CN103538082A - Underwater robot anti-surge device - Google Patents
Underwater robot anti-surge device Download PDFInfo
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- CN103538082A CN103538082A CN201310513888.4A CN201310513888A CN103538082A CN 103538082 A CN103538082 A CN 103538082A CN 201310513888 A CN201310513888 A CN 201310513888A CN 103538082 A CN103538082 A CN 103538082A
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- motor
- underwater robot
- back shaft
- counterweight
- turntable
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Abstract
The invention relates to an underwater robot anti-surge device comprising a balance torque generation module and a torque rotation drive module. The balance torque generation module is a weight arranged on a guide rail of a turntable and driven by a motor to linearly reciprocate. The torque rotation drive module rotates through the motor driving a support shaft. The turntable is fixed on the support shaft and driven by the support shaft to rotate. A distance from the weight to the center of the support shaft forms an arm of force. Gravity of the weight is multiplied to the arm of force to form underwater robot balance torque. The robot balance torque required by adjusting plane can be achieved through an adjusting motor and the motor. The underwater robot anti-surge device is compact in structure, responds fast, and can be mounted on an underwater robot to keep stable attitude of the robot under the interfering action of wave surge.
Description
Technical field
The present invention relates to underwater robot technology, particularly the anti-wave of a kind of underwater robot device that shoves.
Background technology
As a kind of high-tech means of ocean development, underwater robot has been brought into play great effect in fields such as resource exploration, archaeology, Technique of Subsea Pipeline Inspection.Militarily, various countries are also greatly developing underwater robot technology, for getting rid of submarine mine and scouting, anti-terrorism etc.Yet, underwater robot is when executing the task, water surface stormy waves, shove, near wall back wave, the external interference such as ship wave that passing ships cause are inevitable, all can increase the uncertainty of underwater robot motion, bring depart from default course line, rolling, trim, cannot depthkeeping etc. consequence, and then make that Robot actions error strengthens, monitor video is fuzzy.
In order to overcome or to reduce as far as possible these and disturb the impact on underwater robot service behaviour, researcher has developed multiple intelligent control algorithm, and expectation is by regulating propeller state to adjust attitude.Due to the time variation disturbing, start and stop and change propeller rotating speed, turn to and will inevitably cause damage, consumption electric energy to propeller frequently; Also can increase the disturbance of surrounding fluid, introduce secondary and disturb.
For above problem, the present invention has designed the anti-wave of the underwater robot device that shoves.This apparatus structure is compact, after can encapsulating, is arranged on underwater robot.After sensor detects underwater robot attitude and changes, can control the suitable moment of this device output, offset external interference active force, make the underwater robot state that restores balance, keep operating position.Be conducive to reduce loss and the fault rate of propulsion system, reduce the flow disturbance that screw current rotation brings, strengthen the kinetic stability that wave shoves under disturbing.
Summary of the invention
The object of the invention is to the defect existing for prior art, the anti-wave of a kind of underwater robot device that shoves is provided, to meet, improve underwater robot kinetic stability requirement under noisy condition.
Design of the present invention is: the interference that underwater robot is subject to has the non-linear and time variation of height, in order to make underwater robot attitude, can adjust rapidly, the anti-wave of this underwater robot device that shoves is divided into two parts: trimming moment generation module: counterweight does reciprocating linear motion on guide rail, counterweight present position forms an arm of force to back shaft, and the amassing of counterweight gravity and this arm of force is exactly the trimming moment that this device provides for underwater robot; Moment rotating drive module: for trimming moment generation module provides power, whole module is rotated around back shaft, the final motion of counterweight is rectilinear motion and the coupling rotatablely moving, and can reach fast attitude and adjust the every bit in plane, has guaranteed the rapidity of system responses.This cover system structure compact, size is only: long 365 millimeters, wide 270 millimeters, high 284.8 millimeters, can be installed on actual underwater robot.
According to foregoing invention design, the present invention adopts following technical proposals:
The anti-wave device that shoves, comprises a trimming moment generation module and a moment rotating drive module, described trimming moment generation module be a counterweight on a guide rail above turntable, by a motor, drive and do reciprocating linear motion; Described moment rotating drive module is to drive a back shaft to rotate by motor, and described turntable is fixedly mounted on this back shaft and is driven to rotate; The distance at described counterweight present position and back shaft center is the arm of force, and the gravity of counterweight and the product of this arm of force are underwater robot trimming moment, by regulating motor and motor to reach, adjusts required robot trimming moment in plane.
The structure of described trimming moment generation module is: on described turntable, guide rail is installed, L bracket of erection on guide rail, described counterweight is installed in L bracket, the mounting groove that has described motor on described L bracket and mass, described motor and a decelerator are arranged under a nut rotary type ball-screw, motor drives a feed screw nut to rotate by decelerator and transmission mechanism, this feed screw nut and ball-screw assembling, ball-screw is fixedly mounted on bracing frame, and feed screw nut is arranged in L bracket by bearing; The cable of described motor is connected with a slip ring of back shaft bottom through the hole on turntable, hollow back shaft, and in the time of can preventing that trimming moment generation module from rotating, cable is wound around.
The structure of described moment rotating drive module is: at one, described motor is installed above fixed head, described motor, by a decelerator, a shaft coupling, then connects and drives back shaft to rotate through bevel-gear sett, small pulley, Timing Belt and a large belt wheel.
Described Timing Belt is furnished with a regulating wheel, adjustable Timing Belt tensile force.
Described regulating wheel is arranged on the axle a of an eccentric driver plate, and eccentric driver plate is fixed by axle b, a packing ring, a stop nut and an installing rack, and installing rack is arranged on described fixed head.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) compact conformation, can be arranged on underwater robot, for underwater robot provides extra trimming moment, reduces propeller loss and fault;
(2) output torque is controlled, and response is fast, and positioning precision is high;
(3) eccentric dial-type regulating wheel has been saved device installing space, guarantees that transmission is effective.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the oblique view of Fig. 1.
Fig. 3 is the front view of Fig. 1.
Fig. 4 is the right view of Fig. 1.
Fig. 5 is the turntable schematic diagram in Fig. 1.
Fig. 6 is tension wheel eccentric driver plate schematic diagram in Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiment of the present invention is further described.
Embodiment mono-:
Referring to Fig. 1～Fig. 6, the anti-wave of this underwater robot device that shoves comprises a trimming moment generation module I and a moment rotating drive module ii, it is characterized in that: a kind of underwater robot antisurge stream device, comprise a trimming moment generation module (I) and a moment rotating drive module (II), it is characterized in that: described trimming moment generation module (I) is that the guide rail (2) of a counterweight (7) on a turntable (1) is upper, by a motor
(12) drive and do reciprocating linear motion; Described moment rotating drive module (II) is by a motor
(8) drive a back shaft (14) to rotate, described turntable (1) is fixedly mounted on this back shaft (14) and is above driven to rotate; The distance at described counterweight (7) present position and back shaft (14) center is the arm of force, and the gravity of counterweight (7) and the product of this arm of force are underwater robot trimming moment, by regulating motor
and motor (12)
(8) can reach and adjust required robot trimming moment in plane.
Embodiment bis-: the present embodiment and embodiment mono-are basic identical, and special feature is:
The structure of described trimming moment generation module I is: guide rail (2) is installed on described turntable (1), in the upper L bracket of erection (6) of guide rail (2), the upper described counterweight (7) of installing of L bracket (6), in described L bracket (6) and counterweight (7), there is the 1. mounting groove of (12) of described motor, described motor 1. (12) and decelerator 1. (13) be arranged under a nut rotary type ball-screw (4), motor 1. (12) passes through decelerator 1. (13) and a transmission mechanism feed screw nut of driving (5) rotation, this feed screw nut (5) and ball-screw (4) assembling, ball-screw (4) is fixedly mounted on bracing frame (3), feed screw nut (5) is arranged in L bracket (6) by bearing, the described motor 1. cable of (12) is connected with a slip ring (17) of back shaft (14) bottom through the hole on turntable (1), hollow back shaft (14), and in the time of can preventing that trimming moment generation module (I) from rotating, cable is wound around,
Embodiment tri-: the present embodiment and embodiment bis-are basic identical, and special feature is:
Structure in described driver module II is: on a fixed head (24), described motor is installed
(8), described motor
(8) by a decelerator
(9), a shaft coupling (10), then through bevel-gear sett (11), a small pulley
(18), Timing Belt
(15) and one large belt wheel
(16) connect and drive back shaft (14) to rotate;
Described Timing Belt
(15) be furnished with a regulating wheel (20), adjustable Timing Belt
(15) tensile force;
Described regulating wheel (20) is arranged on the axle a of an eccentric driver plate (21), eccentric driver plate (21) is fixed with an installing rack (19) by axle b, a packing ring (23), a stop nut (22), and installing rack (19) is arranged on fixed head (24).
Operation principle is as follows:
To after the encapsulation of this device, be arranged on underwater robot, while being subject to extraneous surge interference, the attitudes such as underwater robot generation pitching, rolling, trim change, and depart from equilbrium position.Adopt sensor that attitude angle deviation signal is sent to controller, calculate the size and Orientation of required trimming moment, then send signal to this anti-wave device that shoves and control its output trimming moment.
Motor
(8) rotate, pass through decelerator
(9) small pulley that, shaft coupling (10), bevel gear (11) drive
(18) rotate; Small pulley
(18) pass through Timing Belt
(15), large belt wheel
(16) drive back shaft (14) to rotate; Back shaft (14) is fixedly connected with turntable (1), and back shaft (14) rotates adjusts to the position with external interference moment loading arm of force conllinear by turntable (1); Motor
(12) rotate, pass through decelerator
(13) drive feed screw nut (5) to rotate; Feed screw nut (5) drives L bracket (6), counterweight (11), motor
(12), decelerator
(13) reciprocating along guide rail (2), output is offset surge interference effect with the trimming moment of external interference moment opposite sign but equal magnitude.
For fear of Timing Belt
(15) transmission failure, adopts regulating wheel (20) to regulate Timing Belt
(15) tensioning degree; It is upper that regulating wheel (20) is arranged on eccentric driver plate (21) axle a, and the axle b of eccentric driver plate (21) is locked with installing rack (19) by packing ring (23) and stop nut (22); Installing rack (19) is connected with fixed head (24); Distance between eccentric driver plate (21) axle a axis and axle b axis is the adjustable scope of regulating wheel (20); Use the starting stage, eccentric driver plate (21) turns to away from Timing Belt
(15) one sides, make regulating wheel (20) and Timing Belt
(15) do not contact; Device was used after a period of time, worked as Timing Belt
(15) occur to relax, eccentric driver plate (21) turns near Timing Belt
(15) one sides, make regulating wheel (20) and Timing Belt
(15) contact, is Timing Belt
(15) provide tensile force.
The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change that the present invention is made, all drop on the protection domain of this aspect.
Claims (5)
1. a underwater robot antisurge flows device, comprise a trimming moment generation module (I) and a moment rotating drive module (II), it is characterized in that: described trimming moment generation module (I) is that the guide rail (2) of a counterweight (11) on a turntable (1) is upper, by a motor
(12) drive and do reciprocating linear motion; Described moment rotating drive module (II) is by a motor
(8) drive a back shaft (14) to rotate, described turntable (1) is fixedly mounted on this back shaft (14) and is above driven to rotate; The distance at described counterweight (11) present position and back shaft (14) center is the arm of force, and the gravity of counterweight (11) and the product of this arm of force are underwater robot trimming moment, by regulating motor
and motor (12)
(8) can reach and adjust required robot trimming moment in plane.
2. underwater robot antisurge according to claim 1 flows device, it is characterized in that: the structure of described trimming moment generation module (I) is: guide rail (2) is installed on described turntable (1), in the upper L bracket of erection (6) of guide rail (2), the upper described counterweight (11) of installing of L bracket (6), in described L bracket (6) and counterweight (11), there is the 1. mounting groove of (12) of described motor, described motor 1. (12) and decelerator 1. (13) be arranged under a nut rotary type ball-screw (4), motor 1. (12) passes through decelerator 1. (13) and a transmission mechanism feed screw nut of driving (5) rotation, this feed screw nut (5) and ball-screw (4) assembling, ball-screw (4) is fixedly mounted on bracing frame (3), feed screw nut (5) is arranged in L bracket (6) by bearing, the described motor 1. cable of (12) is connected with a slip ring (17) of back shaft (14) bottom through the hole on turntable (1), hollow back shaft (14), and in the time of can preventing that trimming moment generation module (I) from rotating, cable is wound around.
3. underwater robot antisurge stream device according to claim 1, is characterized in that the structure of described moment rotating drive module (II) is: on a fixed head (24), described motor is installed
(8), described motor
(8) by a decelerator
(9), a shaft coupling (10), then through bevel-gear sett (11), a small pulley
(18), Timing Belt
(15) and one large belt wheel
(16) connect and drive back shaft (14) to rotate.
4. underwater robot antisurge stream device according to claim 3, is characterized in that described Timing Belt
(15) be furnished with a regulating wheel (20), adjustable Timing Belt
(15) tensile force.
5. underwater robot antisurge according to claim 4 flows device, it is characterized in that described regulating wheel (20) is arranged on the axle a of an eccentric driver plate (21), eccentric driver plate (21) is fixed with an installing rack (19) by axle b, a packing ring (23), a stop nut (22), and installing rack (19) is arranged on described fixed head (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310513888.4A CN103538082B (en) | 2013-10-28 | 2013-10-28 | Underwater robot anti-surge device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310513888.4A CN103538082B (en) | 2013-10-28 | 2013-10-28 | Underwater robot anti-surge device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538082A true CN103538082A (en) | 2014-01-29 |
| CN103538082B CN103538082B (en) | 2017-01-04 |
Family
ID=49962124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310513888.4A Active CN103538082B (en) | 2013-10-28 | 2013-10-28 | Underwater robot anti-surge device |
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| Country | Link |
|---|---|
| CN (1) | CN103538082B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN106768850A (en) * | 2017-02-17 | 2017-05-31 | 国家海洋技术中心 | A kind of suspending arm rotary gimbaling |
| CN107139190A (en) * | 2017-06-26 | 2017-09-08 | 北京科技大学 | A kind of slide block type gravity center adjusting mechanism and control and application method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4640663A (en) * | 1982-12-13 | 1987-02-03 | Hitachi, Ltd. | Balancer and controlling method thereof |
| CN101708770A (en) * | 2009-11-26 | 2010-05-19 | 上海大学 | Counterweight adjusting mechanism for underwater robot |
| CN102012704A (en) * | 2010-09-21 | 2011-04-13 | 上海大学 | Inner system for controlling gestures of underwater robot |
| CN102717884A (en) * | 2012-06-15 | 2012-10-10 | 上海大学 | Active underwater robot posture adjusting system |
-
2013
- 2013-10-28 CN CN201310513888.4A patent/CN103538082B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4640663A (en) * | 1982-12-13 | 1987-02-03 | Hitachi, Ltd. | Balancer and controlling method thereof |
| CN101708770A (en) * | 2009-11-26 | 2010-05-19 | 上海大学 | Counterweight adjusting mechanism for underwater robot |
| CN102012704A (en) * | 2010-09-21 | 2011-04-13 | 上海大学 | Inner system for controlling gestures of underwater robot |
| CN102717884A (en) * | 2012-06-15 | 2012-10-10 | 上海大学 | Active underwater robot posture adjusting system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN106768850A (en) * | 2017-02-17 | 2017-05-31 | 国家海洋技术中心 | A kind of suspending arm rotary gimbaling |
| CN106768850B (en) * | 2017-02-17 | 2023-05-05 | 国家海洋技术中心 | Cantilever rotation normal-leveling device |
| CN107139190A (en) * | 2017-06-26 | 2017-09-08 | 北京科技大学 | A kind of slide block type gravity center adjusting mechanism and control and application method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103538082B (en) | 2017-01-04 |
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Effective date of registration: 20221109 Address after: 200444 Room 190, Building A, 5/F, Building 1, No. 1000 Zhenchen Road, Baoshan District, Shanghai Patentee after: Jinghai Intelligent Equipment Co.,Ltd. Address before: 200444 No. 99, upper road, Shanghai, Baoshan District Patentee before: Shanghai University |
|
| TR01 | Transfer of patent right |