-armored cable (3), a cable buoyancy installation mechanism (4), and a buoyancy ball (5). The cable winding frame (2) is installed on one side of the power supply cabinet (1). One end of the steel-armored cable (3) is connected to the power supply cabinet (1), and the other end is connected to the underwater inspection robot. The steel-armored cable (3) is wound around the cable winding frame (2). The steel-armored cable (3) passes through the cable buoyancy installation mechanism (4), which is installed on the power supply cabinet (1). The cable buoyancy installation mechanism (4) includes a collection container (6), an installation box (7), a ball adjustment and installation assembly (8), and a ball separator (9). The collection container (6) has a collection cavity (10) inside and an inlet (11) at the top. A sealing plate (12) is installed at the inlet (11). The bottom of the collection container (6) has a collection chamber (10) inside and an inlet (11) at the top. The part is connected to the mounting box (7). The front end of the mounting box (7) is equipped with a cable conduit (13) and the bottom is provided with a discharge port (14). The steel armored cable (3) passes through the cable conduit (13). The ball adjustment mounting assembly (8) is fixed in the mounting box (7) and includes an adjustment frame (15), an adjuster (16) and a pressing assembly (17). The adjustment frame (15) is fixed in the mounting box (7). The adjuster (16) is divided into two groups and symmetrically installed on the left and right inner walls of the adjustment frame (15). The pressing assembly (17) is located in the adjustment frame (15). The upper right corner of the mounting box (7) is equipped with a guide plate (18). The guide plate (18) is located directly below the collection container (6). The ball separator (9) is located at the bottom of the ball adjustment mounting assembly (8). The buoyancy balls (5) are divided into several groups and evenly stacked in the collection cavity (10).
2. The self-adaptive voltage regulator for an underwater inspection robot according to claim 1, characterized in that: The adjustment frame (15) has an overall arc-shaped structure and an internal cavity (19) is formed inside. The diameter of the internal cavity (19) is equal to the diameter of the buoyancy ball (5).
3. The self-adaptive voltage regulator for an underwater inspection robot according to claim 2, characterized in that: The regulator (16) includes a moving plate (20), a guide block (21), a motor (22), a rotating disk (23), a toggle plate (24), and a return spring (25). The moving plate (20) is located inside the adjusting frame (15). The guide blocks (21) are arranged in several groups and are evenly distributed above and below the moving plate (20). The motor (22) is located at one end of the moving plate (20) and its power output end is connected to the rotating disk (23). The edge of the rotating disk (23) is connected to the toggle plate (24). The return spring (25) is located at the other end of the moving plate (20).
4. The self-adaptive voltage regulator for an underwater inspection robot according to claim 3, characterized in that: The surface of the movable plate (20) is processed with anti-slip texture (26), which has a wavy structure, and the movable plate (20) is in contact with the buoyancy ball (5).
5. The self-adaptive voltage regulator for an underwater inspection robot according to claim 3, characterized in that: The actuating plate (24) has a fan-shaped structure and one end is narrower than the other end. The actuating plate (24) is in contact with the end of the moving plate (20).
6. The self-adaptive voltage regulator for an underwater inspection robot according to claim 4, characterized in that: The pressing assembly (17) includes a hydraulic cylinder (27) and a pressing plate (28) installed at the power output end of the hydraulic cylinder (27). The pressing plate (28) is located in the built-in cavity (19) and has an arc-shaped bottom. The bottom arc of the pressing plate (28) is the same as the top arc of the buoyancy ball (5).
7. The self-adaptive voltage regulator for an underwater inspection robot according to claim 1, characterized in that: The ball separator (9) includes a support rod (29), a cross plate (30) and an electric push rod (31). The support rod (29) is divided into two groups and symmetrically installed on the adjustment frame (15). The cross plate (30) is located below the two groups of support rods (29). The electric push rod (31) is installed at the bottom of the adjustment frame (15) and its power output end is connected to the cross plate (30).
8. The self-adaptive voltage regulator for an underwater inspection robot according to claim 7, characterized in that: The length of the support rod (29) is equal to one time the diameter of the buoyancy ball (5). The inner end of the support rod (29) is rotatably connected to the adjustment frame (15). The two sets of support rods (29) are located on both sides of the steel armor cable (3).
9. A self-adaptive voltage regulator for an underwater inspection robot according to claim 8, characterized in that: The buoyancy ball (5) includes a ball (33) with a notch (32) at the bottom and clamping plates (34) symmetrically arranged on both sides of the notch (32). The width of the notch (32) is equal to the diameter of the steel armored cable (3). The two sets of clamping plates (34) respectively abut against the two sides of the steel armored cable (3). The ball (33) is made of buoyancy material.
10. A self-adaptive voltage regulator for an underwater inspection robot according to claim 9, characterized in that: The clamping plate (34) is made of elastic metal material and has anti-slip ridges (35) formed on its inner wall. Several sets of anti-slip ridges (35) are distributed in a corrugated shape.