CN104648643A - Arrangement structure of underwater robot propelling device - Google Patents
Arrangement structure of underwater robot propelling device Download PDFInfo
- Publication number
- CN104648643A CN104648643A CN201310576827.2A CN201310576827A CN104648643A CN 104648643 A CN104648643 A CN 104648643A CN 201310576827 A CN201310576827 A CN 201310576827A CN 104648643 A CN104648643 A CN 104648643A
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- China
- Prior art keywords
- under
- water robot
- underwater robot
- stern
- navigation
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an arrangement structure of an underwater robot propelling device for controlling navigation posture of an underwater robot. The arrangement structure comprises a stern propeller and a stern navigation control rudder system arranged at the stern part of a navigation body of the underwater robot, and further comprises horizontal propellers symmetrically arranged at the two sides of the navigation body of the underwater robot in the axial direction, and vertical propellers respectively arranged at the fore part and the stern part of the navigation body of the underwater robot. The horizontal propellers are fixed at the two sides of the navigation body of the underwater robot along the axial direction through fixing bases. Through holes are respectively formed in the bow part and the stern part of the navigation body of the underwater robot; and the vertical propellers are respectively fixed in the through holes, and are symmetrically arranged around the geometric center line of the navigation body of the underwater robot. The navigation posture of the navigation body of the underwater robot can be effectively controlled in steering and low-speed navigation of the underwater robot.
Description
Technical field
The present invention relates to a kind of arrangement structure of the under-water robot propelling unit for controlling under-water robot navigation attitude.
Background technology
Tradition under-water robot is elongate cylinder shape, usual propelling unit is arranged in the stern of under-water robot, and robot stern is also provided with Solid rocket engine rudder system under water, although this kind of arrangement structure has higher propulsion coefficient, but this kind of arrangement structure must under water robot necessarily forward speed when can carry out the control of course and navigation attitude, and when under-water robot turns to, often occur that radius of turn is large, the shortcoming of revolution distance.In this case to complete the search to specific target areas and location, great time, man power and material's cost will be spent.In addition, under-water robot is (speed of a ship or plane is lower than 2 joints) under lowsteaming state, and the effect of the Solid rocket engine rudder system of under-water robot stern is often difficult to play, and effectively can not control to navigate by water orientation capability, be difficult to the detection environment for use requirement meeting detecting devices.
Summary of the invention
The object of the present invention is to provide a kind of arrangement structure of under-water robot propelling unit, can when robot turns under water and lowsteaming time effectively control to navigate by water attitude.
The object of the invention is to be achieved through the following technical solutions:
A kind of arrangement structure of under-water robot propelling unit, comprise the stern propelling unit and stern navigation control flaps system that are arranged on under-water robot sail body stern, also comprise the horizontal propeller being symmetricly set in under-water robot sail body in axial direction both sides, and be arranged at the bow of under-water robot sail body and the vertical pusher of stern respectively.
Described horizontal propeller is fixed on described under-water robot sail body both sides in axial direction by permanent seat.
Bow and the stern of under-water robot sail body are respectively equipped with through hole, and described vertical pusher is individually fixed in described through hole.
Described vertical pusher is symmetrical arranged relative to the geometric center lines of under-water robot sail body.
Advantage of the present invention and good effect are:
1, the arrangement structure of under-water robot propelling unit of the present invention can make under-water robot effectively control according to actual needs when high speed operation radius of turn and swing away from.
2, the arrangement structure of under-water robot propelling unit of the present invention can make under-water robot control to navigate by water attitude as required when lowsteaming, and can realize cast.
3, the propelling unit controlling under-water robot horizontal rotation and trim attitude is modular design, can disassemble, install when needing again when not needing.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention,
Fig. 2 is birds-eye view of the present invention,
Fig. 3 is cutaway view of the present invention.
Wherein, 1 is under-water robot sail body, and 2 is stern propelling unit, and 3 is horizontal propeller, and 4 is vertical pusher, and 5 is stern navigation control flaps system, and 6 is permanent seat.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the arrangement structure of under-water robot propelling unit of the present invention comprises: the stern of under-water robot sail body 1 is provided with stern propelling unit 2 and for navigating by water the stern navigation control flaps system 5 controlled, under-water robot sail body 1 bilateral symmetry is in axial direction provided with two horizontal propellers 3, and described horizontal propeller 3 is fixed on described under-water robot sail body 1 by permanent seat 6.Described horizontal propeller 3 has rotating equivalence propulsive force, under-water robot sail body 1 can be made to have less turn radius, also can realize cast.
Bow and the stern of under-water robot sail body 1 are respectively equipped with through hole, and two vertical pusher 4 are individually fixed in described through hole by screw, and two vertical pusher 4 are symmetrical arranged relative to the geometric center lines of under-water robot sail body 1.Described vertical pusher 4 is mainly used in the trim gesture stability of under-water robot sail body 1.
Described horizontal propeller 3 and vertical pusher 4 are existing common technology.
Principle of work of the present invention:
Under-water robot sail body 1, from initial point to the target area shipping stage, adopts stern propelling unit 2 and stern to navigate by water control flaps system 5 and has jointly coordinated.The propulsion coefficient of the propulsion mode that this stage adopts is higher, but under the low speed of a ship or plane, control ability is poor.
Under-water robot sail body 1 needs lowsteaming (speed of a ship or plane is lower than 2 joints) to perform specific detection mission after arriving desired target area, now stern navigation control flaps system 5 does not possess control effect, lose the control ability of trim attitude to under-water robot sail body 1 and course attitude, now utilize horizontal propeller 3 and vertical pusher 4 to realize lowsteaming and navigation gesture stability.
Course gesture stability: after under-water robot sail body 1 navigates by water target area, described in have rotating equivalence propulsive force horizontal propeller 3 play a role.As shown in Figure 2, wherein, Fsa, Fsb are respectively the propulsive force of two horizontal propellers 3, and L is the central axis distance of central axis to under-water robot sail body 1 of horizontal propeller 3, then the steering torque size that under-water robot sail body 1 is subject to is (Fsa-Fsb) × L.When stern propelling unit 2 stops operating, if Fsa=Fsb, namely during Fsa-Fsb=0, two propelling units equivalent action in the same way, sail body steering torque is zero, and under-water robot can realize speed straight line navigation, and propulsive force F size is F=Fsa+Fsb.If ︱ Fsa-Fsb ︱=△ Fs > 0, then under-water robot sail body 1 will realize turning under operational configuration, and propulsive force is Fsa-Fsb, and steering torque size is △ Fs × L, and turn radius changes with △ Fs and changes; If Fsa=-Fsb, namely during (Fsa-Fsb) × L=2Fsa, the reverse equivalent action of two propelling units, its propulsive force size is zero, and under-water robot can realize original place and rotate.
Trim gesture stability: after under-water robot sail body 1 navigates by water target area, to realize the navigation attitude that under-water robot sail body 1 is lifted head or bowed one's head, now vertical pusher 4 is had an effect.As shown in Figure 3, wherein Fca, Fcb are respectively the propulsive force of two vertical pusher 4, if during Fca-Fcb=△ Fc > 0, under-water robot then produces lifts first moment; If during Fca-Fcb=△ Fc < 0, under-water robot then produces moment of bowing one's head; Fca-Fcb=0, under-water robot then keeps current course to navigate by water.
Claims (4)
1. the arrangement structure of a under-water robot propelling unit, comprise the stern propelling unit and stern navigation control flaps system that are arranged on under-water robot sail body stern, it is characterized in that: also comprise the horizontal propeller (3) being symmetricly set in under-water robot sail body (1) in axial direction both sides, and be arranged at the bow of under-water robot sail body (1) and the vertical pusher (4) of stern respectively.
2. the arrangement structure of under-water robot propelling unit according to claim 1, is characterized in that: described horizontal propeller (3) is fixed on described under-water robot sail body (1) both sides in axial direction by permanent seat (6).
3. the arrangement structure of under-water robot propelling unit according to claim 1, is characterized in that: bow and the stern of under-water robot sail body (1) are respectively equipped with through hole, and described vertical pusher (4) is individually fixed in described through hole.
4. the arrangement structure of under-water robot propelling unit according to claim 3, is characterized in that: described vertical pusher (4) is symmetrical arranged relative to the geometric center lines of under-water robot sail body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310576827.2A CN104648643A (en) | 2013-11-15 | 2013-11-15 | Arrangement structure of underwater robot propelling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310576827.2A CN104648643A (en) | 2013-11-15 | 2013-11-15 | Arrangement structure of underwater robot propelling device |
Publications (1)
| Publication Number | Publication Date |
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| CN104648643A true CN104648643A (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201310576827.2A Pending CN104648643A (en) | 2013-11-15 | 2013-11-15 | Arrangement structure of underwater robot propelling device |
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| CN (1) | CN104648643A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
| CN105843248A (en) * | 2016-03-15 | 2016-08-10 | 冀大雄 | Underwater robot |
| CN106695834A (en) * | 2017-02-22 | 2017-05-24 | 哈尔滨工程大学 | Double-body detection underwater robot device and control method |
| CN106741767A (en) * | 2016-11-16 | 2017-05-31 | 哈尔滨工程大学 | Freight volume high becomes navigation attitude cable-free type deep submergence rescue vehicle |
| CN106741778A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of rotatable propeller system in deep-sea |
| CN106828838A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN108715219A (en) * | 2018-06-28 | 2018-10-30 | 苏州津启海洋装备驱动有限公司 | A kind of high anti-current submersible of high speed |
| CN109515651A (en) * | 2018-11-12 | 2019-03-26 | 西安交通大学 | A kind of modularization underwater robot based on integrated form vector propeller |
| CN109911157A (en) * | 2019-04-15 | 2019-06-21 | 深圳鳍源科技有限公司 | A kind of control method and device of underwater robot, underwater robot |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
| CN110371253A (en) * | 2019-07-25 | 2019-10-25 | 沈阳工业大学 | A kind of attitude regulation and horizontal drive mechanism for profile buoy |
| WO2020076595A1 (en) * | 2018-10-10 | 2020-04-16 | Raytheon Company | Winged autonomous underwater vehicle (auv) |
| WO2020216073A1 (en) * | 2019-04-24 | 2020-10-29 | 南京涵铭置智能科技有限公司 | Underwater decelerating robot and operation method therefor |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| CN112977775A (en) * | 2021-01-29 | 2021-06-18 | 鹏城实验室 | Underwater vehicle and control method thereof |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
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Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644742A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point vertical-section observation-type underwater robot |
| CN105644742B (en) * | 2014-11-10 | 2017-08-04 | 中国科学院沈阳自动化研究所 | A kind of long-term fixed point vertical section observation type underwater robot |
| CN106741778A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of rotatable propeller system in deep-sea |
| CN106741778B (en) * | 2015-11-23 | 2018-07-20 | 中国科学院沈阳自动化研究所 | A kind of rotatable propeller system in deep-sea |
| CN105711777A (en) * | 2016-01-26 | 2016-06-29 | 河北工业大学 | Micro-miniature modularized AUV (autonomous underwater vehicle) |
| CN105843248A (en) * | 2016-03-15 | 2016-08-10 | 冀大雄 | Underwater robot |
| CN106741767B (en) * | 2016-11-16 | 2018-05-18 | 哈尔滨工程大学 | High freight volume becomes navigation attitude cable-free type deep submergence rescue vehicle |
| CN106741767A (en) * | 2016-11-16 | 2017-05-31 | 哈尔滨工程大学 | Freight volume high becomes navigation attitude cable-free type deep submergence rescue vehicle |
| CN106828838A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| CN106695834A (en) * | 2017-02-22 | 2017-05-24 | 哈尔滨工程大学 | Double-body detection underwater robot device and control method |
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
| CN108715219A (en) * | 2018-06-28 | 2018-10-30 | 苏州津启海洋装备驱动有限公司 | A kind of high anti-current submersible of high speed |
| WO2020076595A1 (en) * | 2018-10-10 | 2020-04-16 | Raytheon Company | Winged autonomous underwater vehicle (auv) |
| EP3863919B1 (en) * | 2018-10-10 | 2024-01-03 | Raytheon Company | Winged autonomous underwater vehicle (auv) |
| CN109515651A (en) * | 2018-11-12 | 2019-03-26 | 西安交通大学 | A kind of modularization underwater robot based on integrated form vector propeller |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
| CN109911157A (en) * | 2019-04-15 | 2019-06-21 | 深圳鳍源科技有限公司 | A kind of control method and device of underwater robot, underwater robot |
| WO2020216073A1 (en) * | 2019-04-24 | 2020-10-29 | 南京涵铭置智能科技有限公司 | Underwater decelerating robot and operation method therefor |
| CN110371253A (en) * | 2019-07-25 | 2019-10-25 | 沈阳工业大学 | A kind of attitude regulation and horizontal drive mechanism for profile buoy |
| CN110371253B (en) * | 2019-07-25 | 2021-03-16 | 沈阳工业大学 | Attitude adjusting and horizontal driving mechanism for profile buoy |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| WO2022033210A1 (en) * | 2020-08-11 | 2022-02-17 | 中国科学院沈阳自动化研究所 | Body structure of autonomous underwater robot with high mobility and great submerging depth |
| CN112977775A (en) * | 2021-01-29 | 2021-06-18 | 鹏城实验室 | Underwater vehicle and control method thereof |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN112977776B (en) * | 2021-03-02 | 2022-05-03 | 南京航空航天大学 | Motion mode of multi-section combined and wingspan folding underwater robot |
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| CN113602459B (en) * | 2021-08-17 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
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Application publication date: 20150527 |