The present invention relates to a multi-joint underwater robot system for deep sea exploration, capable of continuously and stably performing very close exploration for a surface of deep sea. According to the present invention, the system comprises: a multi-joint seabed robot including a plurality of first and second pressure-resistant vessels to endure water pressure and prevent embedded devices from being flooded by sea water through waterproof processing, acquiring ocean research data, and closely and precisely exploring a seabed topology to transmit underwater state data; a mother ship receiving and storing the ocean research data and the underwater state data, and monitoring and controlling a moving direction of the seabed robot; and a depressor having a third pressure-resistant vessel, and connected to the mother ship and the seabed robot with a first and a second cable, respectively, to prevent underwater resistant force of the first cable from being transferred to the seabed robot. The first pressure-resistant vessels are installed on a robot body frame as a spherical shape, the second pressure-resistant vessels are installed among a plurality of legs of a left/right robot as a cylindrical shape, and the third pressure-resistant vessel is installed in a depressor platform as a cylindrical shape.

    본 발명은 심해 탐사용 다관절 해저 로봇 시스템에 관한 것으로서, 심해의 수압을 견디고 방수 처리를 통해 내장된 장치들을 해수의 침수로부터 막는 복수개의 제1 및 제2 내압 용기를 구비하고, 해양 연구 데이터를 취득하며 해저 지형을 근접 정밀 탐사하여 수중 상태 데이터를 송신하는 다관절 해저 로봇; 상기 해양 연구 데이터 및 상기 수중 상태 데이터를 인가받아 저장하고 상기 해저 로봇의 이동방향을 모니터링하고 제어하는 모선; 및 상기 제3 내압 용기를 구비하고, 상기 모선과 1차 케이블로 연결되며, 상기 해저 로봇과 2차 케이블로 연결되어, 상기 1차 케이블의 수중 저항력이 상기 해저 로봇까지 전달되는 것을 방지하는 디프레서;를 포함하고, 상기 복수개의 제1 내압 용기는 구형으로서 로봇 몸체 프레임에 장착되고, 상기 복수개의 제2 내압 용기는 실린더형으로서 복수개의 좌우 로봇 다리 사이 각각에 장착되며, 상기 제3 내압 용기는 실린더형으로서 디프레서 플랫폼 내에 장착되는 것을 특징으로 한다.


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    Title :

    A multi-joint underwater robot system for deep sea exploration


    Additional title:

    심해 탐사용 다관절 해저 로봇 시스템


    Contributors:
    JUN BONG HUAN (author) / SHIM HYUNG WON (author) / PARK JIN YEONG (author) / YOO SEONG YEOL (author) / BAEK HYUK (author) / LEE PAN MOOK (author)

    Publication date :

    2016-12-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / F16J Kolben , PISTONS



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