CN107187566B - Underwater multi-robot annular formation spatial position regulating device - Google Patents
Underwater multi-robot annular formation spatial position regulating device Download PDFInfo
- Publication number
- CN107187566B CN107187566B CN201710359203.3A CN201710359203A CN107187566B CN 107187566 B CN107187566 B CN 107187566B CN 201710359203 A CN201710359203 A CN 201710359203A CN 107187566 B CN107187566 B CN 107187566B
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- bearing
- height adjustment
- connecting rod
- rotating
- underwater robot
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Classifications
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种多水下机器人环形编队空间位置调节装置。其目的是提供一种抗水流扰动性强、限定机器人上下波动的位置调节装置。本发明包括半径调节机构和高度调节基座，高度调节基座又包括基座主体、第一伸缩组件和高度微调支座，半径调节机构又包括连接杆、转动轴、多个第二伸缩组件和多根转动支杆。基座主体底端设置有高度微调支座，基座主体顶端设置有第一伸缩组件，第一伸缩组件顶端与连接杆底端插接，连接杆顶端与转动轴底端连接，转动轴的顶端设置有角度刻度盘，多根转动支杆的一端铰接在连接杆和转动轴之间，各转动支杆的另一端向外延伸。连接杆顶端设置有角度指针，转动支杆上设置有第二伸缩组件，水下机器人固定在第二伸缩组件的端部。
The invention relates to a device for regulating the spatial position of a circular formation of multiple underwater robots. The purpose of the invention is to provide a position adjustment device which has strong resistance to water flow disturbance and limits the up and down fluctuation of the robot. The invention includes a radius adjustment mechanism and a height adjustment base, the height adjustment base further includes a base body, a first telescopic assembly and a height fine adjustment support, the radius adjustment mechanism further includes a connecting rod, a rotating shaft, a plurality of second telescopic assemblies and Multiple rotating struts. The bottom of the main body of the base is provided with a height fine-tuning support, the top of the main body of the base is provided with a first telescopic assembly, the top of the first telescopic assembly is inserted into the bottom of the connecting rod, the top of the connecting rod is connected to the bottom of the rotating shaft, and the top of the rotating shaft An angle dial is provided, one end of a plurality of rotating struts is hinged between the connecting rod and the rotating shaft, and the other end of each rotating strut extends outward. The top end of the connecting rod is provided with an angle pointer, the rotating support rod is provided with a second telescopic assembly, and the underwater robot is fixed at the end of the second telescopic assembly.
Description
Technical field
The present invention relates to a kind of underwater robot technical fields, form into columns more particularly to a kind of underwater multi-robot annular empty
Between apparatus for adjusting position.
Background technique
In recent years, the underwater robot including bionic machine fish is because it is being developed marine resources, is reconnoitring underwater ring
The major application prospect in border, inspection plumbing leak, laying submerged cable etc., receives more and more extensive concern.In crowd
In more underwater robot technical research, underwater multi-robot cooperation technology because facilitate promoted underwater operation feasibility,
Operability, and can in the case where guaranteeing not improve system cost effectively sensing capabilities, mobility etc. of lifting system
Advantage, it is more and more attractive to the research of the technology.Underwater robot especially bionic machine fish, because it has than tradition
The more superior movenent performance of underwater research vehicle and the competitively research for causing scientists.
Numerous in the research of underwater robot, underwater robot forms into columns research to the reality for promoting underwater robot
It is significant with property.Underwater robot is formed into columns, and research relates generally to formation algorithm research, the control of underwater robot kinematics is studied
With Fish behavior research etc..Other than theoretical research, experimental verification is also important research link.Since underwater robot exists
It will receive the perturbation action from water when underwater exercise, influence its movenent performance, how to be effectively prevented from the perturbation action of water,
And realize that the control and adjusting of flight pattern in research of forming into columns are critical issues.
Summary of the invention
That the technical problem to be solved in the present invention is to provide a kind of water resistant flow disturbances is strong, can be achieved to determine under water radius formation,
Limit the underwater multi-robot annular formation spatial position regulating device that robot fluctuates up and down in water.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein including radius regulating mechanism and height
Degree adjusts pedestal, and height adjustment pedestal includes Base body, the first telescopic component and multiple high fine-tuning supports, Base body again
The marginal position of bottom end is provided with multiple high fine-tuning supports, and Base body top is provided with straight-tube shape first along the vertical direction and stretches
Contracting component, radius regulating mechanism include connecting rod, angle dial, rotation axis, multiple second telescopic components and Duo Gen rotation again
The top grafting of the first telescopic component of straight-tube shape in strut, the bottom end of connecting rod and height adjustment pedestal, the top of connecting rod with
The bottom end of rotation axis connects, and the top of rotation axis is provided with angle dial, sets in the horizontal direction between connecting rod and rotation axis
More rotation struts are equipped with, the one end for rotating strut extends to far from connecting rod and rotation axis side, rotates the other end of strut
It is hinged on the position between connecting rod and rotation axis, connecting rod top is provided with angle indicator, angle indicator orientation angle scale
Disk rotates the extending direction on strut along rotation strut and is provided with the second telescopic component, and underwater robot is held away from connection
The end position of bar and the second telescopic component of rotation axis side；
Wherein, rotation strut is rotatably set between connecting rod and rotation axis.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein the Base body is along level side
To " ten " character form structure of setting, the quantity of high fine-tuning support is four, and four high fine-tuning supports are separately positioned on pedestal
Four marginal positions of main body, the top of each high fine-tuning support connect with the bottom end of four marginal positions of Base body respectively
It connects.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein first telescopic component includes again
First height adjustment sleeve, the second height adjustment sleeve, third height adjust sleeve and the 4th height adjustment sleeve, the first height
It adjusts sleeve internal sleeve and is equipped with the second height adjustment sleeve, the second height adjustment sleeve inner is arranged with third height adjusting set
Cylinder, third height adjust sleeve internal sleeve and are equipped with the 4th height adjustment sleeve, all offer on the outer wall of each height adjustment sleeve
Multiple first positioning through hole are plugged with screw between the first positioning through hole of two adjacent height adjustment sleeves.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein the centre on the Base body top
Position is provided with the connecting shaft of tubular construction, the upper position of connecting shaft outer wall and four edges of Base body along the vertical direction
Fixed beam is equipped between position respectively, the bottom of the first height adjustment sleeve is set in inside connecting shaft, the outer wall of connecting shaft
On offer multiple first positioning through hole, the first positioning through hole of the first positioning through hole of connecting shaft and the first height adjustment sleeve
Between be plugged with screw.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein between the connecting rod and rotation axis
It is connected by shaft coupling.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein between the connecting rod and shaft coupling
It is arranged with first bearing group, first bearing group includes first bearing, second bearing and 3rd bearing again, and second bearing is located at first
Below bearing, second bearing is greater than first bearing, and 3rd bearing is located at below second bearing, and 3rd bearing is greater than second bearing,
Retaining ring is respectively arranged between first bearing and second bearing, between second bearing and 3rd bearing；Rotation axis and angle index
Second bearing group is arranged between disk, second bearing group includes fourth bearing, 5th bearing and 6th bearing, 5th bearing position again
Below fourth bearing, 5th bearing is greater than fourth bearing, and 6th bearing is located at below 5th bearing, and 6th bearing is greater than the 5th
Bearing is respectively arranged with retaining ring between fourth bearing and 5th bearing, between 5th bearing and 6th bearing.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein the rotation strut is close to connecting rod
Connect with the end of rotation axis side with one end of two hinge bars, two hinge bars are distributed up and down, two hinge bars it is another
End is respectively sleeved in first bearing group and second bearing group, and angle indicator is mounted on the top of the hinge bar of top.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein second telescopic component further includes
Radius adjusts telescopic rod, and it is tubular structure that radius, which adjusts telescopic rod, and radius adjusts telescopic rod and is set on the outside of rotation strut, radius
It adjusts and offers multiple second positioning through hole on telescopic rod, rotate and offer multiple third positioning through hole on strut, the second positioning
Screw is plugged between through-hole and third positioning through hole.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein radius adjusting telescopic rod is separate
The end of connecting rod and rotation axis side is provided with connection pillar, is provided with ceramic flat surface bearing, underwater machine on the outside of connection pillar
Device people is bonded in connection pillar.
Underwater multi-robot annular formation spatial position of the present invention regulating device, wherein the quantity of the rotation strut is three
Root, three rotation struts are located in same level.
Underwater multi-robot annular formation spatial position of the present invention regulating device difference from prior art is: this hair
Bright to be provided with radius regulating mechanism and height adjustment pedestal, the setting of radius regulating mechanism is adjusted in height adjustment Chuck top, height
Multiple height adjustment sleeves are provided on section pedestal, are able to carry out telescopic adjustment between each height adjustment sleeve, and pass through screw
Height and position after adjusting is locked, so as to which effectively the height of underwater robot is adjusted；Radius is adjusted
It is provided with radius in mechanism and adjusts telescopic rod, radius adjusts telescopic rod can carry out telescopic adjustment in the horizontal direction, and pass through spiral shell
Nail locks the radial location after adjusting, so as to which effectively the moving radius of underwater robot is adjusted.Water
Lower robot can according to demand be adjusted moving height and radius, complete annular formation setting, and motion profile is stablized, had
Effect solves turbulent water to influence caused by underwater robot movement.It realizes and forms into columns to the radius of determining of underwater robot,
Radius regulating mechanism also defines the fluctuation up and down in underwater robot motion process simultaneously, further enhances underwater robot
The stability of movement.The present invention is suitable for the experiment that underwater multi-robot formation control is studied with AUV Control and grinds
Study carefully.
Underwater multi-robot annular formation spatial position of the present invention regulating device is described further with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the perspective view of underwater multi-robot annular formation spatial position of the present invention regulating device；
Fig. 2 is the main view of underwater multi-robot annular formation spatial position of the present invention regulating device；
Fig. 3 is the top view of underwater multi-robot annular formation spatial position of the present invention regulating device；
Fig. 4 is the explosion of height adjustment pedestal in the regulating device of underwater multi-robot annular formation spatial position of the present invention
Figure；
Fig. 5 is the explosion of radius regulating mechanism in the regulating device of underwater multi-robot annular formation spatial position of the present invention
Figure；
Fig. 6 is that height adjustment pedestal is in contraction in the regulating device of underwater multi-robot annular formation spatial position of the present invention
The main view of state；
Fig. 7 is that height adjustment pedestal is in stretching, extension in the regulating device of underwater multi-robot annular formation spatial position of the present invention
The main view of state；
Fig. 8 is that radius regulating mechanism is in contraction in the regulating device of underwater multi-robot annular formation spatial position of the present invention
The top view of state；
Fig. 9 is that radius regulating mechanism is in stretching, extension in the regulating device of underwater multi-robot annular formation spatial position of the present invention
The top view of state；
Specific embodiment
It as shown in Figure 1, Figure 2, Figure 3 shows, is underwater multi-robot annular formation spatial position of the present invention regulating device, including the
One underwater robot 1, the second underwater robot 4, third underwater robot 5, radius regulating mechanism 2 and height adjustment pedestal 3, half
Diameter regulating mechanism 2 is located at 3 top of height adjustment pedestal, and the bottom end of radius regulating mechanism 2 and the top of height adjustment pedestal 3 connect
It connects, the first underwater robot 1, the second underwater robot 4 and third underwater robot 5 are connect with radius regulating mechanism 2 respectively.
As shown in figure 4, for height adjustment pedestal in the regulating device of underwater multi-robot annular formation spatial position of the present invention
Explosive view, height adjustment pedestal 3 again include Base body 8, multiple high fine-tuning supports 6 and multiple height adjustment sleeves, base
Seat main body 8 is horizontally disposed " ten " character form structure, and it is micro- that four marginal positions of Base body 8 are respectively arranged with height
Support 6 is adjusted, the top of each high fine-tuning support 6 is connect with the bottom end of four marginal positions of Base body 8 respectively.Base body
The middle position on 8 tops is provided with the connecting shaft 7 of tubular construction, the upper position and pedestal of 7 outer wall of connecting shaft along the vertical direction
It is equipped with fixed beam 13 respectively between four marginal positions of main body 8.Connecting shaft 7 is internally provided with the first height adjustment sleeve 9,
The bottom of first height adjustment sleeve 9 is set in inside connecting shaft 7, and 9 internal sleeve of the first height adjustment sleeve is equipped with the second height
Sleeve 10 is adjusted, 10 internal sleeve of the second height adjustment sleeve is equipped with third height and adjusts sleeve 11, and third height adjusts sleeve 11
Internal sleeve is equipped with the 4th height adjustment sleeve 12, all opens up along the vertical direction on the outer wall of connecting shaft 7 and each height adjustment sleeve
There are multiple first positioning through hole 14, the first positioning through hole 14 of connecting shaft 7 and the first positioning through hole of the first height adjustment sleeve 9
The first screw 15, the first positioning through hole 14 and the second height adjustment sleeve 10 of the first height adjustment sleeve 9 are plugged between 14
The first positioning through hole 14 between be plugged with the second screw 16, the first positioning through hole 14 and third of the second height adjustment sleeve 10
Third screw 17 is plugged between first positioning through hole 14 of height adjustment sleeve 11, the first of third height adjusting sleeve 11 is fixed
Grafting and the 4th screw 18 between position through-hole 14 and the first positioning through hole 14 of the 4th height adjustment sleeve 12.
As shown in figure 5, for radius regulating mechanism in the regulating device of underwater multi-robot annular formation spatial position of the present invention
Explosive view, radius regulating mechanism 2 again include connecting rod 19,30, three angle dial 29, rotation axis rotation struts 21 and three
Root telescopic rod 22, connecting rod 19 and rotation axis 30 are all arranged along the vertical direction, in the bottom end of connecting rod 19 and height adjustment pedestal 3
The top of the top grafting of 4th height adjustment sleeve 12, connecting rod 19 is connect by shaft coupling 31 with the bottom end of rotation axis 30,
The top of rotation axis 30 is fixed with disc angle dial 29 in the horizontal direction.It is arranged between connecting rod 19 and shaft coupling 31
There is first bearing group 33, first bearing group 33 includes first bearing, second bearing and 3rd bearing again, and second bearing is located at first
Below bearing, second bearing is greater than first bearing, and 3rd bearing is located at below second bearing, and 3rd bearing is greater than second bearing,
Retaining ring is respectively arranged between first bearing and second bearing, between second bearing and 3rd bearing.In shaft coupling 31 and rotation
Retaining ring is provided between axis 30.Second bearing group 32, second bearing group are arranged between rotation axis 30 and angle dial 29
32 include fourth bearing, 5th bearing and 6th bearing again, and 5th bearing is located at below fourth bearing, and 5th bearing is greater than the 4th
Bearing, 6th bearing are located at below 5th bearing, and 6th bearing is greater than 5th bearing, between fourth bearing and 5th bearing, the
Retaining ring is respectively arranged between five bearings and 6th bearing.Three rotation struts are arranged between connecting rod 19 and rotation axis 30
21, rotation strut 21 is horizontally disposed, and the one end for rotating strut 21 extends to far from connecting rod 19 and 30 side of rotation axis,
The other end of rotation strut 21 is connect with one end of two hinge bars 34 respectively, and two about 34 hinge bars are distributed, and two hinged
The other end of bar 34 is respectively sleeved in first bearing group 33 and second bearing group 32, the top peace for the hinge bar 34 being located above
Equipped with angle indicator 28,28 orientation angle dial 29 of angle indicator.In the rotation far from 30 side of connecting rod 19 and rotation axis
The end position of strut 21 offers multiple third positioning through hole 26 side by side in the horizontal direction, and rotation 21 outer sheath of strut is equipped with pipe
Shape radius adjusts telescopic rod 22, and radius adjusts and offers multiple second positioning through hole 23 side by side in the horizontal direction on telescopic rod 22,
It is plugged with the 5th screw 27 between second positioning through hole 23 and third positioning through hole 26, passes through 27 pairs of rotation struts 21 of the 5th screw
The position between telescopic rod 22 is adjusted with radius to be locked.It is stretched in the radius adjusting far from 30 side of connecting rod 19 and rotation axis
The end position of contracting bar 22 is provided with connection pillar 25, is provided with first bearing 24 on the outside of connection pillar 25, and used first
Bearing 24 is ceramic flat surface bearing.First underwater robot 1, the second underwater robot 4 and third underwater robot 5 are bonded respectively
In the connection pillar 25 that three rotate strut 21.Three rotation struts 21 are located in same level.
As shown in Fig. 2, being the main view of underwater multi-robot annular formation spatial position of the present invention regulating device, the first water
Lower robot 1, the second underwater robot 4 and third underwater robot 5 are located in same level, pass through height adjustment pedestal 3
The height of each underwater robot can be adjusted.By the grafting for changing screw between connecting shaft 7 and height adjustment sleeve
The plug-in position of screw between position and each height adjustment sleeve, thus the height of height adjustment pedestal 3 is adjusted and
Locking.By adjusting each high fine-tuning support 6, the height of height adjustment pedestal 3 can be also finely adjusted.Such as Fig. 6, Fig. 7 institute
Show, the height adjustment range of height adjustment pedestal 3 is 1675mm~5370mm.
As shown in figure 3, being the top view of underwater multi-robot annular formation spatial position of the present invention regulating device, the first water
Lower robot 1, the second underwater robot 4 and third underwater robot 5 move about along same circumference, underwater per adjacent two before movement
Angle between robot is all identical, and the angle between adjacent two underwater robot can be with corresponding two water during the motion
The difference of the motion state of lower robot and change, can by the signified scales of different 34 upper angle pointers of hinge bar 28
Understand the variable quantity of the angle between adjacent two underwater robot.It can be to each underwater robot by radius regulating mechanism 2
Moving radius is adjusted.Telescopic rod 22 is adjusted by changing different rotation struts 21 and respective radius in radius regulating mechanism 2
Between the 5th screw 27 plug-in position, the moving radius of each underwater robot can be adjusted and be locked.Such as Fig. 8, Fig. 9
Shown, the radius adjustable range of radius regulating mechanism 2 is 625mm~5125mm.
It is of the invention in use, firstly, the first underwater robot 1, the second underwater robot 4 and third is underwater
Robot 5 is bonded in respectively in the connection pillar 25 in radius regulating mechanism 2.Secondly, as needed to height adjustment pedestal 3
The radius of height and radius regulating mechanism 2 is adjusted.Then, start the first underwater robot 1,4 and of the second underwater robot
Third underwater robot 5 moves in water respectively, the first underwater robot 1, the second underwater robot 4 and third underwater robot
5 will drive rotation strut 21 and radius connected to it in motion process in water adjusts telescopic rod 22 and is rotated, thus real
Now the radius annular of determining of each underwater robot is formed into columns, and defines the fluctuation up and down in each underwater robot motion process.
Underwater multi-robot annular formation spatial position of the present invention regulating device is provided with radius regulating mechanism 2 and height
Pedestal 3 is adjusted, the setting of radius regulating mechanism 2 is provided with multiple height on 3 top of height adjustment pedestal, height adjustment pedestal 3
Sleeve is adjusted, telescopic adjustment is able to carry out between each height adjustment sleeve, and carry out to the height and position after adjusting by screw
Locking, so as to which effectively the height of underwater robot is adjusted；Radius adjusting is provided on radius regulating mechanism 2 to stretch
Contracting bar 22, radius adjusts telescopic rod 22 can carry out telescopic adjustment in the horizontal direction, and by screw to the radius position after adjusting
It sets and is locked, so as to which effectively the moving radius of underwater robot is adjusted.Underwater robot can be according to need
It asks and moving height and radius is adjusted, complete annular and form into columns setting, motion profile is stablized, effective solution turbulent water
It is influenced on caused by underwater robot movement.It realizes and forms into columns to the radius of determining of underwater robot, while radius regulating mechanism 2 is also
It defines the fluctuation up and down in underwater robot motion process, further enhances the stability of underwater robot movement.This hair
The bright experimental study suitable for underwater multi-robot formation control research and AUV Control.Water resistant flow disturbance of the present invention
Property it is strong, can be achieved to determine radius under water to form into columns, limit robot fluctuation up and down in water, have compared with prior art significantly excellent
Point.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359203.3A CN107187566B (en) | 2017-05-19 | 2017-05-19 | Underwater multi-robot annular formation spatial position regulating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359203.3A CN107187566B (en) | 2017-05-19 | 2017-05-19 | Underwater multi-robot annular formation spatial position regulating device |
Publications (2)
| Publication Number | Publication Date |
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| CN107187566A CN107187566A (en) | 2017-09-22 |
| CN107187566B true CN107187566B (en) | 2018-12-28 |
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| CN114624684B (en) * | 2022-03-15 | 2024-06-14 | 哈尔滨理工大学 | An underwater sound source positioning device and method based on path tracking |
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| CN107187566A (en) | 2017-09-22 |
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