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CN109562816A - 水下航行机器人 - Google Patents

水下航行机器人 Download PDF

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Publication number
CN109562816A
CN109562816A CN201780000779.9A CN201780000779A CN109562816A CN 109562816 A CN109562816 A CN 109562816A CN 201780000779 A CN201780000779 A CN 201780000779A CN 109562816 A CN109562816 A CN 109562816A
Authority
CN
China
Prior art keywords
propeller
jian
main nacelle
hole
navigation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201780000779.9A
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English (en)
Other versions
CN109562816B (zh
Inventor
何伟
郭同腾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Vxfly Intelligent Information Technology Co ltd
Original Assignee
Shenzhen Vxfly Intelligent Information Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Vxfly Intelligent Information Technology Co ltd filed Critical Shenzhen Vxfly Intelligent Information Technology Co ltd
Publication of CN109562816A publication Critical patent/CN109562816A/zh
Application granted granted Critical
Publication of CN109562816B publication Critical patent/CN109562816B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

一种水下航行机器人(100)，包括主舱体(10)、若干推进器(20)和控制器(13)，各推进器(20)包括螺旋桨(21)、驱动电机(22)和支座(23)；若干推进器(20)分为轴向沿主舱体(10)厚度方向设置的升降推进器(20a)和轴向垂直于主舱体(10)厚度方向设置的航行推进器(20b)。将升降推进器(20a)的轴向设置与主舱体的厚度方向一致，而将航行推进器(20b)的轴向设置与主舱体(10)厚度方向垂直，从而在可以通过航行推进器(20b)调节主舱体(10)的方向及前后进行，同时可以通过升降推进器(20a)直接驱动主舱体升降，空间位置调节方便，航行更为灵活。

Description

PCT国内申请，说明书已公开。

Claims (1)

  1. PCT国内申请，权利要求书已公开。
CN201780000779.9A 2017-08-09 2017-08-09 水下航行机器人 Expired - Fee Related CN109562816B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/096587 WO2019028692A1 (zh) 2017-08-09 2017-08-09 水下航行机器人

Publications (2)

Publication Number Publication Date
CN109562816A true CN109562816A (zh) 2019-04-02
CN109562816B CN109562816B (zh) 2021-01-29

Family

ID=65273125

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780000779.9A Expired - Fee Related CN109562816B (zh) 2017-08-09 2017-08-09 水下航行机器人

Country Status (2)

Country Link
CN (1) CN109562816B (zh)
WO (1) WO2019028692A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583308A (zh) * 2022-09-26 2023-01-10 中国舰船研究设计中心 船舶用存储舱室

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN219361305U (zh) * 2023-01-16 2023-07-18 深圳鳍源科技有限公司 水下机器人

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012074408A2 (en) * 2010-11-29 2012-06-07 Environtec As A surface-cleaning device and vehicle
CN102897309A (zh) * 2012-09-21 2013-01-30 哈尔滨工程大学 一种小型水下磁耦合推进器装置
CN202703877U (zh) * 2012-08-18 2013-01-30 郑州大学 一种基于图像处理的自我控制水下机器人
CN103287557A (zh) * 2013-05-31 2013-09-11 深圳市优必选科技有限公司 一种新的水下机器人运动控制装置
KR101358547B1 (ko) * 2012-05-22 2014-02-07 영남대학교 산학협력단 수중운항 플랫폼
CN203601547U (zh) * 2013-08-07 2014-05-21 天津昊野科技有限公司 水下机器人
CN206087176U (zh) * 2016-10-14 2017-04-12 福建海图智能科技有限公司 一种小型六维度运动水下机器人
CN106976536A (zh) * 2017-03-28 2017-07-25 中国地质大学（武汉） 框架结构水下堤坝巡视机器人
CN207106828U (zh) * 2017-08-09 2018-03-16 深圳微孚智能信息科技有限公司 水下航行机器人

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO336579B1 (no) * 2013-08-05 2015-09-28 Argus Remote System As Frittstrømmende, neddykkbar garasje- og dokkingstasjon, samt tilhørende ROV
CN104960650B (zh) * 2015-06-16 2017-06-16 华中科技大学 一种六自由度水下机器人

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012074408A2 (en) * 2010-11-29 2012-06-07 Environtec As A surface-cleaning device and vehicle
KR101358547B1 (ko) * 2012-05-22 2014-02-07 영남대학교 산학협력단 수중운항 플랫폼
CN202703877U (zh) * 2012-08-18 2013-01-30 郑州大学 一种基于图像处理的自我控制水下机器人
CN102897309A (zh) * 2012-09-21 2013-01-30 哈尔滨工程大学 一种小型水下磁耦合推进器装置
CN103287557A (zh) * 2013-05-31 2013-09-11 深圳市优必选科技有限公司 一种新的水下机器人运动控制装置
CN203601547U (zh) * 2013-08-07 2014-05-21 天津昊野科技有限公司 水下机器人
CN206087176U (zh) * 2016-10-14 2017-04-12 福建海图智能科技有限公司 一种小型六维度运动水下机器人
CN106976536A (zh) * 2017-03-28 2017-07-25 中国地质大学（武汉） 框架结构水下堤坝巡视机器人
CN207106828U (zh) * 2017-08-09 2018-03-16 深圳微孚智能信息科技有限公司 水下航行机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583308A (zh) * 2022-09-26 2023-01-10 中国舰船研究设计中心 船舶用存储舱室

Also Published As

Publication number Publication date
WO2019028692A1 (zh) 2019-02-14
CN109562816B (zh) 2021-01-29

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Granted publication date: 20210129

Termination date: 20210809