CN103466063B - One is moved drive lacking spherical underwater robot flexibly - Google Patents
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- CN103466063B CN103466063B CN201310438850.5A CN201310438850A CN103466063B CN 103466063 B CN103466063 B CN 103466063B CN 201310438850 A CN201310438850 A CN 201310438850A CN 103466063 B CN103466063 B CN 103466063B
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Abstract
The invention discloses one to move drive lacking spherical underwater robot flexibly: this novel spherical underwater robot mainly includes the ducted propeller mechanism of linear advancement, horizontal plane flywheel steering mechanism, vertical heavily puts luffing mechanism and measuring body ball sealer shell structure；Robot has the steering mechanism of novelty so that it is can realize no-radius in water and turn；It is relatively low that single impeller design meets cost, the requirement that operational efficiency is high；Certain deep-water pressure can be resisted, it is possible to be easy to internally installed sensor and examine spy waters information with bracing frame circular non-opaque shell；Can using this robot as in reconnaissance equipment, water with water-bed operating system and the carrier of communication system, perform territory, the coastal waters several work task that the mankind cannot be done directly.
Description
Technical field
The present invention relates to the structure design of the underwater spherical robot of a kind of improvement.Devise one the most exactly with flywheel and the small ball-shape underwater robot of weight swinging mechanism, this robot can carry out, at horizontal plane and vertical, the motion that turns to and go as course flexibly, and deepwater pressure resistant ability is strong, belongs to microminiature underwater robot field.
Background technology
Along with increase and the raising of human life quality of earth population, the production of the mankind and the more natural resources of living needs meet, and current land resource has exceedingly been exploited, and energy crisis becomes increasingly conspicuous.Ocean covers the area of the earth 2/3rds, and its intrinsic substantial amounts of solid mineral resource and petroleum resources, and it will be the maximum resource supplier of human survival and development.But, up to now, the exploration of ocean is gone back ground zero by the mankind, and the understanding of ocean interior and bottom thereof is remained in the primary stage.Microminiature underwater robot (Autonomous Underwater Vehicles) is called for short AUV, causing research worker in recent years more and more to pay close attention to, because it is convenient on the one hand to have lift-launch, motion is flexibly, the feature of low cost, conveniently carries out the scientific research such as data acquisition in undersea detection and water；The military missions such as another conveniently has, and noise is low, the advantage of good concealment, and it can be utilized to perform waters investigation, seaborne assault.As can be seen here, the research and development to small underwater robot are extremely important.
Along with going deep into and extensive of research, the kind of microminiature AUV also becomes varied.Modal underwater robot is broadly divided into two kinds, and one is to be developed by torpedo, has cylinder blanket, relies on single propeller and tail vane mechanism to coordinate propulsion and steering.Another kind is then open-shelf, has square structure, needs to configure relatively multi-thruster, and each action is required for several propeller synergism and completes.But two types underwater robot has certain shortcoming, the former steering capability is poor, and radius of turn is big.The latter is more due to the propeller of configuration, and not only cost is high, and takies robot preciousness volumetric spaces.Therefore, for above not enough, the design one drive lacking underwater robot flexibly that moves is of great value.
Correlation technique is had disclosed in prior art, as application number 200910084791 patent discloses 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 has water storage apparatus, it is by the way of utilizing and heavily putting the adjustment angle of pitch, to realize the degree of depth dynamically control, the longest spindle motor, is lack of driven robot；The Heading control ability of this kind of robot improves in this patent also specialized designs flywheel steering mechanism；This patent specialized designs again spherical shell supporting construction and seal structure, improves the deep water motion fitness of robot；The structure design of this patent is more focused in terms of the kinematic dexterity and security reliability of robot.
Summary of the invention
Present invention aims to existing underwater robot not enough, devise a kind of motion flexibly, the small ball-shape underwater robot of simple in construction.This novel robot has the steering mechanism of novelty so that it is can realize no-radius in water and turn；It is relatively low that single impeller design meets cost, the requirement that operational efficiency is high.Certain deep-water pressure can be resisted, it is possible to be easy to internally installed sensor and examine spy waters information with steelframe circular non-opaque shell.Can using this robot as in reconnaissance equipment, water with water-bed operating system and the carrier of communication system, perform territory, the coastal waters several work task that the mankind cannot be done directly.In order to achieve the above object, the present invention adopts the following technical scheme that, the spherical underwater robot of design includes the ducted propeller mechanism of linear advancement, and horizontal plane flywheel steering mechanism, vertical heavily puts luffing mechanism and measuring body ball sealer shell structure；It is characterized in that: propeller nozzle runs through robot spherical shell, propeller is positioned at catheter interior centre position, and propeller rotates provides robot forward thrust；Conduit outer wall layout symmetrical above and below flywheel steering mechanism, flywheel drives motor to be arranged in duct wall and synchronizes to drive two flywheels to rotate, the driving moment that the moment of reaction that flywheel rotates turns to as robot water plane；Conduit outer wall is symmetrically arranged and heavily puts luffing mechanism, and heavily pendulum drives motor to be arranged in duct wall and synchronizes two heavily swings of driving, and heavily the moment of reaction of swing is as the driving moment of robot vertical face pitching；The external margin at conduit two ends is symmetrically arranged longitudinal carrier, and in the junction of the two halves spherical shell of robot, two longitudinal carriers are simultaneously connected with a horizontal circle ring rack；Lucite spherical shell is supported by these supports, the internal mechanism of robot is sealed and protects；It is equipped with sealing ring outside the horizontal support of spherical shell junction and conduit two ends, plays sealing function.
The steering mechanism of described robot is separately mounted on the flywheel of the upper and lower of catheter wall, and have a motor in synchrony to drive, gear drive is passed through between motor shaft and flywheel shaft, so purpose of design ensure that the symmetry of mechanism, increase the moment turned to, beneficially flat bank and Heading control；The luffing mechanism of robot is separately mounted on the left part of catheter wall and the heavily pendulum of right part, and have a motor in synchrony to drive, gear drive is passed through between motor shaft and weight balance staff, so purpose of design ensure that the symmetry of mechanism, and heavily put the gravitational moment being subject to and be conducive to the regulation at pitching inclination angle and the attitude stabilization of robot.The measuring body ball sealer shell structure of described robot, by two longitudinal carriers, a horizontal support and lucite spherical shell composition, and in lucite spherical shell and conduit and horizontal support contact position, is designed with seal groove.
It is an advantage of the current invention that flywheel steering mechanism and luffing mechanism, compact conformation, and the steering capability of robot are strong, good stability；Single impeller design of centre pipe propeller, decreases robot cost, and makes propeller be protected；Robot interior component is protected by spherical shell, it is to avoid contacts with water and corrodes；Spherical shell is made up of lucite, and transparent material is conducive to laboratory observation internal mechanism to operate, and waters information observed by the sensor being also beneficial to carry；Spherical glass spherical shell is supported by support, improves the crushing resistance of robot deep water motion, the design of seal groove, strengthens water sealing property；In a word, designed small ball-shape underwater robot, all have great advantage in terms of steering capability, cost performance and compressive sealed property.
Accompanying drawing explanation
Fig. 1 is the small ball-shape underwater robot schematic appearance of invention
Fig. 2 is small ball-shape underwater robot internal structure shaft side figure of the present invention
Fig. 3 is small ball-shape underwater robot internal structure front view of the present invention
Fig. 4 is small ball-shape underwater robot internal structure left view of the present invention
Fig. 5 is small ball-shape underwater robot internal structure top view of the present invention
Label in figure: 1: spherical shell, 2: conduit, 3: propeller, 4: horizontal support, 5: longitudinal carrier, 6: weight 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.
Detailed description of the invention
Describe the present invention below in conjunction with the accompanying drawings.
Fig. 1 is the small ball-shape underwater robot schematic appearance of invention: spherical shell 1 as we can see from the figure, and this is and water body contact area maximum part that spherical structure can reduce steering drag, strengthens kinematic dexterity, and deepwater pressure resistant ability also has certain guarantee simultaneously；The inner body of 1 robot of spherical shell all seals, and only propeller 3 and conduit 2 can be seen, and so can be effectively protected inner body not by aqueous corrosion, increase the service life；Even if propeller 3 is also mounted in the centre of conduit 2, the both center of spheroid, so makes propeller be wound around from pasture and water and hard objects is touched, improve the safety coefficient of propeller.
Fig. 2 is small ball-shape underwater robot internal structure shaft side figure of the present invention, Fig. 3 is small ball-shape underwater robot internal structure front view of the present invention, Fig. 4 is small ball-shape underwater robot internal structure left view of the present invention, Fig. 5 is small ball-shape underwater robot internal structure top view of the present invention: in figure, conduit 2, horizontal support 4 and longitudinal carrier 5 are connected fixing with spherical shell 1 screw, and spherical shell 1 is wrapped in outside.Horizontal support 4 and longitudinal carrier 5 further enhance the deepwater pressure resistant ability of robot to the support force of spherical shell 1, and are designed with support seal groove 13 and conduit seal groove 16 at the two ends of horizontal support 4 and conduit 2, it is ensured that the sealing of spherical shell screw junction is waterproof；Outer wall robotic catheter 2 is provided with pedestal 17, upper flywheel 9 is arranged on above pedestal 17, lower flywheel 15 is arranged on below pedestal 17, fly-wheel motor 11 is also connected with pedestal 17 and is positioned at after upper flywheel 9, fly-wheel motor 11 synchronizes to drive two flywheels to rotate by upper chain 10 and lower chain 12, flywheel mechanism be arranged symmetrically with the Heading control being easy to robot；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, weight pendulum motor 6 is also connected with pedestal 17 and is positioned at before right heavy pendulum 14, weight pendulum motor 6 synchronizes to drive two heavily swings by left chain 7 and right chain 8, and being arranged symmetrically with of weight swinging mechanism is easy to the luffing angle of robot and is controlled.In a word, the ducted propeller mechanism of robot linear advancement, horizontal plane flywheel steering mechanism, vertical heavily puts luffing mechanism and measuring body ball sealer shell structure is reasonable in design, compact in design.
The realization of robot linear advancement process, the propeller 3 in conduit 2 rotates and water effect, it is provided that the thrust that robot advances；Fly-wheel motor 11 controls upper flywheel 9 and the rotary speed state of lower flywheel 15, obtains the moment of reaction and carries out the holding of robot water plane course；Weight pendulum motor 6 controls left heavy pendulum 18 and the pendulum angle of right heavy pendulum 14, utilizes gravitational moment to carry out course, robot vertical face and keeps；Three above mechanism completes the linear advancement motion of robot jointly.
Robot turning process is broadly divided into horizontal plane and turns and vertical turning, carry out keeping vertical heavily to put in vertically downward state when horizontal plane is turned, fly-wheel motor 11 controls upper flywheel 9 and the rotary speed state of lower flywheel 15, obtain the moment of reaction and carry out robot water plane course change, it is achieved horizontal plane is turned；Carrying out utilizing flywheel to be always maintained at horizontal course when vertical is turned, weight pendulum motor 6 controls left heavy pendulum 18 and the pendulum angle of right heavy pendulum 14, utilizes gravitational moment to carry out robot vertical face course change, it is achieved vertical is turned；When turning to if carried out other plane, as long as horizontal plane turns to flywheel mechanism and vertical to turn to weight swinging mechanism to act on simultaneously, can realize.
The severity control of robot realizes, robot in progradation in order to be maintained at certain degree of depth, depth transducer and gyroscope is utilized constantly to detect the degree of depth and angle of pitch angle value, robot compares with preset value according to detection signal, it may be judged whether need to change the degree of depth, during as changed the degree of depth, weight pendulum motor 6 controls left heavy pendulum 18 and the swing certain angle of right heavy pendulum 14, thus changing the robot angle of pitch, robot advances, and then changes depth location.
In sum: the ducted propeller mechanism of the small ball-shape underwater robot invented, flywheel steering mechanism, heavily pendulum luffing mechanism and spherical shell structure, it is possible to complete linear advancement, each angle turns to and waits action, reasonable in design, and compact conformation, motion is flexible；Single impeller design of centre pipe propeller, decreases robot cost, and makes propeller be protected；Flywheel and weight swinging mechanism are arranged symmetrically with, and beneficially course changing control and athletic posture is stable；Robot interior component is protected by spherical shell, it is to avoid contacts with water and corrodes；Spherical shell material transparent, beneficially laboratory observation internal mechanism operating, waters information observed by the sensor being also beneficial to carry；Spherical glass spherical shell is supported by internal stent, improves the crushing resistance of robot deep water motion, the design of seal groove, strengthens waterproof sealing performance；In a word, designed small ball-shape underwater robot, all have great advantage at aspects such as kinematic dexterity, cost performance and compressive sealed property.
Claims (3)
1. move a drive lacking spherical underwater robot flexibly, including the ducted propeller mechanism of linear advancement, horizontal plane flywheel steering mechanism, hang down
Face heavily pendulum luffing mechanism and measuring body ball sealer shell structure directly: propeller nozzle runs through robot spherical shell, and propeller is positioned at catheter interior interposition
Putting, propeller rotates provides robot forward thrust；Conduit outer wall layout symmetrical above and below flywheel steering mechanism, flywheel drives motor to be arranged in and leads
Tube side wall synchronizes to drive two flywheels to rotate, the driving moment that the moment of reaction that flywheel rotates turns to as robot water plane, conduit outer wall
Being symmetrically arranged and heavily put luffing mechanism, heavily pendulum drives motor to be arranged in the anti-work that duct wall synchronizes to drive two heavily swings, heavily pendulum to swing
By moment as the driving moment of robot vertical face pitching；The external margin at conduit two ends is symmetrically arranged longitudinal carrier, in robot
The junction of two halves spherical shell, two longitudinal carriers are simultaneously connected with a horizontal circle ring rack；Spherical housing is supported by these supports, robot
Internal mechanism seal protect；Seal groove is had outside the horizontal support of spherical shell junction and conduit two ends.
2. move drive lacking spherical underwater robot flexibly according to the one described in claim 1, it is characterised in that: the steering mechanism of described robot
It is separately mounted on the flywheel of the upper and lower of catheter wall, and has a motor in synchrony to drive, passed by gear between motor shaft and flywheel shaft
Dynamic, so purpose of design ensure that the symmetry of mechanism, increases the moment turned to, beneficially flat bank and Heading control；Robot
Luffing mechanism be separately mounted on the left part of catheter wall and the heavily pendulum of right part, and have a motor in synchrony to drive, between motor shaft and weight balance staff
By gear drive, so purpose of design ensure that the symmetry of mechanism, and heavily put the gravitational moment being subject to and be conducive to regulating of pitching inclination angle
Attitude stabilization with robot.
3. move drive lacking spherical underwater robot flexibly according to the one described in claim 1: it is characterized in that, described robot measuring body close
Blocking shell structure, by two longitudinal carriers, a horizontal support and spherical shell composition, and it is designed with seal groove in the junction of spherical shell Yu conduit,
Junction at spherical shell Yu horizontal support is designed with seal groove.
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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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| CN103466063B true CN103466063B (en) | 2016-08-10 |
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Families Citing this family (12)
| 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 |
| FR3041982B1 (en) * | 2015-10-05 | 2017-11-24 | Max Roumagnac | AUTONOMOUS SWIMMING 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 |
| CN108773467A (en) * | 2017-07-31 | 2018-11-09 | 乐清市华尊电气有限公司 | Spherical underwater robot |
| CN108820168A (en) * | 2017-07-31 | 2018-11-16 | 李学忠 | The underwater robot that can be driven with any angle |
| CN107933856B (en) * | 2017-12-07 | 2023-12-12 | 青岛策海自动化科技有限公司 | Underwater robot |
| CN108163165B (en) * | 2017-12-23 | 2020-09-01 | 左立亮 | Rotary body diving equipment |
| CN110562418B (en) * | 2019-09-03 | 2021-05-18 | 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 |
| CN114084322B (en) * | 2021-12-02 | 2022-09-13 | 浙江大学 | Planetary super-power spherical underwater robot |
| 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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| WO2010144820A2 (en) * | 2009-06-11 | 2010-12-16 | Raytheon Sarcos, Llc | Amphibious robotic crawler |
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| CN101565095A (en) * | 2009-05-22 | 2009-10-28 | 北京邮电大学 | Underwater spherical robot with six degrees of freedom |
| CN102514697A (en) * | 2011-12-20 | 2012-06-27 | 南京航空航天大学 | Bionic robot stingray and movement method thereof |
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