CN103466063A - Under-actuated spherical underwater robot with flexible movement - Google Patents
Under-actuated spherical underwater robot with flexible movement Download PDFInfo
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- CN103466063A CN103466063A CN2013104388505A CN201310438850A CN103466063A CN 103466063 A CN103466063 A CN 103466063A CN 2013104388505 A CN2013104388505 A CN 2013104388505A CN 201310438850 A CN201310438850 A CN 201310438850A CN 103466063 A CN103466063 A CN 103466063A
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Abstract
The invention discloses an under-actuated spherical underwater robot with flexible movement. The novel spherical underwater robot mainly comprises a ducted propeller mechanism with linear propulsion, a horizontal plane flywheel steering mechanism, a vertical plane pendulum pitching mechanism and a compression resistant sealing spherical shell structure. The robot is provided with the novel steering mechanism, so that the robot can realize no-radius turning in water; the design of the single propeller meets the requirements on low production cost and high running efficiency; a circular transparent shell with a supporting frame can resist certain deep water pressure, and also can be convenient for an internally installed sensor to detect water area information; the robot can be used as a carrier of reconnaissance equipment, aquatic and underwater operation systems and communication systems to perform various near sea operation tasks which cannot be completed by human being directly.
Description
Technical field
The present invention relates to a kind of structure design of improved underwater spherical robot.Be exactly to have designed a small ball-shape under-water robot with flywheel and heavy swinging mechanism specifically, this robot can be in the motion that turned to flexibly and go as course of horizontal surface and vertical surface, and the deepwater pressure resistant ability is strong, belong to the microminiature underwater robot field.
Background technology
Along with the increase of earth population and human life quality's raising, the more natural resources of the mankind's production and living needs meets, and current land resource has exceedingly been exploited, and energy shock becomes increasingly conspicuous.Ocean has covered the area of the earth 2/3rds, and a large amount of solid mineral resource and hydrocarbon resources are being contained in its inside, and it will be the maximum resource supplier of human survival and development.Yet up to now, the mankind go back ground zero to the exploration of ocean, the understanding of ocean interior and bottom thereof is still rested on to the primary stage.Microminiature underwater robot (Autonomous Underwater Vehicles) is called for short AUV, caused that in recent years the researchist more and more pays close attention to, because have on the one hand, carry conveniently, motion flexibly, the characteristics that cost is low, conveniently carry out the scientific research such as data acquisition in underwater exploration and water; Another conveniently has, and noise is low, the advantage of good concealment, can utilize it to carry out waters investigation, the military missions such as seaborne assault.As can be seen here, the research and development of small underwater robot is extremely important.
Along with going deep into extensive of research, it is varied that the kind of microminiature AUV also becomes.Modal under-water robot mainly is divided into two kinds, and a kind of is to be developed by torpedo, has cylinder blanket, relies on single propelling unit and tail vane mechanism to coordinate advance and turn to.Another kind is open-shelf, has square structure, needs configuration than multi-thruster, and each action needs several propelling units to act synergistically.Yet two types of under-water robots have certain shortcoming, and the former steering capability is poor, and turn radius is large.The latter is because the propelling unit of configuration is more, and not only cost is high, and takies the valuable volumetric spaces of robot.Therefore, for above deficiency, designing a kind of motion, to owe flexibly to drive under-water robot be of great value.
Disclose correlation technique in prior art, as in application number 200910084791 patents, disclosed a kind of underwater spherical robot with six degrees of freedom, this robot is provided with water storage apparatus and major axis the first motor, and this patent does not have water storage apparatus, that mode by utilizing heavy pendulum to adjust pitch angle realizes that the degree of depth dynamically controls, there is no the major axis motor, is lack of driven robot; This patent also customized design the flywheel steering hardware improve the course control ability of this kind of robot; This patent again customized design spherical shell supporting construction and hermetically-sealed construction, improve the deep water motion fitness of robot; The structure design of this patent is more focused on aspect the kinematic dexterity and safe reliability of robot.
Summary of the invention
The object of the invention is to for existing under-water robot deficiency, designed a kind of motion flexible, small ball-shape under-water robot simple in structure.This novel robot has novel steering hardware, makes it can realize the no-radius turning in water; It is lower that single propeller design meets cost, the requirement that operating efficiency is high.Can resist certain deep-water pressure with the circular transparent outer cover of steelframe, also can be convenient to the inner sensor of installing and examine the waters information of visiting.Can be using this robot as reconnaissance equipment, in water with water-bed operating system and the carrier of communication system, carry out territory, the coastal waters several work task that the mankind can't directly complete.In order to achieve the above object, the present invention adopts following technical scheme, and the spherical under-water robot of design comprises the shrouded propeller mechanism of linear advancement, horizontal surface flywheel steering hardware, and vertical surface is heavily put luffing mechanism and pressure-proof ball sealer shell structure; It is characterized in that: propeller nozzle runs through the robot spherical shell, and screw propeller is positioned at the catheter interior midway location, and the screw propeller rotation provides the robot forward thrust; Conduit outer wall is arranged symmetrically with the flywheel steering hardware up and down, and the flywheel drive motor is arranged in synchronous two flywheel rotations, the drive torque that the moment of reaction of flywheel rotation turns to as the robot water plane of driving of duct wall; Conduit outer wall is symmetrically arranged and heavily puts luffing mechanism, heavily puts drive motor and is arranged in two heavily pendulum swings of the synchronous driving of duct wall, and the moment of reaction that heavily pendulum swings is as the drive torque of robot vertical face pitching; The external margin at the conduit two ends longitudinal carrier that is symmetrically arranged, in the junction of the two halves spherical shell of robot, two longitudinal carriers connect a horizontal circle ring rack simultaneously; The organism glass spherical shell, by these stent support, gets up the internal mechanism seal protection of robot; Seal ring all is equipped with in the horizontal support of spherical shell junction and outside, conduit two ends, plays sealing function.
The steering hardware of described robot is the flywheel that is arranged on respectively the upper and lower of catheter wall, and there is a motor synchronously to drive, pass through gear transmission between motor shaft and flywheel shaft, the purpose of design has guaranteed the symmetry of mechanism like this, strengthened the moment turned to, be conducive to flat bank and course and control; The luffing mechanism of robot is to be arranged on respectively the left part of catheter wall and the heavily pendulum of right part, and there is a motor synchronously to drive, pass through gear transmission between motor shaft and heavy balance staff, the purpose of design has guaranteed the symmetry of mechanism like this, and the gravitational moment that heavily pendulum is subject to is conducive to the adjusting at pitching inclination angle and the attitude stabilization of robot.The pressure-proof ball sealer shell structure of described robot, by two longitudinal carriers, horizontal support and organism glass spherical shell form, and, in organism glass spherical shell and conduit and horizontal support contact position, are designed with seal groove.
The invention has the advantages that flywheel steering hardware and the luffing mechanism of robot, compact conformation, and steering capability is strong, good stability; Single propeller design of centre pipe screw propeller, reduced the robot cost, and screw propeller is protected; The robot interior member is protected by spherical shell, avoids contacting with water and corroding; Spherical shell is made by organism glass, and transparent material is conducive to experiment and observes the internal mechanism running, and the sensor that also is conducive to carry is observed waters information; Spherical glass spherical shell, by stent support, improves the crushing resistance of robot deep water motion, and the design of seal groove, strengthened water sealing property; In a word, designed small ball-shape under-water robot, all having great advantage aspect steering capability, cost performance and compressive sealed property.
The accompanying drawing explanation
Fig. 1 is the small ball-shape under-water robot schematic appearance of invention
Fig. 2 is small ball-shape under-water robot inner structure shaft side figure of the present invention
Fig. 3 is small ball-shape under-water robot inner structure front elevation of the present invention
Fig. 4 is small ball-shape under-water robot inner structure left view of the present invention
Fig. 5 is small ball-shape under-water robot inner structure birds-eye view of the present invention
Number in the figure: 1: spherical shell, 2: conduit, 3: screw propeller, 4: horizontal support, 5: longitudinal carrier, 6: heavy pendulum motor, 7: left chain, 8: right chain, 9: upper flywheel, 10: upper chain, 11: fly-wheel motor, 12: lower chain, 13: support seal groove, 14: right heavy pendulum, 15: lower flywheel, 16: conduit seal groove, 17: pedestal, 18: left heavy pendulum.
The specific embodiment
Below in conjunction with accompanying drawing, describe the present invention.
Fig. 1 is the small ball-shape under-water robot schematic appearance of invention: spherical shell 1 as we can see from the figure, and this is and water body area of contact maximum part, and globosity can reduce cornering resistance, strengthens kinematic dexterity, and the deepwater pressure resistant ability also has certain assurance simultaneously; Spherical shell 1 all seals the inner body of robot, only has screw propeller 3 and the conduit 2 can be in sight, can not be subject to aqueous corrosion by actv. protection inner body like this, increases the service life; Even screw propeller 3 also is mounted in the centre of conduit 2, both centers of spheroid, make screw propeller avoid that pasture and water are wound around and hard objects is touched, the safety factor of raising screw propeller like this.
Fig. 2 is small ball-shape under-water robot inner structure shaft side figure of the present invention, Fig. 3 is small ball-shape under-water robot inner structure front elevation of the present invention, Fig. 4 is small ball-shape under-water robot inner structure left view of the present invention, Fig. 5 is small ball-shape under-water robot inner structure birds-eye view of the present invention: in figure, conduit 2, horizontal support 4 and longitudinal carrier 5 are connected and fixed with spherical shell 1 use screw, and spherical shell 1 is wrapped in outside.The bearing force of horizontal support 4 and 5 pairs of spherical shells 1 of longitudinal carrier has further been strengthened the deepwater pressure resistant ability of robot, and be designed with support seal groove 13 and conduit seal groove 16 at the two ends of horizontal support 4 and conduit 2, guaranteed the water-tight of spherical shell screw junction; Outer wall at robot conduit 2 is equipped with pedestal 17, upper flywheel 9 be arranged on pedestal 17 above, lower flywheel 15 be arranged on pedestal 17 below, fly-wheel motor 11 also is connected with pedestal 17 and is positioned at upper flywheel 9 back, fly-wheel motor 11 is by upper chain 10 and two flywheels rotations of the synchronous drive of lower chain 12, and the course of being convenient to robot that is arranged symmetrically with of flywheel mechanism is controlled; Left heavy pendulum 18 is arranged on the left side of pedestal 17, right heavy pendulum 14 is arranged on the right side of pedestal 17, heavy pendulum motor 6 also is connected with pedestal 17 and is positioned at right heavy pendulum 14 fronts, heavy pendulum motor 6 is by left chain 7 and two heavily pendulum swings of the synchronous drive of right chain 8, and the luffing angle of being convenient to robot that is arranged symmetrically with of heavy swinging mechanism is controlled.In a word, the shrouded propeller mechanism of robot linear advancement, horizontal surface flywheel steering hardware, vertical surface heavily puts luffing mechanism and pressure-proof ball sealer shell structure is reasonable in design, compact in design.
The realization of robot linear advancement process, screw propeller 3 rotations and water effect in conduit 2, the thrust that provides robot to advance; Fly-wheel motor 11 is controlled the rotative speed state of upper flywheel 9 and lower flywheel 15, obtains the moment of reaction and carries out the maintenance of course, robot water plane; Heavy pendulum motor 6 is controlled the pendulum angle of left heavy pendulum 18 and right heavy pendulum 14, utilizes gravitational moment to carry out robot vertical face course and keeps; Above three mechanisms complete the linear advancement motion of robot jointly.
Robot turning process mainly is divided into the horizontal surface turning and vertical surface is turned, carry out when horizontal surface is turned keeping vertical surface heavily to put at state straight down, fly-wheel motor 11 is controlled the rotative speed state of upper flywheel 9 and lower flywheel 15, obtain the moment of reaction and carry out robot water plane course change, realize the horizontal surface turning; Carry out when vertical surface is turned utilizing flywheel to keep horizontal course, heavy pendulum motor 6 is controlled the pendulum angle of left heavy pendulum 18 and right heavy pendulum 14, utilizes gravitational moment to carry out robot vertical face course change always, realizes the vertical surface turning; If carry out other plane while turning to, as long as horizontal surface turns to flywheel mechanism and vertical surface to turn to heavy swinging mechanism to act on simultaneously, can realize.
The severity control of robot is realized, robot in progradation in order to remain on certain degree of depth, utilize depth transducer and gyroscope constantly to detect the degree of depth and luffing angle value, robot compares according to detection signal and preset value, and judging whether needs to change the degree of depth, while as need, changing the degree of depth, heavy pendulum motor 6 is controlled the swing certain angle of left heavy pendulum 18 and right heavy pendulum 14, thereby change the robot pitch angle, robot advances, and then changes depth location.
In sum: the shrouded propeller mechanism of the small ball-shape under-water robot of inventing, the flywheel steering hardware, heavily put luffing mechanism and spherical shell structure, can accomplish linear advances, and each angle turns to and waits action, reasonable in design, compact conformation, motion is flexible; Single propeller design of centre pipe screw propeller, reduced the robot cost, and screw propeller is protected; Flywheel and heavy swinging mechanism are arranged symmetrically with, and are conducive to turn to control and athletic posture stable; The robot interior member is protected by spherical shell, avoids contacting with water and corroding; The spherical shell material is transparent, is conducive to experiment and observes the internal mechanism running, and the sensor that also is conducive to carry is observed waters information; Spherical glass spherical shell is supported by internal stent, improves the crushing resistance of robot deep water motion, and the design of seal groove, strengthened the water-proff packing performance; In a word, designed small ball-shape under-water robot, all have great advantage at aspects such as kinematic dexterity, cost performance and compressive sealed property.
Claims (3)
1. a motion owes to drive spherical under-water robot flexibly, comprises the shrouded propeller mechanism of linear advancement, horizontal surface flywheel steering hardware, and vertical surface is heavily put luffing mechanism and pressure-proof ball sealer shell structure; It is characterized in that: propeller nozzle runs through the robot spherical shell, and screw propeller is positioned at the catheter interior midway location, and the screw propeller rotation provides the robot forward thrust; Conduit outer wall is arranged symmetrically with the flywheel steering hardware up and down, and the flywheel drive motor is arranged in synchronous two flywheel rotations, the drive torque that the moment of reaction of flywheel rotation turns to as the robot water plane of driving of duct wall; Conduit outer wall is symmetrically arranged and heavily puts luffing mechanism, heavily puts drive motor and is arranged in two heavily pendulum swings of the synchronous driving of duct wall, and the moment of reaction that heavily pendulum swings is as the drive torque of robot vertical face pitching; The external margin at the conduit two ends longitudinal carrier that is symmetrically arranged, in the junction of the two halves spherical shell of robot, two longitudinal carriers connect a horizontal circle ring rack simultaneously; Spherical housing, by these stent support, gets up the internal mechanism seal protection of robot; There is seal groove the horizontal support of spherical shell junction and outside, conduit two ends, play sealing function.
2. owe flexibly to drive spherical under-water robot according to a kind of motion claimed in claim 1, it is characterized in that: the steering hardware of described robot is the flywheel that is arranged on respectively the upper and lower of catheter wall, and there is a motor synchronously to drive, pass through gear transmission between motor shaft and flywheel shaft, the purpose of design has guaranteed the symmetry of mechanism like this, strengthened the moment turned to, be conducive to flat bank and course and control; The luffing mechanism of robot is to be arranged on respectively the left part of catheter wall and the heavily pendulum of right part, and there is a motor synchronously to drive, pass through gear transmission between motor shaft and heavy balance staff, the purpose of design has guaranteed the symmetry of mechanism like this, and the gravitational moment that heavily pendulum is subject to is conducive to the adjusting at pitching inclination angle and the attitude stabilization of robot.
3. according to a kind of motion claimed in claim 1, owe flexibly to drive spherical under-water robot: it is characterized in that, the pressure-proof ball sealer shell structure of described robot, by two longitudinal carriers, horizontal support and spherical shell form, and are designed with seal groove in the junction of spherical shell and conduit and horizontal support.
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| CN201310438850.5A CN103466063B (en) | 2013-09-24 | 2013-09-24 | One is moved drive lacking spherical underwater robot flexibly |
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| CN201310438850.5A CN103466063B (en) | 2013-09-24 | 2013-09-24 | One is moved drive lacking spherical underwater robot flexibly |
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Cited By (12)
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| CN103832565A (en) * | 2014-03-20 | 2014-06-04 | 北京邮电大学 | Pendulum type three-propeller underwater spherical robot |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN107380382A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107380376A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107923191A (en) * | 2015-10-05 | 2018-04-17 | 好奇岛发展有限公司 | Automatic pond clean robot |
| CN107933856A (en) * | 2017-12-07 | 2018-04-20 | 青岛爱智鱼智能装备有限责任公司 | A kind of underwater robot |
| CN108163165A (en) * | 2017-12-23 | 2018-06-15 | 左立亮 | A kind of revolution diving apparatus |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
| CN112356011A (en) * | 2020-10-29 | 2021-02-12 | 西北工业大学 | Spherical robot for stabilizing measurement platform by utilizing flywheel |
| CN113264168A (en) * | 2021-05-20 | 2021-08-17 | 南昌航空大学 | Underwater vehicle |
| CN114084322A (en) * | 2021-12-02 | 2022-02-25 | 浙江大学 | Planetary super-power spherical underwater robot |
| CN115246468A (en) * | 2022-07-20 | 2022-10-28 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832565A (en) * | 2014-03-20 | 2014-06-04 | 北京邮电大学 | Pendulum type three-propeller underwater spherical robot |
| CN107923191A (en) * | 2015-10-05 | 2018-04-17 | 好奇岛发展有限公司 | Automatic pond clean robot |
| CN107923191B (en) * | 2015-10-05 | 2020-07-31 | 好奇岛发展有限公司 | Automatic pool cleaning robot |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN107380376B (en) * | 2017-07-31 | 2018-06-19 | 乐清市风杰电子科技有限公司 | It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107380382A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107380382B (en) * | 2017-07-31 | 2018-06-19 | 乐清市风杰电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107380376A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107933856B (en) * | 2017-12-07 | 2023-12-12 | 青岛策海自动化科技有限公司 | Underwater robot |
| CN107933856A (en) * | 2017-12-07 | 2018-04-20 | 青岛爱智鱼智能装备有限责任公司 | A kind of underwater robot |
| CN108163165B (en) * | 2017-12-23 | 2020-09-01 | 左立亮 | Rotary body diving equipment |
| CN108163165A (en) * | 2017-12-23 | 2018-06-15 | 左立亮 | A kind of revolution diving apparatus |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
| CN112356011A (en) * | 2020-10-29 | 2021-02-12 | 西北工业大学 | Spherical robot for stabilizing measurement platform by utilizing flywheel |
| CN113264168A (en) * | 2021-05-20 | 2021-08-17 | 南昌航空大学 | Underwater vehicle |
| CN114084322A (en) * | 2021-12-02 | 2022-02-25 | 浙江大学 | Planetary super-power spherical underwater robot |
| CN114084322B (en) * | 2021-12-02 | 2022-09-13 | 浙江大学 | Planetary super-power spherical underwater robot |
| CN115246468A (en) * | 2022-07-20 | 2022-10-28 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
| CN115246468B (en) * | 2022-07-20 | 2023-06-20 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
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