CN103832565A - Pendulum type three-propeller underwater spherical robot - Google Patents
Pendulum type three-propeller underwater spherical robot Download PDFInfo
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- CN103832565A CN103832565A CN201410105240.8A CN201410105240A CN103832565A CN 103832565 A CN103832565 A CN 103832565A CN 201410105240 A CN201410105240 A CN 201410105240A CN 103832565 A CN103832565 A CN 103832565A
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Abstract
The invention relates to the field of research on underwater robots, and in particular relates to a novel spherical underwater robot provided with three propellers and a heavy pendulum. The spherical underwater robot is capable of steering by the propellers and adjusting the pitch attitude by the heavy pendulum. The spherical underwater robot adopts a transparent shell made of organic glass, the three propellers pass through a spherical shell, the robot can steer by the thrust difference of the propellers respectively arranged on the two sides, the pitch attitude can be changed by the counter-acting force of the heavy pendulum generated in the rotating process, and the heavy pendulum is also used for adjusting the center of gravity of the robot so as to enable the attitude of the robot to be stable. The depth of the robot can be adjusted by adjusting the attitude change of the robot when the robot is pushed forward. The weight of the robot is enabled to be equal to the buoyancy by adjusting the weight of the heavy pendulum, so that the robot can suspend in water.
Description
Technical field
The present invention relates to a kind of under-water robot field of research, espespecially a kind of with triple screw and heavily pendulum novel ball under-water robot.
Background technology
Along with deepening constantly that the mankind explore ocean, the most important means that under-water robot becomes the mankind carries out ocean exploitation.Under-water robot can be realized the detection to bottom topography, the seabed (as subbottom tunnel, sea-crossing bridge) that need to carry out building operation for some, robot can be surveyed the sea-bed area of intending constructing, the subsea image transmitting by robot, engineering staff can find the relatively minimum region of constructional difficulties, thereby finds best construction access road.Under-water robot can detect some petroleum pipe lines, the oil vertical shaft etc. in seabed simultaneously, if pipe leakage can make Robot pipeline navigation, and by camera or fixing oily detecting sensor, can very fast targeted duct location of fault.Meanwhile, under-water robot militarily has using value too, and small-sized AUV can carry out in the unapproachable region of submarine unmanned investigation, similar unmanned plane.
Now there is the invention of some relevant spherical under-water robots, as disclosed a kind of underwater spherical robot with six degrees of freedom in application number 200910084791.x patent, this robot is provided with water storage apparatus and major axis the first motor, this patent improves on its basis, the mode of heavily putting adjustment pitch angle by utilizing realizes the degree of depth and dynamically controls, realize and turning to by left and right propelling unit, make the attitude regulation of robot more flexible.The ubiquitous problem of current under-water robot is that volume is larger, complex structure, Turning radius is large, high cost, this has limited the application of under-water robot to a great extent, how to improve structure, make under-water robot can overcome the problems referred to above, become the new problem that applicant pays close attention to and studies.
Summary of the invention
The present invention is for addressing the above problem, and provides a kind of motion flexibly, simple in structure, small volume, the underwater spherical robot that anti-current ability is stronger.
In order to achieve the above object, the invention provides the double pendulum underwater spherical robot of a kind of band triple screw, it comprises:
Spherical shell, comprises the front and back housing that forms a spheroid, and one of them spherical shell and three duckpellers are connected, and another can be installed and removed, so that the maintenance of inner structure, case material is transparent organism glass;
The duckpeller mechanism of linear advancement, it comprises three duckpellers that run through spheroid, and wherein middle duckpeller runs through spheroid axis, and other two duckpellers are symmetrical at intermediate conductor propelling unit the right and left;
The duckpeller mechanism that control turns to, i.e. the duckpeller of the intermediate conductor propelling unit the right and left in the duckpeller mechanism of linear advancement, poor by the thrust of control the right and left duckpeller, can realize and turning to;
Pitch attitude regulating mechanism, comprises heavily pendulum of pedestal, drive motor, some drive mechanisms and two, and by making heavily to put the antagonistic force to robot while heavily swing, the pitch attitude that realizes robot regulates;
In pitch attitude regulating mechanism, pedestal is fixed on the midway location of middle duckpeller, pedestal becomes cuboid, on pedestal, plane is fixed with drive motor and support thereof, transmit axle and the support thereof of motion, connect the heavily i.e. motion transmission of the rotation of heavy balance staff of axle of pendulum by the both sides that turn to of having realized motor shaft with transmission, the two sides, left and right of pedestal has bearing seat and tapped bore, heavy balance staff is stepped shaft, one end forms and coordinates with the bearing on pedestal sidewall, the shaft shoulder is passed through in one end, the fixing heavily pendulum of key and nut, be provided with some shaft shoulders and keyway at heavy balance staff centre portion, in order to fixed pulley, bearing, sleeve etc., a bearing on heavy balance staff coordinates with the bearing seat on pedestal wall, another bearing coordinates with designed blind flange, and blind flange is fixed on pedestal wall, be connected by screw, thereby heavily support and the swing of pendulum are realized by said structure.
A kind of pendulum-type triple screw underwater spherical robot tool provided by the invention has the following advantages:
Can make robot realize straight-line motion and turn to by three propelling units, the relatively present general open-shelf under-water robot of the propelling unit using is less, but Turning radius can be zero, and direction regulates comparatively flexible, and structure is also comparatively simple, and cost is also lower.Regulate the pitch attitude of robot by the antagonistic force of heavily putting, and heavily put the center of gravity that can also regulate robot, the anti-current ability of robot is improved.The spherical form of robot makes to turn to more flexible, and aerodynamic housing has also strengthened anti-current ability.The material of spherical shell is transparent organism glass, is conducive to experiment and observes internal mechanism running, and the sensor that is also conducive to carry is observed waters information.Therefore can using this robot in seabed reconnaissance equipment, water with water-bed operating system and the carrier of communication system, carry out mankind's territory, coastal waters several work task that cannot directly complete.
Accompanying drawing explanation
Fig. 1 is the exterior frontal view of robot provided by the invention.
Fig. 2 is the inner structure front elevation of robot provided by the invention.
Fig. 3 is the inner structure top view of robot provided by the invention.
Fig. 4 is robot interior structure side view provided by the invention.
Fig. 5 is the axle left views such as robot interior structure provided by the invention.
Fig. 6 is the axle right elevations such as robot interior structure provided by the invention.
Heavily swing actuation mechanism of the device people generalized section that Fig. 7 provides for machine of the present invention.
Number in the figure: 1: right propelling unit 2: center propeller 3: left propelling unit 4: heavily put horizontal captive nut 5: driving band 6: blind flange 7: upper belt-wheel captive nut 8: upload moving axis supporting seat 9: upload moving axis 10: drive motor 11: drive motor supporting seat 12: spherical shell 13: heavily put 14: pedestal 15: heavily swing moving axis 16: heavily put backup bearing 17: belt wheel 18: sleeve 19: screw
The specific embodiment
As shown in Figure 1, a kind of triple screw underwater spherical robot, it has spherical shell, and three of left, center, right propelling unit, in the time of robot straight line moving, can control three propelling units with same propelling thrust operation, thereby robot can be along set direction straight-line motion, if need robot to turn to, the thrust that can control right propelling unit 1 and left propelling unit 3 makes left and right propelling unit have thrust poor, can produce steering torque to robot, thereby robot is turned to.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, robot is controlled and is turned to by right propelling unit 1 and left propelling unit 3, carry out the pitch attitude of control by heavily putting 16 swing, in the time that control is heavily put 16 swing, heavily putting 16 can be to antagonistic force of robot, thereby can make the pitch attitude of robot change, heavily put 16 effects that also have a center-of-gravity regulating simultaneously, make robot be kept a certain pitch attitude.Heavily put 16 weight by regulating, can make robot can suspend in water, thereby can make the variation of adjustment, attitude of the direction of robot more flexible.In order to make two to stress to put synchronous swing, use and uploaded moving axis 9, upload moving axis 9 two ends and have the belt wheel fixing with it, the axle head stretching out at drive motor 10 is also fixed with belt wheel, belt wheel on the axle that drive motor 10 stretches out, upload moving axis 9 belt wheels of axle one end and the belt wheel of homonymy 17 in same plane, by the transmission of double V-type band, in like manner, upload the belt wheel of moving axis 9 other ends and the belt wheel 17 of its homonymy also in same plane, by the transmission of double V-type band, like this, by uploading moving axis 9, heavily pendulum 13 synchronized movement of both sides both can have been realized.By heavily putting the pitch attitude of oscillation adjustment robot, can regulate the degree of depth of robot, utilize depth transducer and gyroscope constantly to detect the degree of depth of robot and the angle of pitching, robot compares according to the signal and the preset value that detect, judges whether to change the degree of depth, in the time that needs change the degree of depth, drive motor 10 is controlled and is heavily put 13 swing certain angles, thereby change robot pitch angle, robot continues to advance, and then changes depth location.
As shown in Figure 7, heavily swing actuation mechanism cross section view, is equipped with bearing in sidewall, heavy balance staff 15 is fixed by the shaft shoulder with the bearing in pedestal sidewall, belt wheel 17 passes on left the shaft shoulder and axle axial restraint, and right side is by sleeve 18 axial restraints, and belt wheel and heavy balance staff 15 are to transmit motion by key.Sleeve 18 left sides contact with belt wheel 17, and right side contacts with the inner ring of bearing 16 effect of playing axial restraint, and the outer ring of bearing 16 is stuck on the inwall of blind flange 6, and blind flange 6 is fixing by screw 19 with pedestal.Blind flange is having breach by the part of band, heavily puts and is axially fixing by the shaft shoulder and nut 4 and heavy balance staff, circumferential realize the transmission of moving by key.
Claims (2)
1. a pendulum-type triple screw underwater spherical robot, it comprises:
Spherical shell, comprises the front and back housing that forms a spheroid, and one of them housing and three duckpellers are connected, and another can be installed and removed, so that the maintenance of inner structure, case material is transparent organism glass;
The duckpeller mechanism of linear advancement, it comprises three duckpellers that run through spheroid, and wherein middle duckpeller runs through spheroid axis, and other two duckpellers are symmetrical at intermediate conductor propelling unit the right and left;
The duckpeller mechanism that control turns to, i.e. the duckpeller of the intermediate conductor propelling unit the right and left in the duckpeller mechanism of linear advancement, poor by the thrust of control the right and left duckpeller, can realize and turning to;
Pitch attitude regulating mechanism, it comprises heavily pendulum of pedestal, drive motor, some drive mechanisms and two, by making heavily to put the antagonistic force to robot while heavily swing, the pitch attitude that realizes robot regulates.
2. a kind of pendulum-type triple screw underwater spherical robot according to claim 1, it is characterized in that: in pitch attitude regulating mechanism, pedestal is fixed on the midway location of middle duckpeller, pedestal becomes cuboid, on pedestal, plane is fixed with drive motor and support thereof, transmit axle and the support thereof of motion, connect the heavily i.e. motion transmission of the rotation of heavy balance staff of axle of pendulum by the both sides that turn to of having realized motor shaft with transmission, the two sides, left and right of pedestal has bearing seat and tapped bore, heavy balance staff is stepped shaft, one end forms and coordinates with the bearing on pedestal sidewall, the shaft shoulder is passed through in one end, the fixing heavily pendulum of key and nut, be provided with some shaft shoulders and keyway at heavy balance staff centre portion, in order to fixed pulley, bearing, sleeve etc., a bearing on heavy balance staff coordinates with the bearing seat on pedestal wall, another bearing coordinates with designed blind flange, and blind flange is fixed on pedestal wall, be connected by screw, thereby heavily support and the swing of pendulum are realized by said structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410105240.8A CN103832565A (en) | 2014-03-20 | 2014-03-20 | Pendulum type three-propeller underwater spherical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410105240.8A CN103832565A (en) | 2014-03-20 | 2014-03-20 | Pendulum type three-propeller underwater spherical robot |
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| CN103832565A true CN103832565A (en) | 2014-06-04 |
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| CN201410105240.8A Pending CN103832565A (en) | 2014-03-20 | 2014-03-20 | Pendulum type three-propeller underwater spherical robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260836A (en) * | 2014-10-11 | 2015-01-07 | 东南大学 | Water area surveillance robot for collecting water area information and control method thereof |
| CN106379505A (en) * | 2016-11-18 | 2017-02-08 | 重庆邮电大学 | Simple-pendulum differential underwater amphibious robot with deformability |
| 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 |
| CN108515821A (en) * | 2018-04-25 | 2018-09-11 | 丁云广 | A kind of internal rotating formula ball shape robot |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
| CN111483574A (en) * | 2019-01-28 | 2020-08-04 | 中国科学院沈阳自动化研究所 | Modular propeller steering device for underwater robot |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
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| JPS6112495A (en) * | 1984-06-29 | 1986-01-20 | Mitsui Eng & Shipbuild Co Ltd | Underwater robot |
| CN1709766A (en) * | 2005-06-16 | 2005-12-21 | 上海交通大学 | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot |
| CN101565062A (en) * | 2009-05-20 | 2009-10-28 | 北京邮电大学 | Hemispheric differential spherical robot |
| CN101565095A (en) * | 2009-05-22 | 2009-10-28 | 北京邮电大学 | Underwater spherical robot with six degrees of freedom |
| CN103466063A (en) * | 2013-09-24 | 2013-12-25 | 北京邮电大学 | Under-actuated spherical underwater robot with flexible movement |
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2014
- 2014-03-20 CN CN201410105240.8A patent/CN103832565A/en active Pending
Patent Citations (5)
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| JPS6112495A (en) * | 1984-06-29 | 1986-01-20 | Mitsui Eng & Shipbuild Co Ltd | Underwater robot |
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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 |
| CN103466063A (en) * | 2013-09-24 | 2013-12-25 | 北京邮电大学 | Under-actuated spherical underwater robot with flexible movement |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260836A (en) * | 2014-10-11 | 2015-01-07 | 东南大学 | Water area surveillance robot for collecting water area information and control method thereof |
| CN106379505A (en) * | 2016-11-18 | 2017-02-08 | 重庆邮电大学 | Simple-pendulum differential underwater amphibious robot with deformability |
| CN106379505B (en) * | 2016-11-18 | 2018-02-27 | 重庆邮电大学 | A kind of underwater amphibious robot of single pendulum differential type with deformability |
| 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 |
| CN107933856B (en) * | 2017-12-07 | 2023-12-12 | 青岛策海自动化科技有限公司 | Underwater robot |
| CN108515821A (en) * | 2018-04-25 | 2018-09-11 | 丁云广 | A kind of internal rotating formula ball shape robot |
| CN111483574A (en) * | 2019-01-28 | 2020-08-04 | 中国科学院沈阳自动化研究所 | Modular propeller steering device for underwater robot |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
| CN110562418A (en) * | 2019-09-03 | 2019-12-13 | 重庆邮电大学 | Spherical underwater mobile robot with variable-angle propeller |
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Application publication date: 20140604 |
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