CN101318548A - Miniature spherical underwater vehicle based on water jet propulsion - Google Patents
Miniature spherical underwater vehicle based on water jet propulsion Download PDFInfo
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- CN101318548A CN101318548A CNA200810064849XA CN200810064849A CN101318548A CN 101318548 A CN101318548 A CN 101318548A CN A200810064849X A CNA200810064849X A CN A200810064849XA CN 200810064849 A CN200810064849 A CN 200810064849A CN 101318548 A CN101318548 A CN 101318548A
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Abstract
The invention provides a tiny spherical underwater submergence device based on water jet propulsion, which includes a shell and a driving and adjusting device arranged in the shell; the shell is a spherical sealed shell; the components of the driving and adjusting device include a seal cabin the two ends of which are arranged in the spherical sealed shell by a fixing pole support; two water spray motors are arranged in the seal cabin; water inlet tubes and water outlet tubes of the water spray motors penetrate the seal cabin and the spherical seal shell; besides, the diameters of the water inlet tubes of the water spray motors are smaller than the diameters of the water outlet tubes; the two symmetrical side surfaces of the seal cabin are provided with circuit boards; the other tow symmetrical side surfaces of the seal cabin are provided with battery tanks; the fixing pole supports at each end of the seal cabin are provided with a motor bracket; a motor cabin is arranged on the motor bracket; a fly wheel motor is arranged in the motor cabin; a fly wheel is arranged on the shaft of the fly wheel motor. The tiny spherical underwater submergence device based on the water jet propulsion has the advantages of higher flexibility, being capable of reducing the working noise to the utmost extent, simple material, small volume and low cost.
Description
(1) technical field
What the present invention relates to is a kind of underwater hiding-machine.Specifically a kind of is the small underwater hiding-machine of principal character with shape and type of drive.
(2) background technology
Scientific development so far, people have dropped into huge energy to the exploration of land and space, and have obtained significant progress, and to a little less than being relative thin with the understanding of our closely-related ocean and research.
In wide ocean space, the living marine resources that are richly stored with, oceanic mineral resources and ocean energy resources, we can reasonably develop; Simultaneously, ball ecological environment goes from bad to worse, and we also must protect the huge marine environment of occupation of land sphere area to avoid polluting better, utilize them to promote the well-being of mankind efficiently.
People to abundant marine resources explore with marine environmental protection need with serious hope, must explore instrument by strong ocean, will develop maritime technology like this.Ocean monitoring technologytechnologies just belongs to the just ocean high-tech sector in flourish.The coastal state is at develop actively modern marine environmental monitoring hightech, from aerial, the water surface, marine environment is carried out stereoscopic monitoring under water.Enter 21st century, the a lot of developed countries in the world continually strengthen especially or upgrade the marine environment in the total marine site of the marine environmental monitoring system of national seas under its jurisdiction and the world and the investigation and monitoring means of resource, and constantly release the marine environmental monitoring high-tech product.Development marine environmental monitoring hightech is for protecting the marine environment, develop marine resources, safeguarding that national marine rights and interests and all many-sides such as interests with sovereign right, enhancing national marine scientific research strength and development national economy are significant.
Be accompanied by the human knowledge ocean, the exploitation ocean, utilize marine resources and the protection marine resources process; the research and development of underwater hiding-machine will enliven day by day; autonomous underwater hiding-machine has many advantages such as compatible with environment is strong, action radius is big, easy to use, becomes the popular domain of current research.
Underwater hiding-machine be a kind ofly can move, have vision and sensory perceptual system under water, by remote control or autonomous operation mode, use machinery or other instruments to replace or assist the people to remove to finish the device of under-water operation task.It is played an important role in ocean exploitation with in utilizing as a kind of hightech means, and its importance is not second to the effect of cosmic rocket in the exploration of the universe space.
The structure of underwater hiding-machine, operating principle, application target are varied, and reason is that the problem of oceanographic survey is very many, and the operation of implementing under water also is rich in variety.Underwater hiding-machine has a lot of different sorting techniques, have or not cable to be divided into according to diving under water between device and the lash ship cable underwater hiding-machine (Remote OperatedVehicle is arranged, be called for short ROV) and no cable underwater hiding-machine (Autonomous Underwater Vehicle is called for short AUV).
It is power to be provided and to implement remote control to underwater hiding-machine by lash ship by cable that the cable underwater hiding-machine is arranged, and no cable underwater hiding-machine then is self-powered, according to sailing under its own power.No cable underwater hiding-machine claims autonomous underwater hiding-machine (AUV) again, it with have the cable underwater hiding-machine to compare to have safety (unmanned), simple in structure, size is little, in light weight, advantage such as cost is low, and AUV is more much bigger than the underwater action radius of ROV, can slip into darker marine site, bottom topography to complexity has stronger comformability, the AUV of small size can enter in the space of complicated works or small scale comparatively freely, and this is that the robot of other types is difficult to accomplish.Therefore, countries in the world are all in the research of the underwater hiding-machine of positive carrying out.
Following underwater hiding-machine will develop towards miniaturization, intellectuality, networking, the direction in long cruise duration.To improve the capacity of will of underwater hiding-machine simultaneously, to the adaptive capacity of environment and the collaboration capabilities between a plurality of underwater hiding-machine, finish the complex task that single underwater hiding-machine is difficult to or can not finishes.
Present latent device design substantially all is the stream line pattern based on torpedo type, does not retrieve the underwater hiding-machine about spherical designs.Propulsion mode from the device of diving, nearly all underwater hiding-machine all is to advance as major impetus with screw propeller now, key name in Beijing Institute of Technology's application is called in the patent document of " a kind of underwater robot draining propelling device ", related to the waterjet propulsion mode, but its draining propelling device is the mode of the similar piston draining of utilization, so its propulsion coefficient is lower.
(3) summary of the invention
The object of the present invention is to provide that a kind of volume is little, in light weight, power consumption is little, can float under water, dive, motion such as rotate, advance and retreat, simple in structure, modular design is beneficial to the miniature spherical underwater vehicle based on waterjet propulsion of installing and debugging.
The object of the present invention is achieved like this:
It comprises shell, driving and control apparatus in setting and the shell; Described shell is spherical containment shell; The composition of described driving and control apparatus comprises that two ends are installed in sealed module in the spherical containment shell by fixing pole, two water spray motors are installed in sealed module, the coolant inlet pipe of water spray motor, coolant outlet pipe passes sealed module and spherical containment shell, and the diameter of the coolant inlet pipe of water spray motor is less than the diameter of coolant outlet pipe, the side of two symmetries of sealed module is equipped with circuit card, two other symmetrical side is equipped with battery flat, on the fixedly pole of each end of sealed module electric machine support is installed, motor room is installed on the electric machine support, fly-wheel motor is installed in the motor room, and flywheel is installed on the fly-wheel motor axle.
The present invention can also comprise:
1, the water inlet of two motors and water outlet are arranged on orthogonal two diametric(al)s.
2, the coolant inlet pipe of water spray motor is 1 with the diameter ratio of coolant outlet pipe: 7-8.
3, described spherical containment shell can be made up of two semispheres, between two semispheres hermetically-sealed construction is arranged.
4, between the outside of circuit card, battery flat and they and the sealed module water-tight structure is arranged all.
The present invention has some technical characterstics like this:
1, shell adopts spherical designs, has higher flexibility and degree of freedom, can be freely at underwater exercise.
2, utilize the flywheel stabilization system to keep the attitude of spheroid; Utilize the differential spheroid that makes of its inertia torque to rotate simultaneously, thereby adjust the attitude of spheroid, change the sense of motion of underwater hiding-machine.
3, employing is battery-powered, has low in power consumption.
4, noise is little, has better disguise.
5, each parts all adopts modular design, utilizes screw thread to connect, and utilizes rubber seal and seal ring to carry out water-proofing treatment.
The stainless steel material that spherical containment shell of the present invention adopts can be prevented the corrosion of sealing to spheroid like this, and the period of service that prolongs spherical shell has good intensity simultaneously.Spherical shell is divided into two hemisphere up and down, adopts the mode of electric arc cutting that a complete spherical shell is cut into two hemisphere up and down.The support effect of mainly playing water-tight and installing as internal part.Sealed module adopts organism glass as material, can the actv. waterproof, and in light weight.The water spray motor is Honda direct current water spray motor, thereby utilizes pwm signal to carry out kinematic velocity and acceleration/accel that the thrust control underwater hiding-machine of water spray is controlled in speed governing.Fly-wheel motor adopts DC machine.The inertia that produces during each flywheel high speed revolution can keep the stable of underwater hiding-machine, thereby utilizes the differential output of moment of torsion of the speed discrepancy formation of two flywheels can make spheroid produce the attitude of rotation adjustment underwater hiding-machine in water simultaneously.Cooperate the work of the motor of spraying water again by the attitude that changes spheroid, can make underwater hiding-machine in water, do the motion of porpoising and forward-reverse.
Beneficial effect of the present invention has:
1, the present invention adopts spherical designs, and with respect to the airflow design in other patents, this latent utensil has the symmetry of spherical peculiar height, therefore makes its motion in water have higher flexibility, is fit to the operation with complicated underwater environment.
2, the present invention adopts complete built-in design; with respect to the external angle of rake design in other patents; all circuit of our underwater hiding-machine and parts all place spherical capsul inside; so not only guaranteed the integraty of spheroid profile; actv. is protected each circuit and parts more simultaneously; prevent because of water inlet or the damage that causes of collision, simultaneously can maximum possible reduce work noise.
3, the material of employing of the present invention is simple, and volume is little, and cost is low.The modular construction design of the symmetry that portion adopts makes processing and assemble very convenient.And other underwater hiding-machine substantially all adopts all-metal construction at present, has not only increased tooling cost but also has increased the weight of latent device.
(4) description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is inner structure of the present invention (not comprising a spherical containment shell) scheme drawing;
Fig. 3 is the block diagram of Fig. 2.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1-Fig. 3, along on the diameter of Z axle, aperture that all to have 4 diameters on each hemisphere spherical shell be 4mm, be used to install and fix pole, sealed module 4 by 8 fixedly pole 5 (only having embodied fixedly pole 5-1,5-2,5-3,5-4,5-5,5-6,5-7 among the figure) be fixed in the spherical containment shell 1 in the mode that is threaded.Fixedly be the mode that is threaded that adopts equally between pole and the sealed module 4.Spherical containment shell 1 is made up of two semispheres, between two semispheres hermetically-sealed construction is arranged, and this hermetically-sealed construction and hemispherical Shell junction adopt water proof glue to seal.Motor room 7-1 and 7-2 are fixed on the sealed module 4 with the mode of electric machine support 6 with welding respectively, and fly-wheel motor 12-1 and 12-2 are respectively by motor captive nut 8-1, and 8-2,8-3,8-4 etc. are fixed in the motor room and motor room bottom silica gel sealing.Flywheel 13-1 and 13-2 are connected on the rotor shaft of fly-wheel motor 12-1,12-2 by screw thread.Water spray motor 9-1 and 9-2 utilize silica stationary in sealed module 4 inside, have only water inlet 11-1,11-2 and water outlet 10-1,10-2 to reach the outside of sealed module 4 and are connected to spherical containment shell 1 surface by pipeline in water proof glue leak free mode.Circuit card 3-1,3-2,3-3,3-4 utilize the installation of silica gel ways of connecting symmetry and the sealed module left and right sides and have carried out water-proofing treatment with water proof glue.Battery flat 2-1,2-2,2-3,2-4 utilize the silica gel ways of connecting to be installed in former and later two sides of sealed module 4 equally and have carried out water-proofing treatment with water proof glue equally.
Down, the plane at four inlet and outlet pipe lines places is in vertical surface in working order.Two fly-wheel motors are respectively with given operating voltage 7.2V work, because two fly-wheel motors are installations relative on same diameter, so the driving torque that is produced when two fly-wheel motors all rotate with cw (perhaps conter clockwise) is cancelled out each other, spheroid is in a kind of equilibrium of torques state like this, and the inertia that utilizes flywheel to select at a high speed to produce can make it keep stable attitude can not rotate.When needs change sense of motion, the work of motor at first stops to spray water, change the rotating speed of two fly-wheel motors then by pwm signal, make two fly-wheel motors simultaneously with cw (or conter clockwise) but with different rotational speed, can produce a differential moment of torsion like this, we can know according to conservation energy, and whole spheroid can produce a driving torque opposite with differential moment of torsion, from but spheroid rotates the dive adjustment of device attitude that Here it is along opposite direction.When needs when a certain direction is done horizontal motion, allow two flywheels rotate with cw (or conter clockwise) simultaneously, control a certain water spray motor then and spray water round about, latent device can be to set direction motion under the effect of water spray thrust.When needs are dived the device come-up, at first stop the machine operation of spraying water, thereby the rotating speed that changes some fly-wheel motors again forms differential moment of torsion, the water outlet of some water spray motors is adjusted to vertically downward position, and then once allow two flywheels rotate to keep this attitude with hour hands with rotating speed, open water outlet water spray motor vertically downward at last, utilize thrust to allow latent device float.Same method can be the purpose that latent device reaches dive.Control to two water spray motors utilizes pwm signal to finish, we can know the relation between water spray motor power output and the input voltage according to the math modeling of water spray motor, the thrust of its water spray can be changed by the input voltage of control water spray motor, and then the kinematic velocity and the acceleration/accel of the device of diving can be controlled according to the math modeling of spherical underwater vehicle.
Technical index of the present invention is: the ball-shaped shell adopts stainless steel material, and diameter is 22cm; The inner sealing cabin adopts organism glass as material, and it highly is 20cm; The water spray motor length is 6cm, and cross-sectional plane directly is 3cm, and the water inlet diameter is 1.4cm, and the water outlet diameter is 2mm, and rated operational voltage is 13V; The fly-wheel motor diameter is 2.8cm, and length is 3.2cm, and rated operational voltage is 7.2V; The diameter of flywheel is 4cm; It is material that inlet and outlet pipe lines adopts plastic hose.The weight of whole latent device is 5.6kg.The operating voltage range of latent device is 0～13V.
Claims (9)
1, a kind of miniature spherical underwater vehicle based on waterjet propulsion, it comprises shell, driving and control apparatus in setting and the shell; It is characterized in that: described shell is spherical containment shell; The composition of described driving and control apparatus comprises that two ends are installed in sealed module in the spherical containment shell by fixing pole, two water spray motors are installed in sealed module, the coolant inlet pipe of water spray motor, coolant outlet pipe passes sealed module and spherical containment shell, and the diameter of the coolant inlet pipe of water spray motor is less than the diameter of coolant outlet pipe, the side of two symmetries of sealed module is equipped with circuit card, two other symmetrical side is equipped with battery flat, on the fixedly pole of each end of sealed module electric machine support is installed, motor room is installed on the electric machine support, fly-wheel motor is installed in the motor room, and flywheel is installed on the fly-wheel motor axle.
2, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 1 is characterized in that: the water inlet of two motors and water outlet are arranged on orthogonal two diametric(al)s.
3, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 1 and 2 is characterized in that: the coolant inlet pipe of water spray motor is 1 with the diameter ratio of coolant outlet pipe: 7-8.
4, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 1 and 2 is characterized in that: described spherical containment shell, can form by two semispheres, and between two semispheres hermetically-sealed construction is arranged.
5, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 3 is characterized in that: described spherical containment shell, can form by two semispheres, and between two semispheres hermetically-sealed construction is arranged.
6, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 1 and 2 is characterized in that: between the outside of circuit card, battery flat and they and the sealed module water-tight structure is arranged all.
7, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 3 is characterized in that: between the outside of circuit card, battery flat and they and the sealed module water-tight structure is arranged all.
8, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 4 is characterized in that: between the outside of circuit card, battery flat and they and the sealed module water-tight structure is arranged all.
9, the miniature spherical underwater vehicle based on waterjet propulsion according to claim 5 is characterized in that: between the outside of circuit card, battery flat and they and the sealed module water-tight structure is arranged all.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810064849A CN100588589C (en) | 2008-07-03 | 2008-07-03 | Miniature spherical underwater vehicle based on water jet propulsion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810064849A CN100588589C (en) | 2008-07-03 | 2008-07-03 | Miniature spherical underwater vehicle based on water jet propulsion |
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| Publication Number | Publication Date |
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| CN101318548A true CN101318548A (en) | 2008-12-10 |
| CN100588589C CN100588589C (en) | 2010-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200810064849A Expired - Fee Related CN100588589C (en) | 2008-07-03 | 2008-07-03 | Miniature spherical underwater vehicle based on water jet propulsion |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101894456A (en) * | 2010-06-18 | 2010-11-24 | 李华 | Wireless remote controlled water quality monitoring boat based on machine vision and control method thereof |
| CN103010435A (en) * | 2011-09-21 | 2013-04-03 | 任首旺 | Instant comprehensive optionally-oriented (steered) high-speed proceeding diving instrument |
| CN103935494A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Electric actuating material rhythm-driven underwater propeller of combined structure |
| CN105564615A (en) * | 2015-12-29 | 2016-05-11 | 上海大学 | Six-degree-of-freedom spherical underwater robot bionic eye |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
-
2008
- 2008-07-03 CN CN200810064849A patent/CN100588589C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101894456A (en) * | 2010-06-18 | 2010-11-24 | 李华 | Wireless remote controlled water quality monitoring boat based on machine vision and control method thereof |
| CN101894456B (en) * | 2010-06-18 | 2013-06-19 | 李华 | Wireless remote controlled water quality monitoring boat based on machine vision and control method thereof |
| CN103010435A (en) * | 2011-09-21 | 2013-04-03 | 任首旺 | Instant comprehensive optionally-oriented (steered) high-speed proceeding diving instrument |
| CN103935494A (en) * | 2014-04-28 | 2014-07-23 | 哈尔滨工程大学 | Electric actuating material rhythm-driven underwater propeller of combined structure |
| CN105564615A (en) * | 2015-12-29 | 2016-05-11 | 上海大学 | Six-degree-of-freedom spherical underwater robot bionic eye |
| CN105564615B (en) * | 2015-12-29 | 2018-03-06 | 上海大学 | A kind of six degree of freedom spherical underwater robot bionic eye |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
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| Publication number | Publication date |
|---|---|
| CN100588589C (en) | 2010-02-10 |
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Granted publication date: 20100210 Termination date: 20120703 |