CN108082436A - A kind of propulsion device and underwater robot for underwater robot - Google Patents
A kind of propulsion device and underwater robot for underwater robot Download PDFInfo
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- CN108082436A CN108082436A CN201810075035.XA CN201810075035A CN108082436A CN 108082436 A CN108082436 A CN 108082436A CN 201810075035 A CN201810075035 A CN 201810075035A CN 108082436 A CN108082436 A CN 108082436A
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- China
- Prior art keywords
- underwater robot
- propeller
- propulsion device
- steering engine
- propulsion
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of propulsion device for underwater robot, including balance element, propeller and driving mechanism for adjusting propeller direction of propulsion；Balance element is used to that propulsion device to be made to keep balance；A kind of underwater robot, including propulsion device and for controlling propulsion device so that underwater robot is capable of the control system of directed movement, control system is electrically connected with propulsion device, the present invention is by setting propeller and driving mechanism, driving mechanism main function is for adjusting the direction of propulsion of propeller, by changing the thrust direction of propeller so as to realize the movement of the more freedom of propulsion device, and then realize the movement of underwater robot more freedom.The present invention by control system and the synergistic effect of propulsion device, realizes the multifreedom motion of underwater robot, and then realizes that underwater robot monitors more full visual angle by setting propulsion device and control system.
Description
Technical field
The present invention relates to the technical fields of robot, specifically, refer to a kind of propulsion device for underwater robot
And underwater robot.
Background technology
Existing underwater robot can realize monitoring and be detected in water space, but current underwater robot prison
There is certain limitation at the visual angle surveyed and detected, it is impossible to monitor more full visual angle, so as to there are underwater robot monitoring efficiency not
The technical issues of high.
The content of the invention
The first object of the present invention is to provide a kind of propulsion device for underwater robot, for solving the prior art
Present in：Multifreedom motion is can not achieve for the propulsion device of underwater robot, is not had so as to cause underwater robot
There is the technical issues of realizing more freedom locomitivity.
The second object of the present invention is to provide a kind of underwater robot, in the prior art for solving：Under water
Robot can not achieve multivariant movement, so that underwater robot cannot be monitored and detected with more full visual angle, from
And the technical issues of making underwater task efficiency low.
What the embodiment of the present invention was realized in：It is promoted including balance element, propeller and for adjusting the propeller
The driving mechanism in direction；The balance element is used to that the propulsion device to be made to keep balance.
In order to which the present invention is better achieved, further, the driving mechanism includes steering engine and tuning component；The steering engine
It is sequentially connected with the tuning component, so that the tuning component can adjust the direction of propulsion of the propeller.
In order to which the present invention is better achieved, further, the driving mechanism includes the first steering engine and the second steering engine, described
First steering engine and second steering engine are sequentially connected with the propeller.
The plane of the rotational axis line rotated perpendicular to propeller described in first servo driving is the first plane, vertically
In described in second servo driving propeller rotate rotational axis line plane be the second plane, first plane and institute
The angle for stating the second plane is α, 0 ＜ α≤90 °.
In order to which the present invention is better achieved, further, the angle α of first plane and second plane is 90 °,
The rotational axis line that propeller described in first servo driving rotates is rotated with propeller described in second servo driving
Rotational axis line copline, the rotational axis line and the axial line of propeller that propeller described in first servo driving rotates are total to
Plane.
In order to which the present invention is better achieved, further, the propulsion device is multiple, and multiple propulsion devices are uniform
It is distributed in the balance element.
In order to which the present invention is better achieved, further, the propeller is hydraulic propeller.
A kind of underwater robot, including propulsion device and for controlling the propulsion device so that underwater robot can be determined
To the control system of movement, the control system is electrically connected with the propulsion device.
In order to which the present invention is better achieved, further, the underwater robot further includes waterproof compartment, the control system
In waterproof compartment, the propulsion device is set in the outer wall of the waterproof compartment.
In order to which the present invention is better achieved, further, the balance element is in annular shape.
In order to which the present invention is better achieved, further, the underwater robot further includes housing, the propulsion device and
The control system is placed in the housing, and the housing is equipped with for the notch of propeller water spray.
In order to which the present invention is better achieved, further, the control system includes sensor, power supply and control assembly,
The sensor, the control assembly and the driving mechanism with the power electric connection；The control assembly is used to receive
Information that the sensor is sent and by the information carry out data processing and analysis and meanwhile will treated information to the drive
Motivation structure sends instruction.
Compared with prior art, the present invention haing the following advantages and advantageous effect：
The invention solves the first technical problem be that propulsion device can not achieve multivariant movement, the present invention passes through
Propeller and driving mechanism are set, and driving mechanism main function is for adjusting the direction of propulsion of propeller, is promoted by changing
The thrust direction of device realizes underwater robot more freedom so as to realize the movement of the more freedom of propulsion device
Movement.
The invention solves the second technical problem be that underwater robot is unable to multifreedom motion so that monitoring and visit
The visual angle looked into is not complete, and the present invention is made by setting propulsion device and control system by the collaboration of control system and propulsion device
With realizing the multifreedom motion of underwater robot, and then realize that underwater robot possesses more full monitoring visual angle.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other features of the invention,
Objects and advantages will become apparent：
Fig. 1 is the structure diagram of propulsion device of the embodiment of the present invention；
Fig. 2 is hydraulic propeller of the embodiment of the present invention and the structure diagram of driving mechanism；
Fig. 3 is the structure diagram of underwater robot of the embodiment of the present invention；
Fig. 4 is underwater robot decomposition texture schematic diagram of the embodiment of the present invention；
Fig. 5 is underwater robot of the embodiment of the present invention perpendicular to the first visual angle of horizontal motion；
Fig. 6 is underwater robot of the embodiment of the present invention perpendicular to the second visual angle of horizontal direction；
Fig. 7 is stereogram of the underwater robot of the embodiment of the present invention perpendicular to horizontal direction；
Fig. 8 is the first visual angle of underwater robot direction of forward movement of the embodiment of the present invention；
Fig. 9 is the second visual angle of underwater robot direction of forward movement of the embodiment of the present invention；
Figure 10 is the stereogram of underwater robot direction of forward movement of the embodiment of the present invention；
Figure 11 is the first visual angle that underwater robot of the embodiment of the present invention prolongs horizontal motion；
Figure 12 is the second visual angle that underwater robot of the embodiment of the present invention prolongs horizontal motion；
Figure 13 is the stereogram that underwater robot of the embodiment of the present invention prolongs horizontal motion；
Figure 14 is the first visual angle that underwater robot of the embodiment of the present invention prolongs inclined direction movement；
Figure 15 is the second visual angle that underwater robot of the embodiment of the present invention prolongs inclined direction movement；
Figure 16 is the stereogram that underwater robot of the embodiment of the present invention prolongs inclined direction movement.
Wherein：11- balance elements, the first steering engines of 21-, the second steering engines of 22-, 23- tuning framves, 24- tuning axis, 25- propellers,
31- first shells, 32- second shells, 33- waterproof compartments.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can configure to arrange and design with a variety of.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to explanation, the orientation of the instructions such as term " vertical ", " level ", " interior ", " outer "
Or position relationship be based on orientation shown in the drawings or position relationship or the invention product using when the orientation usually put
Or position relationship, it is for only for ease of the description present invention and simplifies description rather than instruction or imply signified device or element
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Term " parallel ", " vertical " etc. are not offered as requiring component absolute parallel or vertical, but can be slightly tilted.Such as
" parallel " only refers to that its direction is more parallel with respect to for " vertical ", is not to represent that the structure has to be substantially parallel, and
It is that can be slightly tilted.
The terms such as term " level ", " vertical ", " pendency " are not offered as requiring component abswolute level or pendency, but can be with
It is slightly tilted.It is not to represent that the structure is had to if " level " only refers to that its direction is more horizontal with respect to for " vertical "
Fully horizontally, but can be slightly tilted.
In addition, the terms such as " substantially ", " basic " are intended to illustrate that related content is not absolute accurate of requirement, but can be with
There is certain deviation.Such as：" substantially parallel " be not offered as it is absolute parallel, due in actual production, operating process, it is difficult to do
To absolute " parallel ", certain deviation is usually present.It is unless otherwise specified, " big in the case of other as example
The terms such as cause ", " basic " are meaning similar to the above.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or one
It connects body；It can be directly connected, can also be indirectly connected by intermediary, can be the connection inside two elements.
For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
A kind of propulsion device for underwater robot as shown in figures 1-4, including balance element 11, propeller 25 and is used for
Adjust the driving mechanism of 25 direction of propulsion of propeller；The balance element 11 is used to that the propulsion device to be made to keep balance.
Further, the driving mechanism includes steering engine and tuning component；The steering engine is sequentially connected with the tuning component,
So that the tuning component can adjust the direction of propulsion of the propeller 25.
The driving mechanism includes the first steering engine 21 and the second steering engine 22, first steering engine 21 and second steering engine 22
It is sequentially connected with the propeller 25.
Further, the plane of rotational axis line that the propeller 25 rotates is driven perpendicular to first steering engine 21 as the
One plane, the plane that the rotational axis line of the rotation of propeller 25 is driven perpendicular to second steering engine 22 is the second plane,
The angle of first plane and second plane is α, 0 ＜ α≤90 °.
Further, the angle α of first plane and second plane is 90 °, and first steering engine 21 drives described
The rotational axis line that the rotational axis line that propeller 25 rotates drives the propeller 25 to rotate with second steering engine 22 is put down altogether
Face, first steering engine 21 drive the axial line copline of the rotational axis line that the propeller 25 rotates and propeller 25.
Further, the propulsion device is multiple that multiple propulsion devices are uniformly distributed in the balance element 11.
Further, the propeller 25 is hydraulic propeller 25.
It is pointed out that with the development of robot and correlation technique, underwater robot is also developed rapidly, mesh
The propulsion device of preceding underwater robot is typically to realize as far as possible more degree of freedom using minimum propeller 25.The prior art
In, be typically only to select a propeller 25, but use propeller 25 in terms of thrust is provided on be clearly present deficiency,
So that the traveling posture of underwater robot is difficult to control, so as to be difficult to realize the movement of underwater robot more freedom.
The present apparatus is mainly used for solving technical problem in the prior art：The propulsion dress of existing underwater robot
It puts, it is impossible in the case of low energy consumption, high reliability, realize full visual angle pose adjustment, that is, can not achieve multivariant movement；
In order to realize multivariant movement, the present apparatus is by setting balance element 11, propeller 25 and driving mechanism.
The propeller 25 of the present apparatus can be that screw propeller 25, hydraulic propeller 25 or vector propeller 25 etc. are a variety of
In any one, used by screw propeller is current most of underwater robots, its thrust be by fluid from
Change what is generated to rear propeller momentum in front of propeller, even if also water is released and is accelerated in water by the helicoid of blade,
Due to the reaction force and then generation thrust of current.In order to obtain higher movement velocity, screw propeller is optimal choosing
It selects, because screw propeller has higher thrust.Really screw propeller can generate higher thrust, but also therefore
Larger running noise will be generated, which is unfavorable for the operation of underwater robot, is especially detrimental to underwater robot
Concealment.
Therefore this propulsion device is preferably hydraulic propeller 25 and vector propeller, still further preferably be hydraulic jet propulsion
Device 25, hydraulic propeller 25 are to spray the reaction force made a concerted effort of current by being sprayed after water pump acquisition speed through spout by water
For thrust, thrust promotes underwater robot movement, hydraulic propeller 25 using water spray motor as power source, with more excellent
Point, such as noise are small, good concealment, and blown-out shot effect is low.In addition, the operability of hydraulic propeller 25 is stronger, because current lead to
After crossing spout ejection, water (flow) direction is certain, so that propulsion device can walk along fixed route, coordinates driving mechanism control
The outbound course of brake force so that the action control of underwater robot is more accurate, propulsive efficiency higher.
The main function of driving mechanism is for adjusting 25 water spraying direction of hydraulic propeller, and driving mechanism mainly includes rudder
Machine is the first steering engine 21 and the second steering engine 22 respectively, wherein turning perpendicular to what the first steering engine 21 driving hydraulic propeller 25 rotated
The plane of dynamic axial line is the first plane, and the rotational axis line rotated perpendicular to the second steering engine 22 driving hydraulic propeller 25 is put down
Face is the second plane, and there are angle αs, the value range of the angle α between the first plane and the second plane to be：0 ＜ α≤90 ° lead to
The first steering engine 21 and 22 collective effect of the second steering engine are crossed in hydraulic propeller 25, the water spray side of hydraulic propeller 25 is adjusted with this
The propulsive thrust direction for thrust of spraying water to, hydraulic propeller 25 is then the direction of motion of hydraulic propeller 25, is pushed away by changing water spray
Into the water spraying direction of device 25, so as to change the direction that propulsion device moves under water, and then change underwater robot and transport under water
Dynamic direction.
When the angle of the first plane and the second plane is 90 °, the rotation axis of the first steering engine 21 driving rotation of propeller 25
The rotational axis line copline that heart line and the second steering engine 22 driving propeller 25 rotate, the first steering engine 21 driving propeller 25 rotate
Rotational axis line and propeller 25 axial line copline.
The axial line of propeller 25 needs to illustrate herein, when propeller 25 is hydraulic propeller, the propeller 25
Axial line be spout axial line；When propeller 25 is screw propeller, the axial line of propeller 25 turns for propeller
The rotational axis line of axis.It is 90 ° to set α, and the scope that 25 thrust of propeller can be adjusted at this time is wider, and the propeller 25
Motive force is more uniform, is more advantageous to controlling the direction of motion of entire propulsion device comprehensively.
In order to change the water spraying direction of hydraulic propeller 25, the driving mechanism further includes steering engine and tuning component,
As shown in Fig. 2, under the driving effect of steering engine, the direction of motion of tuning component is adjusted, steering engine can be one or more
A, the preferred steering engine of the present apparatus is two, is the first steering engine 21 and the second steering engine 22 respectively, and the first steering engine 21 and the second steering engine
22 can drive tuning component simultaneously.
Tuning component mainly includes tuning frame 23 and tuning axis 24, and as shown in FIG., the tuning frame 23 is u-shaped, spray
Water propeller 25 is placed in tuning frame 23, and tuning axis 24 sequentially passes through tuning frame 23 and hydraulic propeller 25.Wherein the first steering engine
21 are sequentially connected with tuning frame 23, and the second steering engine 22 is sequentially connected with tuning axis 24, and tuning frame is driven perpendicular to the first steering engine 21
The plane of 23 rotational axis line intersects with the plane of the rotational axis line perpendicular to the second steering engine 22 driving tuning axis 24, angle
To be more than 0 ° and less than or equal to 90 °.
Tuning frame 23 is driven by the first steering engine 21, the second steering engine 22 driving tuning axis 24 passes through tuning frame 23 and tuning
Axis 24 acts synergistically on hydraulic propeller 25 simultaneously, changes the water spraying direction of hydraulic propeller 25 with this, and then realizes and promote dress
The adjusting in direction is put, so as to achieve the purpose that adjust the underwater robot direction of motion.
The plane of the rotational axis line of tuning frame 23 is driven perpendicular to the first steering engine 21 with being driven perpendicular to the second steering engine 22
The angle that the plane of the rotational axis line of tuning axis 24 intersects is 90 °, the scope that 25 thrust of hydraulic propeller can be adjusted at this time
It is wider, and the motive force of hydraulic propeller 25 is more uniform, is more advantageous to controlling the direction of motion of entire propulsion device comprehensively.
In order to make the present apparatus that can keep balancing under water, therefore the present apparatus further comprises balance element 11, and balance element
11 have diversified forms.The balance element 11 of the present apparatus can be clump weight or annulus etc..Present apparatus propeller 25 and drive
Motivation structure is combined as propulsive mechanism, propulsive mechanism more than one, when propulsive mechanism only there are one when, which is preferably to match somebody with somebody
Pouring weight.Propulsive mechanism can have multiple, such as have 4, which is located at flat respectively in annular shape, 4 propulsive mechanisms
The four direction of weighing apparatus part 11, as shown in fig. 1, balance element 11 does not only serve certain balanced action at this time, also plays connection function.
For the present apparatus by the way that 4 propulsive mechanisms is set to adjust the direction of propulsion of entire propulsion device jointly, which is 4 water sprays
The negative direction made a concerted effort of 25 thrust of propeller.
The embodiment one of the present apparatus：The present apparatus has 4 propulsive mechanisms, and 4 propulsive mechanisms are located at balance respectively
4 directions of part 11 drive hydraulic propeller 25 simultaneously by the first steering engine 21 and the second steering engine 22, and change hydraulic propeller
25 water spraying directions, the negative direction made a concerted effort of the thrust of 4 propulsive mechanisms are the direction of motion of propulsion device.
The embodiment two of the present apparatus：As shown in FIG., the present apparatus has 4 propulsive mechanisms, and 4 propulsive mechanisms point
Not Wei Yu balance element 11 4 directions, tuning frame 23 is driven by the first steering engine 21, the second steering engine 22 driving tuning axis 24 leads to
Toning acts synergistically on hydraulic propeller 25 simultaneously to frame 23 and tuning axis 24, so as to change the side of the water spray of hydraulic propeller 25
To the negative direction made a concerted effort of the thrust of 4 propulsive mechanisms is the direction of motion of propulsion device.
The present apparatus is by setting driving mechanism, balance element 11 and propeller 25, under the driving effect of driving mechanism, so as to
Propulsion device is enable to complete multivariant movement.
A kind of underwater robot, including propulsion device and for controlling the propulsion device so that underwater robot can be determined
To the control system of movement, the control system is electrically connected with the propulsion device.
Further, the underwater robot further includes waterproof compartment 33, and the control system is arranged in waterproof compartment 33, described to push away
The outer wall of the waterproof compartment 33 is set in into device.
Further, the balance element 11 is in annular shape.
Further, the underwater robot further includes housing, and the propulsion device and the control system are placed in described
In housing, the housing is equipped with for the notch of the propeller 25 water spray.
Further, the control system includes sensor, power supply and control assembly, the sensor, the control assembly
With the driving mechanism with the power electric connection；The control assembly is used to receiving the information that the sensor sends, simultaneously
The information is subjected to data processing and analysis while information sends instruction to the driving mechanism by treated.
It is pointed out that underwater robot is mainly used for underwater monitoring and detects, existing underwater robot is subject to
More multifactor limitation, for example promote angle that cannot have more degree of freedom etc., so that the free movement of underwater robot
The scope of degree is more narrow, and underwater robot of the invention can realize the monitoring of more free angles and detect, so that underwater machine
Device people it is underwater monitoring and detect more full visual angle, more precisely.
In order to realize that underwater robot has the movement of more freedom under water, propulsion device is employed and for controlling
The propulsion device is so that the control system of underwater robot directed movement.
The propulsion device includes propeller 25 and the driving mechanism for adjusting 25 direction of propulsion of propeller, Yi Jibao
Demonstrate,prove the balance element 11 of entire underwater robot balance.
Underwater robot further includes housing, which can be spherical in shape, the body of torpedo constant current contour type, and the shell
The material of body can select metallic plate either glass fibre etc., and the housing of this underwater robot is preferably spherical, because ball
This shape of shape has particularity, can be realized when carrying out Dynamic Modeling to it and simplify calculating, wherein spherical underwater resistance to compression
Property and stability all compared to other shapes for, be more convenient for controling and useing, propulsion device and control system be arranged on shell
In vivo, underwater robot is made to possess higher mobility and antijamming capability.
When the shape of housing is spherical, as shown in Fig. 3,4, housing includes first shell 31 and second shell 32,
Middle first shell 31 is identical with the shape and structure of second shell 32, and is designed with being used in first shell 31 and second shell 32
The notch of 25 spout of hydraulic propeller water spray, as shown in Fig. 3,4, the shape of the notch can take the shape of the letter U.
Underwater robot further includes waterproof compartment 33, and the main function of the waterproof compartment 33 is for placing control system and connection
Propulsion device is set in the outer wall of waterproof compartment 33 by propulsion device.
The control system being positioned in waterproof compartment 33 mainly includes sensor, power supply and control assembly, wherein sensor master
Including be gravity sensor, pressure sensor and inertial sensor etc..Inertial sensor mainly detects and measurement is underwater
Acceleration, inclination, shock and vibration, rotation and the multifreedom motion of robot are to solve navigation, orientation and motion carrier control
The important component of system.Acceleration caused by the main function of gravity sensor is measurement gravity, can calculate underwater robot
Angle of inclination with respect to the horizontal plane.
Control system further includes depth gauge, gyroscope and communication module etc..
Control assembly mainly includes the first circuit, second circuit, and the DSP in the first circuit is used to connect as first processor
Receive sensor send the underwater acceleration of underwater robot, gradient, impact force, Vibration Condition, rotation angle and mostly from
By information such as degree movements, and data processing is carried out to above- mentioned information and is sent to the second processing in the second circuit of control assembly
Device, AVR controls first respectively as second processor for receiving the instruction of the first processing and passing through pwm signal in second circuit
The operating of steering engine 21, the second steering engine 22 and hydraulic propeller 25.Wherein DSP first processors select TMS320F28355 types number
Signal processor, AVR second processors select ATmega2560 microprocessors；Life between first processor and second processor
Order and feedback of status are realized by RS232 asynchronous serial communications；Transmission data between inertial sensor and first processor
With configuration etc. realized by SPI (Serial Peripheral Interface (SPI))；Communication between pressure sensor and first processor is synchronous by I2C
Serial communication is realized.
The workflow of control system：First processor receives inertial sensor and pressure sensor by SPI or I2C
Data after carry out necessary data processing, then, first processor sends control command to second processor by RS232,
Second processor, which receives, sends hydraulic propeller 25 that pwm signal act to needs after the order of first processor or servo is electric
Machine, so that entire underwater spherical robot is moved accordingly under the action of propulsion device.
The control system of the present apparatus has two layers of design on hardware, and the control panel of first layer is core control panel, core
Control panel is DSP control panels, the control panel of the second layer by AVR control panels as the core for controlling the performers such as steering gear electric-machine,
Double-layer structure has not only functionally done and has clearly divided, but also physical space is mutually also isolated, and avoids mutual electromagnetism and does
It disturbs.Meanwhile this space just provides space to the communication module integrated so that the space in waterproof compartment 33 obtains higher
Utilization rate, whole layout more optimizes, while can also leave space, further upgrading control system so that underwater machine
Device people can complete increasingly complex task.
Specific embodiment：Underwater robot believes the data of acquisition under water by sensor gathered data information
Breath is sent to control assembly, is handled, analyzed and processed by control assembly, and sends final output order to propulsion device, leads to
Steering engine is crossed to adjust 25 water spraying direction of hydraulic propeller, so as to change the direction of underwater robot；Pass through control system and propulsion
Device synergistic effect driving underwater robot, enables underwater robot to complete the monitoring of more freedom and detect, so as to carry
The dependable with function of high underwater robot.
Second shell 32 is always perpendicular to horizontal plane, when underwater robot is needed perpendicular to horizontal motion, such as Fig. 5
Shown in~7, the first steering engine 21 and the second steering engine 22 driving hydraulic propeller 25 jointly make the direction of spout perpendicular to horizontal plane,
And hydraulic propeller 25 is driven to prolong spout direction water spray.
Second shell 32 is always perpendicular to horizontal plane, when underwater robot needs to travel forward, as shown in figs. 8-10,
First steering engine 21 and the second steering engine 22 driving hydraulic propeller 25 jointly, the propulsive thrust made a concerted effort of all hydraulic propellers 25 to
Before, and hydraulic propeller 25 is driven to prolong different 25 spout direction of hydraulic propeller water sprays.
Second shell 32 is always perpendicular to horizontal plane, when underwater robot needs to prolong horizontal motion, as Figure 11~
Shown in 13, the first steering engine 21 and the second steering engine 22 drive hydraulic propeller 25 jointly, and the direction of spout is made to be overlapped with horizontal direction,
And hydraulic propeller 25 is driven to prolong spout direction water spray.
Second shell 32 is always perpendicular to horizontal plane, when underwater robot needs are moved towards inclined direction, as Figure 14~
Shown in 16；Driving hydraulic propeller 25, making a concerted effort for all hydraulic propellers 25 are anti-jointly for first steering engine 21 and the second steering engine 22
Thrust is the power that inclined direction advances, and hydraulic propeller 25 is driven to prolong different 25 spout direction of hydraulic propeller sprays
Water.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that being：
These embodiments can be carried out a variety of change, modification, replacement and modification, the present invention by not departing under the principle of the present invention and objective
Scope limited by claim and its equivalent.
Claims (10)
1. a kind of propulsion device for underwater robot, which is characterized in that including balance element, propeller and described for adjusting
The driving mechanism of propeller direction of propulsion；The balance element is used to that the propulsion device to be made to keep balance.
2. the propulsion device according to claim 1 for underwater robot, which is characterized in that the driving mechanism includes
Steering engine and tuning component；The steering engine is sequentially connected with the tuning component, so that the tuning component can adjust described push away
Into the direction of propulsion of device.
3. the propulsion device according to claim 1 for underwater robot, which is characterized in that the driving mechanism includes
First steering engine and the second steering engine, first steering engine and second steering engine are sequentially connected with the propeller；
The plane of the rotational axis line rotated perpendicular to propeller described in first servo driving is the first plane, perpendicular to institute
The plane for the rotational axis line that propeller described in the second servo driving rotates is stated as the second plane, first plane and described the
The angle of two planes is α, 0 ＜ α≤90 °.
4. the propulsion device according to claim 3 for underwater robot, which is characterized in that the α is 90 °, described
The rotation that the rotational axis line that propeller described in first servo driving rotates is rotated with propeller described in second servo driving
Axial line copline, the rotational axis line and the axial line of propeller that propeller described in first servo driving rotates are put down altogether
Face.
5. the propulsion device according to claim 1 for underwater robot, which is characterized in that the propulsion device is more
A, multiple propulsion devices are uniformly distributed in the balance element.
6. a kind of underwater robot, it is characterised in that：Including Claims 1 to 5 any one of them propulsion device and for controlling
The propulsion device is made so that underwater robot is capable of the control system of directed movement, the control system and the propulsion device
Electrical connection.
7. underwater robot according to claim 6, it is characterised in that：The underwater robot further includes waterproof compartment, institute
Control system is stated in waterproof compartment, the propulsion device is set in the outer wall of the waterproof compartment.
8. underwater robot according to claim 7, it is characterised in that：The balance element is in annular shape.
9. underwater robot according to claim 6, it is characterised in that：The underwater robot further includes housing, described
Propulsion device and the control system are placed in the housing, and the housing is equipped with for the notch of propeller water spray.
10. according to claim 7~9 any one of them underwater robot, it is characterised in that：The control system includes sensing
Device, power supply and control assembly, the sensor, the control assembly and the driving mechanism with the power electric connection；Institute
Control assembly is stated to be used to receive the information that the sensor is sent and the information is carried out data processing and analysis while will be located
Information after reason sends instruction to the driving mechanism.
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| CN201810075035.XA CN108082436A (en) | 2018-01-25 | 2018-01-25 | A kind of propulsion device and underwater robot for underwater robot |
| CN201810887106.6A CN109178285A (en) | 2018-01-25 | 2018-08-06 | A kind of propulsion device and underwater robot for underwater robot |
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| CN201810075035.XA CN108082436A (en) | 2018-01-25 | 2018-01-25 | A kind of propulsion device and underwater robot for underwater robot |
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| CN201810887106.6A Pending CN109178285A (en) | 2018-01-25 | 2018-08-06 | A kind of propulsion device and underwater robot for underwater robot |
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