CN108860532A - A kind of omnidirectional's revolution submarine navigation device - Google Patents

Abstract

The invention discloses an omnidirectional rotary underwater vehicle, which realizes omnidirectional inspection of the base of an ocean platform. Integrating foot walking technology and buoyancy attitude adjustment technology, an amphibious robot with the characteristics of flexibility and stability of bionic crab and low energy consumption and long working time of underwater glider is designed. The bionic crab is equipped with a hydraulic oil buoyancy adjustment device and a center of gravity adjustment device. The mechanical feet are driven by the rotation of the motor to form a complete hang gliding wing, and underwater gliding can be realized under the periodic changes of buoyancy and center of gravity. It not only has a wide operating range, but also adapts to the environment. It has the advantages of strong capability and various movement modes. During the inspection of the offshore platform base, it can not only observe in multiple directions at a close distance by crawling, but also conveniently switch the operating site through the gliding mode, which is of great significance for the inspection of offshore platforms.

Description

An omnidirectional underwater vehicle

technical field

The invention relates to the field of kinematics and dynamics, and relates to a crawling and gliding underwater walking device which changes and advances periodically.

Background technique

The traditional remote-controlled underwater robot (ROV) is currently the main tool for inspections of offshore platform foundations, but the terrain on the seabed is rough and the environment is complex and changeable. There are a lot of silt and rocks, and the traditional ROV cannot approach The inspection of submarine facilities is carried out in multiple directions. Due to the low visibility of offshore seawater, the accuracy of ROV inspection is insufficient; the action of waves and currents in the offshore area is severe, and its motion performance is easily affected; there are a large number of marine sediments and marine organisms in the offshore seabed , ROV propellers and umbilical cables are easily entangled by marine plants such as aquatic plants during the movement, which affects its inspection effect. Compared with the traditional ROV, the bionic robot crab with multi-legged crawling as the main movement mode has the ability to move close to the ground, and can observe the cracks and corrosion status of the subsea platform base at close range and from multiple directions, and the accuracy of inspection is greatly improved. , and the bionic robot crab has a flat body shape and is not affected by waves and currents.

However, offshore platforms are often scattered, with a distance of more than ten or even dozens of kilometers, resulting in discrete operating locations of bionic robot crabs, and the energy carried by them is limited, which cannot support the energy consumed by bionic robot crabs during the switching process. It is necessary to rely on the mother ship when switching the operation site, which increases the operating cost and restricts its application in the inspection of offshore platform bases.

At present, the technology of underwater glider has been perfected day by day. Its drive system skillfully utilizes the change of buoyancy during navigation, and converts the buoyancy of the aircraft into forward driving force, thereby reducing energy consumption and realizing the long-term operation of underwater vehicles. Navigate underwater. The low-power movement mode of the underwater glider provides a solution for the difficulty of changing the operating site of the bionic robot crab. The gliding motion of an underwater glider is inseparable from the large-span gliding wing. The bionic robot crab can realize the conversion between the walking foot and the underwater glider gliding wing through the deformation of the same set of mechanical structures, making the combination of the bionic robot crab and the underwater glider a possible. The buoyancy adjustment and center of gravity adjustment technology of underwater glider is applied to the bionic robot crab, and the switching between crawling and gliding motion modes can be realized through deformation.

The invention integrates the foot walking technology and the buoyancy attitude adjustment technology to design an amphibious robot with the characteristics of the flexibility and stability of the bionic crab and the characteristics of low energy consumption and long working time of the underwater glider. The bionic crab is equipped with a hydraulic oil buoyancy adjustment device and a center of gravity adjustment device. The mechanical feet are driven by the rotation of the motor to form a complete hang gliding wing, and underwater gliding can be realized under the periodic changes of buoyancy and center of gravity. It not only has a wide operating range, but also adapts to the environment. It has the advantages of strong ability and various movement modes. During the inspection of the offshore platform base, it can not only observe in multiple directions at a close distance by crawling, but also conveniently switch the operating site through the gliding mode. The exploration and research of this project has great significance for the inspection of offshore platforms. important meaning

Contents of the invention

In view of this, in order to achieve the effect of the above-mentioned technical solutions, the present invention provides a kind of omni-directional rotary underwater vehicle that solves or partially solves the above-mentioned problems:

An omnidirectional rotary underwater vehicle is characterized in that:

The omnidirectional rotary underwater vehicle includes a main body, a fairing, a first propeller propeller, a tail propeller propeller, a waterproof motor, a stepper motor, a battery, and a control system;

The main body includes the motor compartment at the front, the sealed compartment at the middle and the propulsion compartment at the rear. There are bushings at the rear of the motor compartment at the front and at the front end of the propulsion compartment. The shaft sleeves are parallel to each other by using the connection principle of bearings for transmission connection and coordinated movement. Based on the axis of the aircraft; the front motor cabin uses the rolling principle to drive the center shaft through the rear end bearing to achieve power coordinated movement, and the rear end of the propulsion cabin drives the bearing to transmit to the front end through the force movement transmission principle;

The fairing is located at the front end of the main body. The fairing is semi-ellipsoidal and adopts a streamlined structure of gyratory. Using the principle of fish fins, the aircraft can rotate more flexibly; Bearings parallel to the axis of the aircraft, the bearings are connected to the middle airtight cabin;

The airtight cabin in the middle of the main body has batteries and control systems. The battery and control systems are placed parallel to the axis of the aircraft and located below the axis. The center of gravity of the batteries and control systems is located below the axis. The control system is the core operating system of the aircraft. The processor processes and makes decisions on the signals, mainly by processing the measurement signals collected by the sensor system, comparing them with the preset parameters thrust F and deflection angle θ, analyzing and judging, and issuing corresponding control instructions to the motor to execute the straight line. The thrust of running or rotating makes the aircraft go straight or deflect. The straight and deflected trajectory of the aircraft is analyzed by the following formula; Instructions such as when to shut down the power system, manage and control the navigation, measurement and recovery of the entire aircraft;

The first propeller propeller is located in the duct on the fairing. The main purpose of using the propeller is to absorb a given power to obtain the maximum thrust to improve the efficiency of the aircraft. On the other hand, it is aimed at its safe use and maximum vibration and noise reduction. Cavitation and excitation problems; the direction of the rotation axis of the first propeller is parallel to the axis of the duct; there is a stepper motor in the first propeller, and the stepper motor is in the motor compartment at the front of the main body, and the direction of the rotation axis is parallel to the axis of the aircraft; Using the principle of an open-loop control element that converts electrical pulse signals into angular displacement or linear displacement by a stepping motor, the propeller propeller at the head can turn within a range of 360°, exert lateral force on the aircraft, and cooperate with the propeller propeller at the tail. The navigator can move flexibly; the fairing is connected in series with the bushing outside the shaft of the stepping motor through the bearing, so that the fairing can rotate around the axis of the aircraft on the main body, and the shaft of the stepping motor passes through the bushing and bearing, and is fixed with the fairing ;

The tail propeller is located at the tail of the main body. The rotation axis of the propeller is parallel to the axis of the aircraft. The tail propeller mainly produces thrust and does not produce deflection movement. The movable part of the tail needs rudder effect, but the first prop direction deflection; based on a space link-universal vector propulsion device, the vector propeller is driven by a stepper motor and a waterproof motor, wherein the waterproof motor is mainly used to drive the propeller to rotate to generate propulsion, and the stepper The motor is used to determine the orientation of the propeller, which affects the direction of the thrust, thereby effectively controlling the movement of the underwater vehicle; the waterproof motor is installed at the tail, and the propeller is connected to the tailstock through a universal joint. The connection between the waterproof motor and the tailstock is only transmitted Thrust, no rotation, and the stepper motor is installed at the head to adjust the space attitude of the aircraft and realize the omnidirectional rotation of the aircraft; the tail propeller includes a waterproof motor and blades, and the shaft of the waterproof motor is connected in series with the blades;

When the aircraft is moving forward, the propeller at the tail rotates and pushes forward, causing the aircraft to move forward in a straight line;

The first formula for calculating the forward linear motion of the aircraft is:

First formula:

Among them, S represents the linear motion of the aircraft, t represents time, t>0, t is a positive real number, F represents the force F>0 applied to the aircraft; the coordinate system is established with the center of gravity of the aircraft as the coordinate origin, and x represents the aircraft , y represents the vertical coordinate of the aircraft, z represents the high coordinate of the aircraft, dx represents the change element of the horizontal coordinate of the aircraft, dy represents the change element of the vertical coordinate of the aircraft, and dz represents the change element of the high coordinate of the aircraft; S ₁ is Linear motion of the aircraft at time t; m is the weight of the aircraft, F ₁ is the thrust of the tail propeller on the aircraft at time t, v ₀ is the initial speed of the aircraft, x ₀ is the initial space of the aircraft y ₀ is the ordinate position of the aircraft in space at the initial stage, z ₀ is the high coordinate position of the aircraft in space at the initial stage; x _t is the abscissa position of the aircraft in space at time t, y _t is the ordinate position of the aircraft in space at time t, and z _t is the high coordinate position of the aircraft in space at time t;

Through the first formula, the trajectory of the aircraft moving along a straight line when receiving the thrust of the tail propeller can be obtained; the position of the aircraft at time _t is represented by the obtained S1, and then the linear motion trajectory of the aircraft can be determined , the linear motion of the aircraft determines the route of the aircraft to crawl and patrol in the offshore distance;

The tail propeller moves the aircraft forward by applying a force parallel to the forward direction to the aircraft when the aircraft is moving forward;

When the aircraft needs to deflect in a certain direction, the stepper motor rotates to drive the first propeller propeller in the fairing duct, the first propeller propeller generates thrust, and the thrust direction is turned to an angle opposite to the deflection direction of the aircraft, and the first propeller propels The aircraft rotates to generate thrust to deflect the aircraft in the direction that needs to be deflected;

The second formula for calculating the rotational motion of the aircraft is:

Second formula:

Among them, S represents the linear motion of the aircraft, t represents time, t>0, t is a positive real number, F represents the force F>0 applied to the aircraft; the coordinate system is established with the center of gravity of the aircraft as the coordinate origin, and x represents the aircraft , y represents the vertical coordinate of the aircraft, z represents the high coordinate of the aircraft, dx represents the change element of the horizontal coordinate of the aircraft, dy represents the change element of the vertical coordinate of the aircraft, dz represents the change element of the high coordinate of the aircraft, cos represents the cosine function, θ represents the angle, cosθ represents the cosine value of the θ angle, 0<cosθ<1; S ₂ is the rotational motion of the aircraft at time t; m is the weight of the aircraft, and F ₂ is the impact of the first propeller on the aircraft at time t. , θ is the angle between F ₂ and the aircraft exerted by the head propeller on the aircraft at time t, v ₀ is the initial velocity of the aircraft, and x ₀ is the initial transverse space of the aircraft coordinate position, y ₀ is the ordinate position of the aircraft in space at the initial stage, z ₀ is the high coordinate position of the aircraft in space at the initial stage; x _t is the abscissa position of the aircraft in space at time t, y _t , is the ordinate position of the aircraft in space at time t, and z _t is the high coordinate position of the aircraft in space at time t; by the second formula, a force of a certain angle is applied by the aircraft to generate a corresponding The torque drives the aircraft to rotate to realize the gliding switching of the offshore platform inspection;

Through the mutual cooperation and periodic alternation of the first propeller propeller and the tail propeller propeller, the aircraft can realize the alternating transformation of linear motion and rotary motion, and the steering of the first propeller propeller within 360° realizes the aircraft in the Underwater omnidirectional rotation.

Description of drawings

Figure 1 is a structural diagram of an omnidirectional rotary underwater vehicle

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention. Products that can achieve the same function are equivalent replacements and improvements, and are included in the protection scope of the present invention. The specific method is as follows:

Example 1: The change of the propeller propeller setting to the movement mode

The aircraft is equipped with two propeller propellers at the front and rear, which can change the motion of the aircraft through coordination in different cycles. Specifically, the propeller propulsion system changes the thrust direction by changing the direction of the entire propulsion system, and this change method is divided into full deflection type, partial deflection type and non-deflection type.

The whole deflection type needs the whole propulsion part to be movable, so the drive part device set in front is relatively large and complicated, needs to be sealed, and a fairing is set. The movable part of the tail requires a rudder effect. The partial deflection type and the non-deflection type need to cooperate with the full deflection type to complete complex movements, so complex transmission devices are required in the design. A vector propulsion device based on a space link-universal joint. The vector thruster is driven by a stepper motor and waterproof motor. The waterproof motor is mainly used to drive the propeller to rotate to generate propulsion, while the stepper motor is used to determine the orientation of the propeller and affect the direction of the thrust, thereby effectively controlling the movement of the underwater vehicle. The waterproof motor is installed at the tail, and the propeller is connected with the tailstock through a universal joint. to produce deflection propulsion. The connection between the waterproof motor and the tailstock only transmits thrust, not rotation. The stepper motor is installed at the head to adjust the space attitude of the aircraft and realize the omnidirectional rotation of the aircraft.

The beneficial results of the present invention are: the omni-directional rotary underwater vehicle designed by combining the foot-type walking technology and the buoyancy adjustment technology, through the rotation of the mechanical feet driving the motor, the mechanical feet are combined to form a complete hang gliding wing, which is realized under the periodic changes of buoyancy and center of gravity. Underwater gliding realizes that during the inspection of the offshore platform base, it can not only observe at a close distance and multi-directional by crawling, but also switch the working location conveniently through the gliding mode. It not only solves the requirements of wide operating range and strong environmental adaptability of aircraft, but also solves the requirements of low energy consumption and long operation time, and provides convenience for patrol inspection of offshore platforms.

Claims (1)

1. a kind of omnidirectional turns round submarine navigation device, which is characterized in that

Omnidirectional revolution submarine navigation device includes main body, radome fairing, stem screw propeller, tail undercarriage propeller, Waterproof machine, stepper motor, battery, control system；

The main body includes the propelling module of the motor room of front, the sealed compartment at middle part and tail portion, front motor room rear end and There is axle sleeve in the propelling module front end, is mainly sequentially connected using the catenation principle of bearing, cooperative motion, the axle sleeve It is parallel to the axis of aircraft；The front motor room drives axis to realize that power is assisted using roll principle by the bearing of rear end With movement, the propelling module rear end is transferred to front end by the motion transmission principle band dynamic bearing of power；

The radome fairing is located at the front end of the main body, and the radome fairing is semielliptical shape, using fairshaped revolving body knot Structure keeps the aircraft rotation more flexible using fin principle；There is duct in the radome fairing, the radome fairing rear end has One axis direction bearing parallel with aircraft axis, the bearing are connected with the middle part sealed compartment；

Sealed compartment in the middle part of the main body has the battery and the control system, and the battery and the control system place position It sets and is parallel to the aircraft axis and is located below, the battery and the control system position of centre of gravity are located at axis or less； The control system is the kernel operating system of aircraft, the CPU inside the control system to signal carry out processing with Decision, mainly by handling the measuring signal acquired by sensing system, and with preset parameter thrust F, partially Angle θ is compared, analyzes and determines, issues corresponding control instruction and executes straight-line travelling to the motor or rotate pushing away for traveling Power makes the navigation implement body execute straight trip or deflect, and the aircraft straight trip and deflected trajectory are divided by following formula Analysis；The aircraft by scheduled track navigate by water, and to control system offer when float when dive navigation, dynamical system what The instruction such as Shi Guanji manages and controls the entire aircraft flight, measurement and recycling；

The stem screw propeller is located in the duct on the radome fairing, uses propeller mainly to absorb with it given Power obtain maximum thrust target improve aircraft efficiency, on the other hand with its using it is safe and to the maximum extent realize vibration damping drop It makes an uproar and solves the problems, such as vacuole and exciting for target；The stem screw propeller rotor shaft direction and the duct axis direction are flat Row；Have the stepper motor in the stem screw propeller, the stepper motor in the motor room of the body front part, Rotor shaft direction is parallel with the aircraft axis；Electric impulse signal is changed into angular displacement or displacement of the lines using the stepper motor Opened loop control element principle, the screw propeller of the stem can turn within the scope of 360 °, apply to the aircraft Add lateral force, cooperates with the tail undercarriage propeller, enable course device flexible motion；The radome fairing passes through the axis It holds and connects with the axle sleeve outside the stepping motor rotating shaft, allow the radome fairing on the body around the aircraft axis Rotation, the stepping motor rotating shaft pass through axle sleeve and bearing, fix with the radome fairing；

The tail undercarriage propeller is located at the body tail section, the rotor shaft direction of the screw propeller and the navigation Device axis direction is parallel, and the tail undercarriage propeller mainly generates thrust, does not generate yaw motion, tail portion movable part Point need that there are steerages to answer, but the stem propeller needs to carry out omnidirectional's deflection；A kind of arrow based on space connecting-rod-universal joint Propulsion device is measured, which is driven by a stepper motor and waterproof machine, wherein waterproof machine is mainly used to drive Propeller is rotated to produce propulsive force, and stepper motor then is used to determine the orientation of propeller, affects the direction of thrust, thus The effectively movement of control submarine navigation device；Waterproof machine is mounted on tail portion, and propeller is connect by universal joint with tailstock, anti-water power The connection transmitting thrust of machine and tailstock, does not rotate, and stepper motor is mounted on stem, to adjust the space appearance of aircraft State realizes omnidirectional's revolution of aircraft；The tail undercarriage propeller includes the waterproof machine and blade, the anti-water power The shaft and blade of machine are connected；

When the aircraft is advanced, the tail undercarriage propeller rotation is pushed ahead, and generates the aircraft straight forward Line movement；

The first formula that the forward linear motion of the aircraft calculates is：

First formula：

Wherein, S represents the linear motion of the aircraft, and t represents time, t>0, t is positive real number, and F is indicated to the aircraft The power F of application>0；Coordinate system is established by coordinate origin of the aircraft center of gravity, x represents the abscissa of the aircraft, y generation The ordinate of aircraft described in table, z represent the high coordinate of the aircraft, and dx indicates that the aircraft abscissa changes element, Dy indicates that the aircraft ordinate changes element, and dz indicates the high changes in coordinates element of aircraft；S₁For the aircraft Line movement in t；M is the aircraft weight, F₁The tail undercarriage propeller pushes away the aircraft when for t Power, v₀For speed of aircraft when initial, x₀For abscissa positions of aircraft when initial in space, y₀For institute State aircraft it is initial when ordinate position in space, z₀For high coordinate position of aircraft when initial in space；x_t Abscissa positions when for the aircraft t in space, y_t, ordinate position in space when being the aircraft t, z_t High coordinate position when for the aircraft t in space；

By the first formula it can be concluded that the aircraft in the thrust by the tail undercarriage propeller along straight The track of line movement；The location of described aircraft is by the S that obtains when t₁It indicates, and then determines the aircraft straight line fortune The linear motion of dynamic rail mark, the aircraft determines that aircraft crawls the route of tour in coastal waters distance；

The tail undercarriage propeller the aircraft forward when, by the aircraft application be parallel to direction of advance Power so that the aircraft is carried forward movement；

When the aircraft needs to deflect to some direction, the stepper motor rotation is driven in duct described in the radome fairing The stem screw propeller, the stem screw propeller generates thrust, and thrust direction turns to and the navigation Device needs to deflect contrary angle, and the stem screw propeller rotation, generating thrust makes the aircraft toward needs The direction of deflection deflects；

The second formula that the aircraft rotary motion calculates is：

Second formula：

Wherein, S represents the linear motion of the aircraft, and t represents time, t>0, t is positive real number, and F is indicated to the aircraft The power F of application>0；Coordinate system is established by coordinate origin of the aircraft center of gravity, x represents the abscissa of the aircraft, y generation The ordinate of aircraft described in table, z represent the high coordinate of the aircraft, and dx indicates that the aircraft abscissa changes element, Dy indicates that the aircraft ordinate changes element, and dz indicates that the high changes in coordinates element of aircraft, cos indicate cosine letter Number, θ expression angle, cos θ expression θ cosine of an angle value, 0<cosθ<1；S₂For rotary motion of the aircraft in t；M is institute State aircraft weight, F₂The stem screw propeller is to the thrust of the aircraft when for t, θ be in time t, it is described The F that stem screw propeller applies aircraft₂With the angle of the aircraft, v₀For speed of aircraft when initial, x₀For abscissa positions of aircraft when initial in space, y₀For ordinate of aircraft when initial in space Position, z₀For high coordinate position of aircraft when initial in space；x_tFor the aircraft in time t in space Abscissa positions, y_t, it is ordinate position of the aircraft in time t in space, z_tIt is the aircraft in the time High coordinate position when t in space；Corresponding power is generated by the power that the aircraft applies certain angle by the second formula Square drives the aircraft to be rotated, and realizes the gliding switching of offshore platform inspection；

The aircraft by the stem screw propeller and the tail undercarriage propeller work in coordination and week Phase property replace, and the aircraft is made to realize the checker of linear motion with rotary motion, and the stem propeller It is turned within the scope of 360 ° of propeller and realizes the underwater omnidirectional's revolution of the aircraft.