CN112550645A - Six-degree-of-freedom underwater detection robot and working method thereof - Google Patents
Six-degree-of-freedom underwater detection robot and working method thereof Download PDFInfo
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- CN112550645A CN112550645A CN202011334296.2A CN202011334296A CN112550645A CN 112550645 A CN112550645 A CN 112550645A CN 202011334296 A CN202011334296 A CN 202011334296A CN 112550645 A CN112550645 A CN 112550645A
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- adjusting device
- posture adjusting
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- bracket
- posture
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- 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
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- 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
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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to a six-degree-of-freedom underwater detection robot which comprises a support, two right middle posture adjusting devices, two left middle posture adjusting devices, a left front posture adjusting device, a left rear posture adjusting device, a right front posture adjusting device, a right rear posture adjusting device and a camera assembly arranged on the support. The working method of the six-degree-of-freedom underwater exploration robot as claimed in any one of claims 1 to 5, wherein two right middle attitude adjusting devices and two left middle attitude adjusting devices push downwards together, and the robot moves upwards; and the two right middle posture adjusting devices and the two left middle posture adjusting devices push upwards together, and the robot moves downwards at the moment. Through six attitude adjusting devices, the robot can rotate on six degrees of freedom, and the robot can work in a complex under-tree environment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-degree-of-freedom underwater exploration robot and a working method thereof.
Background
Underwater robots are used as important tools for human beings to detect and develop oceans, and are widely applied to important fields of coast guard and defense, ocean oil and gas resource development, ocean engineering construction, ocean fishery management, ocean tourism resource development, island protection and development, ocean emergency treatment and the like.
The existing underwater robot has the technical lag, and in some deep sea areas, the underwater robot has the problem that the underwater robot has less freedom degree, and cannot well adjust the posture under water to influence underwater shooting.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the six-degree-of-freedom underwater exploration robot and the working method thereof are provided, and the problem that the conventional underwater robot is low in degree of freedom is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in a first aspect:
a six-freedom underwater exploration robot comprises
The device comprises a bracket, two right middle posture adjusting devices, two left middle posture adjusting devices, a left front posture adjusting device, a left rear posture adjusting device, a right front posture adjusting device, a right rear posture adjusting device and a camera assembly arranged on the bracket;
the right middle posture adjusting device is suitable for adjusting the thrust in the vertical direction on the right side of the bracket;
the left middle posture adjusting device is suitable for adjusting the thrust in the vertical direction on the left side of the bracket;
the left front posture adjusting device is suitable for providing rotating force in front of the left side of the bracket;
the left rear posture adjusting device is suitable for providing rotating force at the left rear part of the bracket;
the right front posture adjusting device is suitable for providing rotating force on the right front of the bracket;
the right rear attitude adjusting device is adapted to provide a rotational force at the rear right of the bracket.
Further, every posture adjustment device all includes kuppe, motor cabinet, motor and screw, and the kuppe with the equal fixed mounting of motor cabinet is in on the casing, the kuppe is cylindricly, the motor is installed on the motor cabinet, the output shaft of motor with screw fixed connection is in order to be used for the drive the screw rotates, the screw is located in the kuppe, the rotation of screw can drive the casing removes.
Furthermore, the camera shooting assembly comprises a camera, a cylinder and a transparent cover;
the transparent cover is arranged at the front end of the barrel body so as to form a sealed cavity in the barrel body, and the camera is arranged in the barrel body.
Further, the bracket comprises a left side plate, a right side plate, a left transverse plate, a right transverse plate and a middle beam plate;
the left transverse plate is arranged on the inner side of the left side plate, the right transverse plate is arranged on the inner side of the right side plate, the middle beam plate is connected with the left side plate and the right side plate, the camera shooting assembly is placed on the middle beam plate, and the two sides of the camera shooting assembly are respectively connected with the left side plate and the right side plate.
Further, the left front posture adjusting device, the left rear posture adjusting device, the right front posture adjusting device and the right rear posture adjusting device are inclined at 45 degrees.
In a second aspect:
a working method of the underwater detecting robot with six degrees of freedom,
the two right middle posture adjusting devices and the two left middle posture adjusting devices push downwards together, and the robot moves upwards at the moment;
the two right middle posture adjusting devices and the two left middle posture adjusting devices push upwards together, and the robot moves downwards at the moment;
the robot overturns when the two right and middle attitude adjusting devices and the two left and middle attitude adjusting devices push upwards and push downwards respectively;
the left front attitude adjusting device, the left rear attitude adjusting device, the right front attitude adjusting device and the right rear attitude adjusting device push in one direction together to drive the robot to rotate in one direction.
The invention has the beneficial effects that:
the six-degree-of-freedom underwater exploration robot and the working method thereof are provided, and the robot can rotate on six degrees of freedom through six attitude adjusting devices, so that the robot can work in a complex under-tree environment.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIGS. 1 and 2 are schematic diagrams of a six-degree-of-freedom underwater exploration robot;
FIG. 3 is a schematic view of an attitude adjustment apparatus;
21, a left side plate, 22, a left transverse plate, 31, a right side plate, 32, a right transverse plate, 41, a left middle posture adjusting device, 42, a right middle posture adjusting device, 43, a left front posture adjusting device, 44, a right front posture adjusting device, 45, a left rear posture adjusting device, 46, a right rear posture adjusting device, 4A, a guide cover, 4B, a motor, 4C and a propeller.
Detailed Description
The invention will now be further described with reference to specific examples. These drawings are simplified schematic diagrams only illustrating the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example one
As shown in fig. 1 to 3, a six-degree-of-freedom underwater detection robot comprises a support, two right middle attitude adjusting devices 42, two left middle attitude adjusting devices 41, a left front attitude adjusting device 43, a left rear attitude adjusting device 45, a right front attitude adjusting device 44, a right rear attitude adjusting device 46 and a camera assembly arranged on the support;
the right middle posture adjusting device 42 is adapted to adjust the thrust in the up-down direction on the right side of the bracket;
the left middle posture adjusting device 41 is suitable for adjusting the thrust in the vertical direction on the left side of the bracket;
the left front attitude adjusting means 43 is adapted to provide a rotational force in front of the left of the stand;
the rear left attitude adjusting means 45 is adapted to provide a rotational force at the rear left of the stand;
the right front posture adjusting device 44 is adapted to provide a rotational force at the bracket right front;
the right rear attitude adjusting device 46 is adapted to provide a rotational force at the rear right of the bracket.
Specifically, in this embodiment, every posture adjustment device all includes kuppe 4A, motor cabinet, motor 4B and screw 4C, and kuppe 4A with the equal fixed mounting of motor cabinet is in on the casing, kuppe 4A is cylindricly, motor 4B installs on the motor cabinet, motor 4B's output shaft with screw 4C fixed connection is in order to be used for the drive screw 4C rotates, screw 4C is located in the kuppe 4A, screw 4C's rotation can drive the casing removes.
Specifically, in this embodiment, the camera assembly includes a camera, a barrel, and a transparent cover;
the transparent cover is arranged at the front end of the barrel body so as to form a sealed cavity in the barrel body, and the camera is arranged in the barrel body.
Specifically, in this embodiment, the bracket includes a left side plate 21, a right side plate 31, a left cross plate 22, a right cross plate 32, and a middle beam plate;
the left transverse plate 22 is arranged on the inner side of the left side plate 21, the right transverse plate 32 is arranged on the inner side of the right side plate 31, the middle beam plate is connected with the left side plate 21 and the right side plate 31, the camera shooting assembly is placed on the middle beam plate, and two sides of the camera shooting assembly are respectively connected with the left side plate 21 and the right side plate 31.
Specifically, in the present embodiment, the left front posture adjustment device 43, the left rear posture adjustment device 45, the right front posture adjustment device 44, and the right rear posture adjustment device 46 are all inclined at 45 °.
Example two
A working method of the underwater detecting robot with six degrees of freedom,
the two right middle posture adjusting devices 42 and the two left middle posture adjusting devices 41 together form downward thrust, and the robot moves upwards at the moment;
the two right middle posture adjusting devices 42 and the two left middle posture adjusting devices 41 push upwards together, and the robot moves downwards at the moment;
two right and middle attitude adjusting devices 42 and two left and middle attitude adjusting devices 41, one of which is thrust upwards and the other of which is thrust downwards, and at the moment, the robot turns over;
the left front attitude adjusting device 43, the left rear attitude adjusting device 45, the right front attitude adjusting device 44 and the right rear attitude adjusting device 46 push together in one direction, and the robot is driven to rotate in one direction.
According to the six-degree-of-freedom underwater detection robot and the working method thereof, the robot is enabled to rotate on six degrees of freedom through the six posture adjusting devices, so that the robot can work in a complex under-tree environment.
The underwater detection robot can enable the camera assembly to detect the pictures of the sea bottom at a plurality of angles through the adjustment of a plurality of dimensional positions.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A six-freedom underwater exploration robot is characterized by comprising
The device comprises a bracket, two right middle posture adjusting devices, two left middle posture adjusting devices, a left front posture adjusting device, a left rear posture adjusting device, a right front posture adjusting device, a right rear posture adjusting device and a camera assembly arranged on the bracket;
the right middle posture adjusting device is suitable for adjusting the thrust in the vertical direction on the right side of the bracket;
the left middle posture adjusting device is suitable for adjusting the thrust in the vertical direction on the left side of the bracket;
the left front posture adjusting device is suitable for providing rotating force in front of the left side of the bracket;
the left rear posture adjusting device is suitable for providing rotating force at the left rear part of the bracket;
the right front posture adjusting device is suitable for providing rotating force on the right front of the bracket;
the right rear attitude adjusting device is adapted to provide a rotational force at the rear right of the bracket.
2. The six-degree-of-freedom underwater exploration robot of claim 1,
every posture adjustment device all includes kuppe, motor cabinet, motor and screw, and the kuppe with the equal fixed mounting of motor cabinet is in on the casing, the kuppe is cylindricly, the motor is installed on the motor cabinet, the output shaft of motor with screw fixed connection is in order to be used for the drive the screw rotates, the screw is located in the kuppe, the rotation of screw can drive the casing removes.
3. The six-degree-of-freedom underwater exploration robot of claim 1,
the camera shooting assembly comprises a camera, a barrel and a transparent cover;
the transparent cover is arranged at the front end of the barrel body so as to form a sealed cavity in the barrel body, and the camera is arranged in the barrel body.
4. The six-degree-of-freedom underwater exploration robot of claim 1,
the bracket comprises a left side plate, a right side plate, a left transverse plate, a right transverse plate and a middle beam plate;
the left transverse plate is arranged on the inner side of the left side plate, the right transverse plate is arranged on the inner side of the right side plate, the middle beam plate is connected with the left side plate and the right side plate, the camera shooting assembly is placed on the middle beam plate, and the two sides of the camera shooting assembly are respectively connected with the left side plate and the right side plate.
5. The six-degree-of-freedom underwater exploration robot of claim 1,
the left front attitude adjusting device, the left rear attitude adjusting device, the right front attitude adjusting device and the right rear attitude adjusting device are inclined at 45 degrees.
6. A working method of the six-degree-of-freedom underwater exploration robot as claimed in any one of claims 1 to 5,
the two right middle posture adjusting devices and the two left middle posture adjusting devices push downwards together, and the robot moves upwards at the moment;
the two right middle posture adjusting devices and the two left middle posture adjusting devices push upwards together, and the robot moves downwards at the moment;
the robot overturns when the two right and middle attitude adjusting devices and the two left and middle attitude adjusting devices push upwards and push downwards respectively;
the left front attitude adjusting device, the left rear attitude adjusting device, the right front attitude adjusting device and the right rear attitude adjusting device push in one direction together to drive the robot to rotate in one direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011334296.2A CN112550645A (en) | 2020-11-24 | 2020-11-24 | Six-degree-of-freedom underwater detection robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011334296.2A CN112550645A (en) | 2020-11-24 | 2020-11-24 | Six-degree-of-freedom underwater detection robot and working method thereof |
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| CN112550645A true CN112550645A (en) | 2021-03-26 |
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| CN202011334296.2A Pending CN112550645A (en) | 2020-11-24 | 2020-11-24 | Six-degree-of-freedom underwater detection robot and working method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN107323637A (en) * | 2017-06-27 | 2017-11-07 | 德海电子科技（上海）有限公司 | Underwater robot |
| CN108860525A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater robot |
| CN210063333U (en) * | 2019-05-15 | 2020-02-14 | 杭州原位智能科技有限公司 | Six-degree-of-freedom underwater robot |
-
2020
- 2020-11-24 CN CN202011334296.2A patent/CN112550645A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN107323637A (en) * | 2017-06-27 | 2017-11-07 | 德海电子科技（上海）有限公司 | Underwater robot |
| CN108860525A (en) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | Underwater robot |
| CN210063333U (en) * | 2019-05-15 | 2020-02-14 | 杭州原位智能科技有限公司 | Six-degree-of-freedom underwater robot |
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Application publication date: 20210326 |
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