Underwater robot with streamline shell

Abstract

The utility model relates to the field of underwater robots, in particular to an underwater robot with a streamline shell. Comprising a streamline shell, the interior of the shell is hollow, the shell is connected with a structural part, the structural part comprises a rectangular frame structure, and the frame structure is arranged in the shell and used for supporting the shell and loading equipment; the frame structure is connected with a frame unfolding beam penetrating through the shell, and a propeller is installed at the end, away from the frame structure, of the frame unfolding beam; a basket mechanism is fixed on the structural member, the shell is provided with an opening, and the basket mechanism is provided with a basket cross beam which is arranged corresponding to the opening of the shell and can be hoisted. According to the underwater robot, the shell is arranged to be of the streamline structure, the running resistance of the underwater robot is reduced, and the performance of the underwater robot in water is optimized. And the lifting basket mechanism is arranged and can be hoisted by hoisting equipment, so that the throwing and recycling operation of the underwater robot is executed.

Description

Technical Field

[0001] The utility model relates to the field of underwater robots, in particular to an underwater robot with a streamlined shell. Background Art

[0002] As a cabled device for underwater operations, reconnaissance and mining, the underwater robot ROV has various designed shapes, which are completely different from the unified streamlined shape of AUV. The main frame design structure, as a fluid component, is to ensure that the device obtains lower resistance and better motion performance underwater. At present, the main frame structure of underwater robots mostly adopts a flat plate type frame (built with square tubes, profiles or round tubes), and the overall structure tends to be square and flat, with poor fluid performance and motion postures. Therefore, especially in occasions with relatively high flow rates and long cables, the planar structure will cause the robot to be unable to control the appropriate posture for effective operations. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an underwater robot with a streamlined shell to solve the problems of poor fluid performance and motion postures of underwater robots in the prior art.

[0004] The technical solution of the utility model is: an underwater robot with a streamlined shell, including a streamlined shell, the inside of the shell is hollow and connected with a structural member, the structural member includes a frame structure set as a rectangle, the frame structure is arranged inside the shell and used for supporting the shell and loading equipment; the frame structure is connected with a frame extension beam penetrating the shell, and a thruster is installed at one end of the frame extension beam far away from the frame structure, and a protective pipe beam is arranged outside the thruster, and the protective pipe beam is connected with the frame structure for impact protection of the thruster;

[0005] A basket mechanism is fixed to the structural member, the shell is provided with an opening, and the basket mechanism has a basket cross beam arranged corresponding to the opening of the shell and capable of being hoisted; and, the protective pipe beam is made of a hard material.

[0006] Preferably, the structural member and the basket mechanism are fixed by connecting the heads and tails of a plurality of hollow tubes, the outer edge of the structural member supports the shell, and a loading plane capable of carrying equipment is formed on the upper surface.

[0007] Preferably, four frame extension beams are provided, one end of any frame extension beam is fixed to the structural member, and a first installation port and a second installation port are respectively installed at the middle part and the other end penetrating the shell; the first installation port and the second installation port are respectively fixed to the frame extension beam in the horizontal and vertical directions and are set to have the same structure for the thruster to be installed in the horizontal or vertical direction.

[0008] Preferably, the carrying basket cross beam is arranged perpendicular to the length direction of the housing. The carrying basket mechanism further includes carrying basket longitudinal beams, and a pair of carrying basket longitudinal beams are provided, which are respectively fixed at both ends of the carrying basket cross beam. One end of any carrying basket longitudinal beam is fixed to one end of the carrying basket cross beam, and the other end is fixed to the structural member in the vertical direction.

[0009] Preferably, the carrying basket cross beam is arranged parallel to the length direction of the housing. A pair of carrying basket longitudinal beams are provided, which are respectively fixed at both ends of the carrying basket cross beam. Any carrying basket longitudinal beam is arranged in a rectangular structure. The top side of the rectangular structure is connected to the carrying basket cross beam, and both ends of the bottom side are fixed to the structural member.

[0010] Preferably, the structural member is formed by welding a plurality of hollow tubes end to end. The first installation port and the second installation port are welded and fixed to the frame extension beam. The carrying basket longitudinal beam is welded and fixed to the structural member and the carrying basket cross beam.

[0011] Preferably, four groups of protective pipe beams are provided, all of which are formed by bending and welding hollow tubes.

[0012] Compared with the prior art, the advantages of the present utility model are as follows:

[0013] (1) In this application, by setting the housing as a streamlined structure, the running resistance of the underwater robot is reduced, and the performance of the underwater robot in water is optimized. And this application is provided with a carrying basket mechanism, which can be hoisted by a hoisting device, so as to perform the launching and recovery operations of the underwater robot.

[0014] (2) The protective pipe beam is used for protecting the thruster and the housing, and is also suitable for the impact protection of the whole machine, improving the stability and durability of the whole machine in complex or harsh underwater environments, and the maintainability after the pipe beam is damaged is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present utility model will be further described below with reference to the drawings and embodiments:

[0016] Figure 1 It is a structural diagram of an underwater robot with a streamlined housing according to the present utility model;

[0017] Figure 2 It is a top view schematic diagram of an underwater robot with a streamlined housing according to the present utility model;

[0018] Figure 3 It is a front view schematic diagram of an underwater robot with a streamlined housing according to the present utility model;

[0019] Wherein: 1. Housing, 2. Structural member, 21. Frame structure, 22. Frame extension beam, 3. Thruster, 4. Carrying basket mechanism, 41. Carrying basket cross beam, 42. Carrying basket longitudinal beam, 5. First installation port, 6. Second installation port, 7. Protective pipe beam. Detailed implementation mode

[0020] The following combines specific embodiments to further elaborate on the content of the present utility model:

[0021] As Figure 1 - Figure 3 shown, an underwater robot with a streamlined housing includes a housing 1. One end of the housing 1 is set as the head, and the other end is set as the tail, and it is set in a streamlined shape from the head to the tail. The inside of the housing 1 is hollow and is connected with a structural member 2. The structural member 2 includes a frame structure 21 set as a rectangle. The frame structure 21 is arranged inside the housing 1 and is used to support the housing 1 and carry the equipment required for the underwater robot to work. The frame structure 21 is connected with a frame extension beam 22 penetrating the housing 1. A thruster 3 is installed at one end of the frame extension beam 22 far from the frame structure 21 and is used to drive the underwater robot to run. A protective pipe beam 7 is arranged outside the thruster 3. The protective pipe beam 7 is arranged around the thruster 3 to protect it and is also used for impact protection of the housing 1.

[0022] Among them, a basket mechanism 4 is fixed on the structural member 2, and an opening is arranged at the top end of the housing 1. The basket mechanism 4 includes a basket cross beam 41 corresponding to the opening of the housing 1. The basket cross beam 41 can be hoisted by an external hoisting device and is used for the launching and recovery operations of the underwater robot.

[0023] Specifically, both the structural member 2 and the basket mechanism 4 are formed by welding the heads and tails of hollow tubes. The outer edge and the four corners of the structural member 2 can play a role in supporting the housing 1. The upper surface formed by the four hollow tubes of the structural member 2 forms a mounting plane capable of mounting and fixing equipment.

[0024] There are four frame extension beams 22, and the four frame extension beams 22 are radially fixed at the four corners of the frame structure 21 respectively. One end of any frame extension beam 22 is fixed to the rest of the structural member 2 and penetrates the housing 1. A first mounting port 5 is arranged in the middle of the frame extension beam 22, and a second mounting port 6 is arranged at the end far from the structural member 2. The first mounting port 5 and the second mounting port 6 are respectively fixed on the frame extension beam 22 in the horizontal direction and the vertical direction, and are set to have the same structure, and the end far from the frame extension beam 22 is configured as a mounting end for the thruster 3 to be mounted in the horizontal or vertical direction. Correspondingly, there are four groups of protective pipe beams 7, and they are all formed by bending and welding hollow tubes.

[0025] In this embodiment, the basket cross beam 41 is arranged perpendicular to the length direction of the housing 1. The basket mechanism 4 further includes basket longitudinal beams 42. There are a pair of basket longitudinal beams 42, which are respectively fixed at both ends of the basket cross beam 41. One end of any basket longitudinal beam 42 is fixed to one end of the basket cross beam 41, and the other end is fixed to the structural member 2 in the vertical direction.

[0026] In other embodiments of the present application, the carrying basket cross beam 41 is arranged parallel to the length direction of the housing 1. A pair of carrying basket longitudinal beams 42 are provided and are respectively fixed to both ends of the carrying basket cross beam 41. Any one of the carrying basket longitudinal beams 42 is arranged as a rectangular structure. The top side of the rectangular structure is connected to the carrying basket cross beam 41, and both ends of the bottom side are fixed to the structural member 2.

[0027] In a preferred embodiment of the present application, the hollow tubes forming the structural member 2 are connected end to end by welding. The first installation port 5 and the second installation port 6 are fixed to the frame extension beam 22 by welding. Moreover, the carrying basket longitudinal beam 42, the structural member 2, and the carrying basket cross beam 41 are also fixed by welding.

[0028] The above embodiments are only used to illustrate the technical concept and features of the present invention, and the purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly. It should not be used to limit the protection scope of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention.

Claims

1. An underwater robot with a streamlined housing, characterized in that, It includes a streamlined housing (1) which is hollow inside and connected with a structural member (2). The structural member (2) includes a frame structure (21) arranged in a rectangle. The frame structure (21) is arranged inside the housing (1) for supporting the housing (1) and bearing the load of the equipment. The frame structure (21) is connected with a frame extension beam (22) penetrating the housing (1). A thruster (3) is installed at one end of the frame extension beam (22) away from the frame structure (21). A protective pipe beam (7) is arranged outside the thruster (3). The protective pipe beam (7) is connected with the frame structure (21) for impact protection of the thruster (3). A basket mechanism (4) is fixed to the structural member (2). The housing (1) is provided with an opening. The basket mechanism (4) has a basket cross beam (41) arranged corresponding to the opening of the housing (1) and capable of being hoisted. And the protective pipe beam (7) is made of a hard material.

2. The underwater robot with a streamlined housing according to claim 1, characterized in that, The structural member (2) and the basket mechanism (4) are formed by fixing the heads and tails of a plurality of hollow pipes. The outer edge of the structural member (2) supports the housing (1), and a loading plane capable of loading equipment is formed on the upper surface.

3. The underwater robot with a streamlined housing according to claim 2, characterized in that, Four frame extension beams (22) are arranged. One end of any frame extension beam (22) is fixed to the structural member (2). A first mounting port (5) and a second mounting port (6) are respectively installed at the middle part and the other end of the frame extension beam (22) penetrating the housing (1). The first mounting port (5) and the second mounting port (6) are respectively fixed to the frame extension beam (22) in the horizontal and vertical directions and are arranged with the same structure for the thruster (3) to be installed in the horizontal or vertical direction.

4. An underwater robot with a streamlined housing according to claim 3, characterized in that, The basket cross beam (41) is arranged perpendicular to the length direction of the housing (1). The basket mechanism (4) further includes basket longitudinal beams (42). A pair of basket longitudinal beams (42) are arranged and respectively fixed to both ends of the basket cross beam (41). One end of any basket longitudinal beam (42) is fixed to one end of the basket cross beam (41), and the other end is fixed to the structural member (2) in the vertical direction.

5. The underwater robot with a streamlined housing according to claim 3, characterized in that, The basket cross beam (41) is arranged parallel to the length direction of the housing (1). The basket mechanism (4) further includes basket longitudinal beams (42). A pair of basket longitudinal beams (42) are arranged and respectively fixed to both ends of the basket cross beam (41). Any basket longitudinal beam (42) is arranged in a rectangular structure. The top side of the rectangular structure is connected with the basket cross beam (41), and both ends of the bottom side are fixed to the structural member (2).

6. The underwater robot with a streamlined housing according to claim 4 or 5, characterized in that, The structural member (2) is formed by welding the heads and tails of a plurality of hollow pipes. The first mounting port (5) and the second mounting port (6) are fixedly welded with the frame extension beam (22). The basket longitudinal beam (42) is fixedly welded with the structural member (2) and the basket cross beam (41).

7. The underwater robot with a streamlined housing according to claim 2, characterized in that, The protective pipe beam is arranged in four groups and is all formed by bending and welding hollow pipes.

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