CN107757848A - One kind can the underwater autonomous robot of formation work - Google Patents
One kind can the underwater autonomous robot of formation work Download PDFInfo
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- CN107757848A CN107757848A CN201711136219.4A CN201711136219A CN107757848A CN 107757848 A CN107757848 A CN 107757848A CN 201711136219 A CN201711136219 A CN 201711136219A CN 107757848 A CN107757848 A CN 107757848A
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- underwater autonomous
- propeller
- hydrolocation
- autonomous robot
- robot
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- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 27
- 230000008878 coupling Effects 0.000 claims description 25
- 238000010168 coupling process Methods 0.000 claims description 25
- 238000005859 coupling reaction Methods 0.000 claims description 25
- 150000001875 compounds Chemical class 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
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- 238000000034 method Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
- B63H23/24—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing electric
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- 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
Abstract
The invention discloses one kind can the underwater autonomous robot of formation work, including robot body, sound lead to machine, hydrolocation beacon, propeller；The logical machine of sound is provided with front of the robot body top, rear is provided with hydrolocation beacon；The robot body rear end is spirally connected with the afterbody housing seal on propeller, and the propeller rear end is provided with afterbody kuppe and propeller；Electronic compartment and depth transducer with inertial navigation instrument are provided with the robot body；The present invention is supporting using the hydrolocation basic matrix under water on autonomous robot on assembling hydrolocation beacon and the slow lash ship of branch and carries out the logical machine of frequency modulation solution frequency, assembling sound and the slow lash ship information mutual communication of branch and carries out frequency modulation solution frequency；Precise positioning, real time calibration, formation while positioning and the formation synchronous manipulation of underwater autonomous robot are realized, improves the operating efficiency of underwater autonomous robot.
Description
Technical field
The present invention relates to ocean engineering technology apparatus field, and more particularly to one kind can the underwater autonomous robot of formation work.
Background technology
Ocean is natural resource treasure-house, and 21 century is the century of ocean, develops, makes good use of marine resources and have become people
The common recognition of class.The primary premise of exploitation ocean is exactly that marine resources and marine environment are detected.The hand of detection ocean at present
Section mainly includes three kinds of boat-carrying detecting devices, pull-type detecting devices and underwater autonomous robot etc..
Boat-carrying detecting devices refers to detecting devices being arranged on hull by rigid mounting bracket, is completed using ship's navigation
The equipment of detection mission.Boat-carrying detecting devices is typically only applied to shallow sea or offshore field because the detection range of equipment is limited.
Pull-type detecting devices refers to detecting devices cloth is put into benthos by trailing cable by operation ship, utilizes ship
The equipment that detection mission is completed in oceangoing ship towing.Detecting devices cloth can be put into by ocean depth by trailing cable using the kind equipment
Place, can be achieved the detection mission of larger depth, but as the increase of investigation depth, towrope resistance are on the increase, cause to pull
Speed declines, detection efficient declines.Meanwhile the supporting tonnage of ship that the kind equipment needs is larger, ensure it is difficult, operating cost and
Task difficulty is also very big.
Underwater autonomous robot is mounted in by propping up slow lash ship, and after reaching operation waters, production plan is set by main control end
Cloth is put into water afterwards, by its autonomous completion detection mission, is recovered to again on lash ship after the completion of task.Using underwater autonomous machine
During people's progress detect operation, the requirement for the slow lash ship of branch is relatively low, has and ensures the advantages such as easy, support cost is low, meanwhile, one
Branch, which delays lash ship, can carry several underwater autonomous robots simultaneously, reduce further and ensure difficulty and support cost.But mesh
Preceding underwater autonomous robot is all used aloned, the defects of operating efficiency is not high be present.Meanwhile underwater autonomous robot all uses
Inertial navigation system, need to emerge after a period of time that works under water and inertial navigation system is calibrated, reduce further
Operating efficiency.Therefore, the operating efficiency for improving underwater autonomous robot is the technical barrier for urgently needing to solve.Due to it is underwater from
Main robot all uses battery powered, power limited, wants that the difficulty that operating efficiency is improved by way of improving the speed of a ship or plane is larger.
The operating efficiency for improving underwater autonomous robot is needed mainly to start with terms of two：First, underwater autonomous robot is individually made
The mode of industry changes into formation work, and operating efficiency is improved by multiple underwater autonomous robots while work compound；Second,
The technique preparation time of underwater autonomous robot is reduced, is exactly mainly to change it to need regularly to emerge at present to be calibrated
Operating type.
The content of the invention
In order to solve the above technical problems, the invention provides one kind can the underwater autonomous robot of formation work, for existing
Deficiency in technology, using the hydrolocation basic matrix assembled under water on autonomous robot on hydrolocation beacon and the slow lash ship of branch
It is supporting and carry out frequency modulation solution frequency, assembling sound leads to machine lash ship information mutual communication slow with branch and carries out frequency modulation solution frequency；Realize under water from main frame
Being accurately positioned of device people, can on-line calibration, form into columns positions and formation synchronous manipulation simultaneously, improve the work of underwater autonomous robot
Industry efficiency.
To reach above-mentioned purpose, technical scheme is as follows：One kind can the underwater autonomous robot of formation work, including
Robot body, sound lead to machine, hydrolocation beacon, propeller, it is characterised in that：
The robot body includes sealing baffle I, seal casinghousing, electronic compartment and depth transducer；The seal casinghousing
Front end is spirally connected with sealing baffle I, head kuppe by O-ring seals screens, is provided with front of the robot body top
Sound leads to machine, rear is provided with hydrolocation beacon；The robot body rear end is close by O shapes with the afterbody housing on propeller
Seal screens is spirally connected, and the propeller rear end is provided with afterbody kuppe and propeller；Band is provided with the robot body
There are the electronic compartment and depth transducer of inertial navigation instrument；
The hydrolocation beacon supports the use with supporting the hydrolocation basic matrix on lash ship, and combines and support defending for lash ship
Star location data, the real time position of underwater autonomous robot is accurately resolved；The underwater autonomous robot is according to resolving
Location data self-contained inertial navigation instrument is calibrated；
The underwater autonomous robot is led to machine and supported between lash ship by sound establishes information mutual communication, and the sound leads to machine by water
The work information of lower autonomous robot is sent to support lash ship, and receives the control instruction and positional information for supporting lash ship；Pass through
The centralized Control of lash ship is supported, realizes the formation work compound between multiple underwater autonomous robots.
The hydrolocation beacon employs frequency modulation solution frequency measure, can by a set of hydrolocation basic matrix propped up on slow lash ship
Simultaneously with multiple hydrolocation beacon auxiliary works, possesses the function to multiple underwater autonomous robots while positioning.
The sound lead to machine employ frequency modulation solution frequency measure, by a branch delay lash ship simultaneously with multiple underwater autonomous robots
Auxiliary work, possesses the function to multiple underwater autonomous robots while control.
The electronic compartment includes battery pack, Control card, inertial navigation instrument and electronic compartment skeleton.
The propeller includes afterbody housing, steering wheel, motor, magnetic coupling inner sleeve, rudder plate, rudder plate axle, sealing baffle II, magnetic
Couple overcoat, propeller shaft, afterbody kuppe, axle sleeve and bearing；The afterbody casing center be equipped with motor and multiple steering wheels,
Tail end, which is spirally connected, is provided with afterbody kuppe；Magnetic coupling inner sleeve, the propeller shaft are fixedly installed on the power transmission shaft of the motor
On be fixedly installed magnetic coupling overcoat；The magnetic coupling inner sleeve and magnetic coupling overcoat are coaxially disposed in sealing baffle II, described
Propeller shaft is fixedly installed on the rear end of sealing baffle II by bearing and axle sleeve and afterbody kuppe is provided with spiral
Oar；The steering wheel drives rudder plate axle and rudder plate by bevel gear set.
The present invention operation principle be：This can the underwater autonomous robot of formation work machine, hydrolocation are mainly led to by sound
Beacon, head kuppe, sealing baffle I, seal casinghousing, electronic compartment and propeller etc. form；Wherein electronic compartment is mainly by battery
Group, Control card, optical fiber inertial navigation and mounting framework etc. form, propeller mainly by afterbody housing, steering wheel, rudder plate, promote mainly electricity
Machine, Magnetic Pole Coupling and propeller etc. form；Magnetic Pole Coupling includes magnetic coupling inner sleeve, magnetic coupling overcoat；The water
Acoustic fix ranging beacon supports the use with supporting the hydrolocation basic matrix on lash ship, and combines the satellite location data for supporting lash ship, can
The real time position of underwater autonomous robot is accurately resolved.Underwater autonomous robot can be according to the real time positioning data of resolving
Self-contained inertial navigation system is calibrated, so as to the operation process calibrated of avoiding having to emerge, saved
The technique preparation time, improve the operating efficiency of underwater autonomous robot.The sound leads to machine and supports achievable letter between lash ship
Intercommunication is ceased, the work information of itself can be sent to support lash ship, can also receive the control instruction and positional information for supporting lash ship.
By supporting the centralized Control of lash ship, the work compound between multiple underwater autonomous robots is realized, improves operating efficiency.
Acoustic positioning system uses frequency modulation solution frequency measure, and a set of hydrolocation basic matrix, which can be achieved, to match somebody with somebody simultaneously with multiple hydrolocation beacons
Work is covered, is realized to multiple while positioning function.Sound, which leads on machine, employs frequency modulation solution frequency measure, and a branch can be achieved and delay lash ship
Simultaneously with multiple underwater autonomous robot auxiliary works, the function to multiple underwater robots while control is realized.
Pass through above-mentioned technical proposal, the beneficial effect of technical solution of the present invention are：Using being filled under water on autonomous robot
It is supporting with propping up the hydrolocation basic matrix on slow lash ship with hydrolocation beacon, can be right with reference to the satellite location data for supporting lash ship
The real time position of underwater autonomous robot is accurately resolved；Using frequency modulation solution frequency measure, a set of hydrolocation basic matrix can be achieved
Simultaneously with multiple hydrolocation beacon auxiliary works, the function to multiple underwater robots while positioning is realized；Using under water
Assembling sound leads to machine and the slow lash ship information mutual communication of branch on autonomous robot, by supporting lash ship centralized Control, realize it is multiple it is underwater from
Collaboration formation work between main robot, improve operating efficiency；Using frequency modulation solution frequency measure, it is same that the slow lash ship of a branch can be achieved
When with multiple underwater autonomous robot auxiliary works, realize to multiple underwater robots manipulation function simultaneously；Underwater autonomous machine
People by assemble hydrolocation beacon harmony lead to machine, realize be accurately positioned, can on-line calibration, form into columns at the same position and form into columns together
Step manipulation, fundamentally improve the operating efficiency of underwater autonomous robot.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is that one kind disclosed in the embodiment of the present invention can the underwater autonomous robot profile schematic diagram of formation work；
Fig. 2 is that one kind disclosed in the embodiment of the present invention can the underwater autonomous robot electronic compartment amplification signal of formation work
Figure；
Fig. 3 be one kind disclosed in the embodiment of the present invention can formation work's underwater autonomous robot propeller section amplification show
It is intended to.
Corresponding component title of the numeral represented by with letter in figure：
1. the sound of 2. sealing baffle of head kuppe, I 3. seal casinghousing 4. leads to machine
5. the propeller of 6. hydrolocation beacon of electronic compartment, 7. depth transducer 8.
9. the Control card of 10. battery bag of propeller, 11. inertial navigation instrument 12.
13. the motor of 14. afterbody housing of electronic compartment skeleton, 15. steering wheel 16.
17. the sealing baffle II of 18. rudder plate of magnetic coupling inner sleeve, 19. rudder plate axle 20.
21. the axle sleeve of 22. propeller shaft of magnetic coupling overcoat, 23. afterbody kuppe 24.
25. bearing
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
According to Fig. 1, Fig. 2 and Fig. 3, the invention provides one kind can the underwater autonomous robot of formation work, including robot
Body, sound lead to machine, hydrolocation beacon, propeller.
The robot body includes sealing baffle I 2, seal casinghousing 3, electronic compartment 5 and depth transducer 7；The sealing
The front end of housing 3 is spirally connected with sealing baffle I 2, head kuppe 1 by O-ring seals screens, in front of the robot body top
Sound logical machine 4, rear is set to be provided with hydrolocation beacon 6；The robot body rear end and the afterbody housing on propeller 8
14 are spirally connected by O-ring seals screens, and the rear end of propeller 8 is provided with afterbody kuppe 23 and propeller 9；The robot
Electronic compartment 5 and depth transducer 7 with inertial navigation instrument 11 are provided with body；
The hydrolocation beacon 6 supports the use with supporting the hydrolocation basic matrix on lash ship, and combines and support lash ship
Satellite location data, the real time position of underwater autonomous robot is accurately resolved；The underwater autonomous robot is according to solution
The location data of calculation is calibrated to self-contained inertial navigation instrument 11；
The underwater autonomous robot is led to machine 4 and supported between lash ship by sound establishes information mutual communication, and the sound leads to machine 4 will
The work information of underwater autonomous robot is sent to support lash ship, and receives the control instruction and positional information for supporting lash ship；It is logical
The centralized Control for supporting lash ship is crossed, realizes the formation work compound between multiple underwater autonomous robots.
The hydrolocation beacon 6 employs frequency modulation solution frequency measure, by propping up a set of hydrolocation basic matrix on slow lash ship
Can possess the function to multiple underwater autonomous robots while positioning simultaneously with multiple auxiliary works of hydrolocation beacon 6.
The sound lead to machine 4 employ frequency modulation solution frequency measure, by a branch delay lash ship simultaneously with multiple underwater autonomous machines
People's auxiliary work, possesses the function to multiple underwater autonomous robots while control.
The electronic compartment 5 includes battery pack 10, Control card 12, inertial navigation instrument 11 and electronic compartment skeleton 13.
The propeller 8 include afterbody housing 14, steering wheel 15, motor 16, magnetic coupling inner sleeve 17, rudder plate 18, rudder plate axle 19,
Sealing baffle II 20, magnetic coupling overcoat 21, propeller shaft 22, afterbody kuppe 23, axle sleeve 24 and bearing 25；The afterbody housing
14 centers are equipped with motor 16 and multiple steering wheels 15, tail end are spirally connected and are equipped with afterbody kuppe 23；The power transmission shaft of the motor 16
On be fixedly installed magnetic coupling inner sleeve 17, be fixedly installed magnetic coupling overcoat 21 on the propeller shaft 22；In the magnetic coupling
Set 17 and magnetic coupling overcoat 21 are coaxially disposed in sealing baffle II 20, and the propeller shaft 22 is solid by bearing 25 and axle sleeve 24
Surely it is arranged on the rear end of sealing baffle II 20 and afterbody kuppe 23 is provided with propeller 9；The steering wheel 15 passes through helical teeth
Wheel group driving rudder plate axle 19 and rudder plate 18.
The present invention specific implementation operating procedure be：Electronic compartment 5 is assembled first integral：First inertial navigation instrument 11 is installed to
On the top platform of battery bag 10, then electronic compartment skeleton 13 is installed to the end face of battery bag 10, then Control card 12 is pacified
It is attached on electronic compartment skeleton 13；
Meanwhile propeller 9 is installed integral：Four, upper and lower, left and right steering wheel 15 is installed to tail by screw successively
In steering wheel installation site on portion's housing 14, the installation of insertion afterbody housing 14 after sealing O-ring is placed on rudder plate axle 19
In hole, gear is installed in the tail end of rudder plate axle 19 and steering wheel 15, makes to be driven by bevel gear between the two, then by rudder plate
18 are installed on rudder plate axle 19 and fix.Magnetic coupling inner sleeve 17 is installed on motor 16 and fixed, then motor 16 is installed
Onto sealing baffle II 20, then propeller shaft 22 is inserted into axle sleeve 24, respectively loads one at the both ends of propeller shaft 22
After bearing 25, then magnetic coupling overcoat 21 is installed, then axle sleeve 24 is installed on sealing baffle II 20, then by sealing baffle II
20 are installed on afterbody housing 14, and finally afterbody kuppe 23 is installed to 24 on axle sleeve；
Secondly, sound led into machine 4, hydrolocation beacon 6 and depth transducer 7 be successively installed on seal casinghousing 3 and fix,
Electronic compartment 5 is installed to 3 in seal casinghousing again, kept off sealing after O-ring seals are placed in the head groove of seal casinghousing 3
Plate I 2 is installed on seal casinghousing 3, then head kuppe 1 is installed on sealing baffle I 2, in the afterbody groove of seal casinghousing 3
Inside place propeller 8 to be installed on seal casinghousing 3 after O-ring seals and fix, propeller 9 is finally installed to propeller
Fixed on axle 22.So far, underwater autonomous robot installs.
By above-mentioned specific embodiment, the beneficial effects of the invention are as follows：Using the underwater sound is assembled on autonomous robot under water
Hydrolocation basic matrix on localizer beacon and the slow lash ship of branch is supporting, with reference to the satellite location data for supporting lash ship, can to it is underwater from
The real time position of main robot is accurately resolved；Using frequency modulation solution frequency measure, can be achieved a set of hydrolocation basic matrix simultaneously with
Multiple hydrolocation beacon auxiliary works, realize the function to multiple underwater robots while positioning；Using under water from main frame
Assembling sound leads to machine and the slow lash ship information mutual communication of branch on device people, by supporting lash ship centralized Control, realizes multiple underwater autonomous machines
Collaboration formation work between people, improve operating efficiency；Using frequency modulation solution frequency measure, can be achieved a branch delay lash ship simultaneously with it is more
Individual underwater autonomous robot auxiliary work, is realized to multiple underwater robots while manipulation function；Underwater autonomous robot passes through
Assemble hydrolocation beacon harmony and lead to machine, realize be accurately positioned, can on-line calibration, form into columns while synchronous grasp that position and form into columns
Control, fundamentally improve the operating efficiency of underwater autonomous robot.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (5)
1. one kind can the underwater autonomous robot of formation work, it is characterised in that leads to machine, hydrolocation including robot body, sound
Beacon, propeller；The robot body includes sealing baffle I, seal casinghousing, electronic compartment and depth transducer；The sealing
Housing forward end is spirally connected with sealing baffle I, head kuppe by O-ring seals screens, is set in front of the robot body top
It is equipped with the logical machine of sound, rear is provided with hydrolocation beacon；The robot body rear end passes through O with the afterbody housing on propeller
Shape sealing ring screens is spirally connected, and the propeller rear end is provided with afterbody kuppe and propeller；Set in the robot body
There are electronic compartment and depth transducer with inertial navigation instrument；
The hydrolocation beacon supports the use with supporting the hydrolocation basic matrix on lash ship, and combines the satellite for supporting lash ship
Position data, are accurately resolved to the real time position of underwater autonomous robot；The underwater autonomous robot is determined according to resolving
Position data are calibrated to self-contained inertial navigation instrument；
The underwater autonomous robot is led to machine and supported between lash ship by sound establishes information mutual communication, and the sound leads to machine will under water certainly
The work information of main robot is sent to support lash ship, and receives the control instruction and positional information for supporting lash ship；Pass through support
The centralized Control of lash ship, realize the formation work compound between multiple underwater autonomous robots.
2. one kind according to claim 1 can the underwater autonomous robot of formation work, it is characterised in that the hydrolocation
Beacon employs frequency modulation solution frequency measure, can be believed simultaneously with multiple hydrolocations by a set of hydrolocation basic matrix propped up on slow lash ship
Auxiliary work is marked, possesses the function to multiple underwater autonomous robots while positioning.
3. one kind according to claim 1 can the underwater autonomous robot of formation work, it is characterised in that the sound, which leads to machine, to be adopted
With frequency modulation solution frequency measure, lash ship is delayed simultaneously with multiple underwater autonomous robot auxiliary works by a branch, possessed to multiple
The function that underwater autonomous robot controls simultaneously.
4. one kind according to claim 1 can the underwater autonomous robot of formation work, it is characterised in that the electronic compartment bag
Include battery pack, Control card, inertial navigation instrument and electronic compartment skeleton.
5. one kind according to claim 1 can the underwater autonomous robot of formation work, it is characterised in that the propeller bag
Include afterbody housing, steering wheel, motor, magnetic coupling inner sleeve, rudder plate, rudder plate axle, sealing baffle II, magnetic coupling overcoat, propeller shaft, tail
Portion's kuppe, axle sleeve and bearing；The afterbody casing center, which is equipped with motor, and multiple steering wheels, tail end are spirally connected is provided with afterbody and leads
Stream cover；Magnetic coupling inner sleeve is fixedly installed on the power transmission shaft of the motor, is fixedly installed on the propeller shaft outside magnetic coupling
Set；The magnetic coupling inner sleeve and magnetic coupling overcoat are coaxially disposed in sealing baffle II, and the propeller shaft passes through bearing and axle
Set is fixedly installed on the rear end of sealing baffle II and afterbody kuppe is provided with propeller；The steering wheel passes through helical gear
Group driving rudder plate axle and rudder plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711136219.4A CN107757848A (en) | 2017-11-16 | 2017-11-16 | One kind can the underwater autonomous robot of formation work |
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| CN201711136219.4A CN107757848A (en) | 2017-11-16 | 2017-11-16 | One kind can the underwater autonomous robot of formation work |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018269A (en) * | 2018-09-06 | 2018-12-18 | 中国船舶工业系统工程研究院 | A kind of propulsion device of the full electric drive underwater robot of big depth |
| CN109782323A (en) * | 2018-12-24 | 2019-05-21 | 中国船舶重工集团公司第七一0研究所 | A kind of deep-sea autonomous underwater vehicle navigator fix and calibration method |
| CN109856668A (en) * | 2019-03-21 | 2019-06-07 | 西南科技大学 | A kind of multi-machine collaborative monitoring method of marine radioactive pollution |
| CN111645835A (en) * | 2019-12-10 | 2020-09-11 | 河北汉光重工有限责任公司 | Unmanned primary and secondary underwater vehicle with multiple underwater belts |
| CN111699611A (en) * | 2019-02-14 | 2020-09-22 | 苏州微孚智能科技有限公司 | Full-immersion type underwater propeller and electric floating plate |
| CN117111613A (en) * | 2023-09-05 | 2023-11-24 | 广东工业大学 | Cluster cooperative control method for underwater robot |
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