CN106904258A - Bi-motor is multidirectional to advance autonomous robot under water - Google Patents
Bi-motor is multidirectional to advance autonomous robot under water Download PDFInfo
- Publication number
- CN106904258A CN106904258A CN201710190500.XA CN201710190500A CN106904258A CN 106904258 A CN106904258 A CN 106904258A CN 201710190500 A CN201710190500 A CN 201710190500A CN 106904258 A CN106904258 A CN 106904258A
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- Prior art keywords
- swivel plate
- movable link
- fixed
- multidirectional
- under water
- Prior art date
- 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.)
- Granted
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 27
- 238000007789 sealing Methods 0.000 claims description 7
- 239000013535 sea water Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 16
- 229910000838 Al alloy Inorganic materials 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 229920005479 Lucite® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
Abstract
The invention discloses a kind of multidirectional propulsion autonomous robot under water of bi-motor, including the fixed part positioned at head and the drive mechanism and angle adjusting mechanism positioned at afterbody, the angle adjusting mechanism includes：Swivel plate；The fixed connecting rod of the fixation swivel plate center, the fixation connecting rod one end is hinged with the swivel plate center, and the other end is relatively fixed with the head；The swivel plate is driven to swing to change the movable link of its angle, movable link one end is hinged with the swivel plate；The driver of movable link operation is driven, the output end of driver is connected with the movable link other end.Of the invention new without cable underwater robot, using more flexible angle regulating mechanism, strong applicability realizes the accurate adjustment to robot traffic direction, and then realize data acquisition of the robot to objective by the vector propeller of afterbody.Simultaneously total quality of the present invention gently, small volume.
Description
Technical field
The invention belongs to mechanical engineering technical field, a kind of multidirectional propulsion of bi-motor autonomous machine under water is specifically related to
People.
Background technology
AUV is the english abbreviation without cable underwater robot.Current underwater robot is broadly divided into two major classes：One class is that have cable
Underwater robot, custom is referred to as telecontrolled submergence rescue vehicle (Remote Operated Vehicle, abbreviation ROV)；It is another kind of be untethered under water
Robot, custom is referred to as the latent device (Autonomous Underwater Vehicle, abbreviation AUV) of autonomous underwater.Autonomous type water
Lower robot is underwater robot of new generation, have the advantages that scope of activities is big, mobility is good, safety, intellectuality, as completion
The important tool of various subsea tasks.For example, in civil area, can be used for pipeline installation, seabed investigation, Data Collection, drilling well
Support, subsea construction, underwater installation maintenance and maintenance etc.；Then can be used to scouting in military domain, mine-laying, clearance, help latent and rescue
It is raw etc..Due to without cable underwater robot there is scope of activities not limited by cable, the advantages of good concealment, so from the sixties
From phase, industrial quarters and the military start to being taken up without cable underwater robot.
It is existing without the free movement for realizing under water using center of gravity regulation or buoyancy regulating device more than cable underwater robot, deposit
Big in volume, quality is big, the problems such as flexibility is not enough.
The content of the invention
The invention provides a kind of cable underwater robot of miniaturization, compact conformation and flexibility is higher, more suitable for
Shallow sea, lake work, also allow for large-scale network-estabilishing and lay.For meeting detection demand, detection efficient is improved.
A kind of multidirectional propulsion of bi-motor autonomous robot under water, including fixed part positioned at head and positioned at afterbody
Drive mechanism and angle adjusting mechanism, the angle adjusting mechanism include：
Swivel plate；
The fixed connecting rod of the fixation swivel plate center, the fixation connecting rod one end is hinged with the swivel plate center,
The other end is relatively fixed with the head；
The swivel plate is driven to swing to change the movable link of its angle, movable link one end is cut with scissors with the swivel plate
Connect；
The driver of movable link operation is driven, the output end of driver is connected with the movable link other end.
In the present invention, the positioning to swivel plate is realized by fixed connecting rod, it is ensured that swivel plate carry out along axis swing (or
Rotate).By servo driving movable link, the adjustment to swivel plate angle is capable of achieving, and then realize to robot traffic direction
Adjustment.
Preferably, the driver is steering wheel.In the present invention, driver uses steering wheel, is capable of achieving to swivel plate angle
Precise control.
Preferably, the angle adjusting mechanism also includes and the relatively-stationary back shroud of fixed part, the swivel plate
Fixed with the back shroud positioned at the both sides of back shroud, and the fixed connecting rod other end respectively with driver, on the back shroud
It is provided with：For the spacing hole that the movable link is passed through so that movable link is only capable of running vertically.In the present invention, back shroud one
Aspect realizes the positioning to swivel plate, while the wire restraint to movable link is also achieved, and, also achieve driving machine
The positioning of structure and angle adjusting mechanism and fixed part so that robot constitutes an entirety.
Preferably, described movable link and steering wheel are corresponding two groups respectively, two movable links and swivel plate
Hinge position is vertical with the line in swivel plate axle center.Using the technical program, but ensure that two groups of movable links and steering wheel are mutually assisted
Make, realize to the rotation without dead angle in the two-dimensional direction, and then realize the comprehensive regulation to robot traffic direction.
Preferably, one end that the movable link is connected with steering wheel is provided with the linkage ring of bar shaped spacing hole；The steering wheel
Rocking arm be provided with the push rod being slidably fitted in the bar shaped spacing hole.By the setting of bar shaped spacing hole, it is further ensured that
Movable link is in direction initialization stable operation.
Preferably, the movable link is hinged with the swivel plate using universal ball end structure.Ensure side of the invention
It is more flexible to adjusting.
Preferably, the drive mechanism includes the motor being fixed on swivel plate, and it is fixed on motor output shaft
Propeller.
Preferably, the fixed part includes：
Front shroud；
The front shroud and back shroud are sealed against each other into fixed cavity wall；
The service area for installing power supply and the chip region for chip are provided with the cavity wall.
Used as further preferred, the cavity wall sealing is fixed with least two dividing plates, and be divided into solely for cavity wall inner chamber by the dividing plate
The vertical service area and the chip region.Can be by locating rod spiral shell between two dividing plates and between dividing plate and front shroud
Line is fixed.Described service area can be formed before between two dividing plates, can be realized to electricity by structures such as support and locating rods
The fixation of source battery.Described chip region can be formed between forward dividing plate and front shroud, for realizing consolidating for various chips
Fixed and installation.In this example, the main chip for using includes：For the depth transducer of sensed water level depth, GPS, inertia is led
Boat compass, STM32 and other sensors needed for detection；The quantity that sensor or chip are installed can be according to actual needs.This
In invention, by software programming etc., realize that STM32 is automatically controlled to drive mechanism, direction angle regulating mechanism.
Preferably, the headward side of the front shroud is fixed with kuppe, the front shroud is provided with avoidance core
The avoidance hole of depth transducer in section, the kuppe is provided with limbers so that depth transducer directly contact seawater.
Robot of the invention can 360 degree of screw propellers control motions of steering by afterbody.The opposite side of swivel plate
The fixed connecting rod that two movable rods being connected with steering wheel rocking arm and one are connected with robot rear end cap is installed.By steering wheel
Rotation two extension elongations of movable rod of regulation, coordinate fixed connecting rod, it is possible to achieve the rotation of swivel plate, so as to reach vector
The effect of propulsion.
Compared with prior art, beneficial effects of the present invention are embodied in：
It is of the invention new without cable underwater robot, using more flexible angle regulating mechanism, strong applicability, by tail
The vector propeller in portion realizes the accurate adjustment to robot traffic direction, and then realizes that robot is adopted to the data of objective
Collection.Meanwhile, the volume and weight in order to reduce robot of the invention, the main material of the robot uses plastics, lucite
And aluminium alloy.
Brief description of the drawings
Fig. 1 is the structural representation of the multidirectional propulsion autonomous robot under water of bi-motor of the invention.
Fig. 2 is the partitioned organization schematic diagram of the multidirectional propulsion autonomous robot under water of bi-motor of the invention.
Fig. 3 is the structural representation of the multidirectional propulsion fixed part of autonomous robot under water of bi-motor of the invention.
Fig. 4 is the multidirectional propulsion of bi-motor of the invention autonomous robot direction adjustment organization operation logic schematic diagram under water.
In above-mentioned accompanying drawing：
1st, swivel plate；2nd, movable link；3rd, fixed connecting rod；4th, steering wheel；5th, service area；6th, chip region；7th, kuppe；8th, after
End cap；8a, installation portion；8b, abutting part；9th, drive end bearing bracket；9a, installation portion；9b, abutting part；10th, dividing plate；11st, dividing plate；12nd, first
Locating rod；13rd, the second locating rod；14th, battery.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1-Figure 3, a kind of bi-motor is multidirectional advances autonomous robot under water, including following major part：
Swivel plate 1, movable link 2, fixed connecting rod 3, steering wheel 4, service area 5, chip region 6, kuppe 7, cavity wall (not shown), after
End cap 8, drive end bearing bracket 9 and drive mechanism etc..
In the present embodiment, in addition to cavity wall and kuppe are using acrylic material, the part in water is aluminium alloy
Material (swivel plate, front and rear cover etc.), content portion support is ensureing fixing intensity in the form of plastics are combined with aluminium alloy
In the case of mitigate weight.
This example can be divided into two parts (as shown in Figure 2) of A, B according to motion conditions.Wherein, part A is fixation
Part, for depositing battery, chip.The main chip used in this example includes：Depth transducer is (for detecting institute of robot
In depth), GPS (for the positioning of robot), inertial navigation compass, STM32 is (for realizing to drive mechanism and steering wheel etc.
Control) and other sensors needed for detection, several amount and type of sensor can determine according to actual needs.Part B is motion
Part, for controlling robot mass motion.Do not connected internally between A, B two parts, enter and realized mutually admittedly by cavity wall
It is fixed.
In Fig. 28 is rear end cap, and 9 is drive end bearing bracket, and drive end bearing bracket 9 and rear end cap 8 are disc-shaped structure, and drive end bearing bracket 9 is with after
The opposite side of end cap 8 is provided with axial raised installation portion 8a and installation portion 9a, footpath on the installation portion of drive end bearing bracket 9 and rear end cap 8
To sealing ring is provided with, for being connected with cavity wall two ends inner wall sealing；Drive end bearing bracket 9 and the outer periphery of rear end cap 8 are to extension simultaneously
Stretch, form abutting part 8b and abutting part 9b, two abutting parts are abutted with the two ends of cavity wall respectively, further realize sealing.Cavity wall
For cylindrical acrylic pipe (underwater robot outer wall, be not drawn into figure) is connected by screw, so as to reach connection A, B two parts
And to effect that the content between front and rear cover is sealed.
With reference to Fig. 3, the part A of this example is divided into several regions by drive end bearing bracket 9 and dividing plate 10,11 two dividing plates of dividing plate.
Dividing plate 10, dividing plate 11 are coaxially disposed with drive end bearing bracket 9 and rear end cap 8, and dividing plate 10, dividing plate 11 are arranged on drive end bearing bracket 9 and rear end cap 8
Between, by the first positioning before dividing plate 10, dividing plate 11,12 are connected, and service area is formed between dividing plate 10, dividing plate 11, every
Acrylic support is fixed between plate 10, dividing plate 11, for installing battery 14, is compressed admittedly by the first locating rod 12 when fixed
Fixed, the first locating rod uses aluminium alloy thin bar, the first locating rod at least two, generally two to three.Dividing plate 11 and drive end bearing bracket 9
Between be connected by the second locating rod 13, form chip region 6, be provided with what acrylic and aluminium alloy made in chip region 6
Support, for installing the above-mentioned chip enumerated.Wherein depth transducer is screwed on drive end bearing bracket by pipe screw thread, makes its front portion detection
Drive end bearing bracket is stretched out at position (drive end bearing bracket is provided with corresponding avoidance hole).Kuppe 7 is fixed on drive end bearing bracket, is punched thereon, as
Limbers, inside is exposed in the seawater, to ensure depth transducer front contact to seawater.Lead between drive end bearing bracket and two pieces of dividing plates
Cross aluminium alloy thin bar to be connected so that whole part A is fixed into an entirety.
The part B of this example is motion parts, mainly include swivel plate 1, movable link 2, fixed connecting rod 3, steering wheel 4 this four
Individual part.Steering wheel 4 itself is connected on rear end cap 8 with fixed connecting rod 3, with robot integrally without relative motion.On rear end cap 8
The spacing hole (circular hole for generally coordinating with movable link dynamic sealing) passed through for two movable links 2 is provided with simultaneously, it is ensured that two
Individual movable link 2 is only capable of axially moving back and forth.Two one end of movable link 2 are hinged on rotation together with fixed connecting rod 3
On plate 1, the other end is hinged with steering wheel rocking arm.Movable link passes through the spacing hole on rear end cap, using dynamic sealing.Movable link is only
The motion of one degree of freedom can be axially done along circular hole.Propeller is connected on motor output shaft, and motor is fixed on swivel plate, electricity
Machine provides whole robot operation power by driving rotation slurry.What movable link 2 and fixed connecting rod 3 and swivel plate 1 were hinged
Position can be using ballhead and the universal ball end articulated structure of spherical groove.The energy of one of movable link 2 in two movable links 2
Enough drive swivel plate 1 in a rotation for axial direction (such as x-axis), another movable link 2 can then drive swivel plate 1 another
Outer one vertical axial rotation (such as y-axis), two movable links 2 cooperate, it is possible to achieve swivel plate 1 is in two-dimensional directional
Freely swing, while the center of swivel plate 1 is fixed different in the case where fixed connecting rod 3 is acted on.
Two movable links 2 are equipped with the linkage ring with bar shaped spacing hole, two linkage rings away from one end of swivel plate 1
The axial direction of bar shaped spacing hole be mutually perpendicular to.Steering wheel has two, is equipped with two rocking arms of steering wheel and bar in corresponding linkage ring
The push rod that shape spacing hole is slidably matched, in steering wheel running, push rod runs along its corresponding bar shaped spacing hole.
The motion principle of this example is illustrated by accompanying drawing 4.Three-dimensional cartesian coordinate system is established in accompanying drawing 4.X-axis positive direction is machine
Device head part institute is towards direction.1,2,3 three line represents movable link 1, movable link 2 and fixed connecting rod 3 respectively, wherein fixed
The position of connecting rod 3 is remained stationary as, and respectively in (- 2,0,0), on (0,0,0), movable link 1 can only be transported left and right end points along the x-axis direction
Dynamic, left and right two-end-point initial position (left hand view in Fig. 4) is respectively (- 2,1,1), and (0,1,1) movable link 2 can only be along x-axis side
To motion, left and right two-end-point initial position (left hand view in Fig. 4) is respectively (- 2, -1,1), (0, -1,1).Above-mentioned these number of coordinates
According to just to three motion principles of connecting rod of explanation, do not have to limit to the length or setting angle of three connecting rods and make
With the plane of three line left sides, 3 end points formation is plane where swivel plate.The position relationship of the plane determines swivel plate
Direction, that is, determine the direction of propeller.
At initial position (left hand view in Fig. 4), the parallel yz of plane where understanding swivel plate by 3 position relationships puts down
Face, the thrust that now propeller is produced is towards x-axis positive direction, robot straight ahead.
When behind the position that movable link 1 is moved by steering wheel rocking arm (right part of flg in Fig. 4), the both sides end points of movable link 1 becomes
For (- 1, -1,1), (1, -1,1).Now, plane where swivel plate is by 3 points of left side (- 1, -1,1) (- 2,1) (- 2,0,1)
Determine, angle there occurs change.Now it can be seen that thrust is towards predominantly x-axis positive direction component, but also there is fraction z-axis
The thrust of negative direction and y-axis positive direction.
By movable link 1, the change in location of movable link 2 so that plane direction realizes approximate 180 degree where swivel plate
Change, so that robot meets 360 degree of demands of free movement (motor can realize deboost with forward and reverse)
During robot motion, by y, z-axis direction component adjustment robot direction, by x-axis direction component
Operation before and after driven machine people.
In this example, steering wheel controls two side-to-side movements of movable link by special chute attachment structure (from figure
Middle direction is seen).Three connecting rods are fixed on swivel plate by special fixed structure, and swivel plate is controlled by its different amount of movement
Rotation.Motor and propeller are fixed on swivel plate, and thrust direction is adjusted by the rotation of swivel plate, so as to control entirety
Motion.
In this example, in addition to cavity wall and kuppe are using acrylic material, the part in water is aluminium alloy material
Matter (swivel plate, front and rear cover etc.), content portion support is ensureing fixing intensity in the form of plastics are combined with aluminium alloy
In the case of mitigate weight.
This patent propose it is small-sized without cable underwater robot be cylinder, principal dimensions be diameter 8cm, overall length 45cm, always
Quality is 2g.The small-sized untethered underwater robot propeller is powered using 12V, highest headway 1m/s.The small-sized untethered water
The detecting devices and sensor that lower robot is carried are applied to depth capacity 100m.
Claims (10)
1. a kind of bi-motor is multidirectional advances autonomous robot under water, including the fixed part positioned at head and the drive positioned at afterbody
Motivation structure and angle adjusting mechanism, it is characterised in that the angle adjusting mechanism includes：
Swivel plate；
The fixed connecting rod of the fixation swivel plate center, the fixation connecting rod one end is hinged with the swivel plate center, another
End is relatively fixed with the head；
The swivel plate is driven to swing to change the movable link of its angle, movable link one end is hinged with the swivel plate；
The driver of movable link operation is driven, the output end of driver is connected with the movable link other end.
2. bi-motor according to claim 1 is multidirectional advances autonomous robot under water, it is characterised in that described driver
It is steering wheel.
3. bi-motor according to claim 1 is multidirectional advances autonomous robot under water, it is characterised in that the angular adjustment
Mechanism also includes being located at the both sides of back shroud respectively with driver with the relatively-stationary back shroud of fixed part, the swivel plate,
And the fixed connecting rod other end is fixed with the back shroud, the back shroud is provided with：
For the spacing hole that the movable link is passed through so that movable link is only capable of running vertically.
4. bi-motor according to claim 2 is multidirectional advances autonomous robot under water, it is characterised in that described movably connects
Bar and steering wheel are corresponding two groups respectively, and two movable links are vertical with the line in swivel plate axle center with the hinge position of swivel plate.
5. bi-motor according to claim 4 is multidirectional advances autonomous robot under water, it is characterised in that the movable link
The one end being connected with steering wheel is provided with the linkage ring of bar shaped spacing hole；The rocking arm of the steering wheel is provided with and is slidably fitted in the bar shaped
Push rod in spacing hole.
6. bi-motor according to claim 1 is multidirectional advances autonomous robot under water, it is characterised in that the movable link
It is hinged using universal ball end structure with the swivel plate.
7. bi-motor according to claim 1 is multidirectional advances autonomous robot under water, it is characterised in that the drive mechanism
Including the motor being fixed on swivel plate, and it is fixed on the propeller on motor output shaft.
8. bi-motor according to claim 3 is multidirectional advances autonomous robot under water, it is characterised in that the fixed part
Including：
Front shroud；
The front shroud and back shroud are sealed against each other into fixed cavity wall；
The service area for installing power supply and the chip region for chip are provided with the cavity wall.
9. bi-motor according to claim 8 is multidirectional advances autonomous robot under water, it is characterised in that the cavity wall sealing
At least two dividing plates are fixed with, cavity wall inner chamber is divided into the independent service area and the chip region by the dividing plate.
10. bi-motor according to claim 8 is multidirectional advances autonomous robot under water, it is characterised in that the front shroud
Headward side is fixed with kuppe, and the front shroud is provided with the avoidance hole for avoiding depth transducer in chip region, institute
State kuppe and be provided with limbers so that depth transducer directly contact seawater.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710190500.XA CN106904258B (en) | 2017-03-28 | 2017-03-28 | Bi-motor is multidirectional to promote underwater autonomous robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710190500.XA CN106904258B (en) | 2017-03-28 | 2017-03-28 | Bi-motor is multidirectional to promote underwater autonomous robot |
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| Publication Number | Publication Date |
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| CN106904258A true CN106904258A (en) | 2017-06-30 |
| CN106904258B CN106904258B (en) | 2019-03-19 |
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| CN201710190500.XA Expired - Fee Related CN106904258B (en) | 2017-03-28 | 2017-03-28 | Bi-motor is multidirectional to promote underwater autonomous robot |
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| US11959833B2 (en) | 2019-01-24 | 2024-04-16 | Square Robot, Inc. | Systems, methods and apparatus for in-service tank inspections |
| CN110304227A (en) * | 2019-07-16 | 2019-10-08 | 大连海事大学 | A kind of hydraulic artificial muscle two degrees of freedom vector adjusts hydro-jet propulsion system and its vector adjusting method |
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