CN109050840A - A kind of novel six freedom positioning underwater robot - Google Patents
A kind of novel six freedom positioning underwater robot Download PDFInfo
- Publication number
- CN109050840A CN109050840A CN201811017360.7A CN201811017360A CN109050840A CN 109050840 A CN109050840 A CN 109050840A CN 201811017360 A CN201811017360 A CN 201811017360A CN 109050840 A CN109050840 A CN 109050840A
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- propeller
- fixture
- robot
- underwater robot
- conduit
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- 210000001503 joint Anatomy 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims abstract description 5
- 239000000835 fiber Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 230000037237 body shape Effects 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 abstract description 16
- 238000010586 diagram Methods 0.000 description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000007667 floating Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63G8/14—Control of attitude or depth
Abstract
A kind of novel six freedom positioning underwater robot, belongs to latent device and underwater robot technical field.Main body of the present invention is approximately elliposoidal, and robot dress is and circumferentially disposed according to robot center there are four vector propeller and fixture；The robot interior is disposed with pressure-resistant cabin, support plate, the electronic components such as master controller, optical transmitter and receiver are loaded in pressure-resistant cabin, hole in support plate loads video camera and searchlight, the underwater robot realizes that vector promotes the opening and closing with fixture by steering engine, on the one hand realize that the movement of six degree of freedom, one side realization are docked with target butt joint body.Outer dimension of the present invention is small, has portable advantage；The navigation of underwater robot difference freedom degree may be implemented；By controlling the angle of vector propeller and the size of thrust, docking is realized in the state of under various angles；Docking is realized by the opening and closing of fixture, and for the opening of fixture so that robot possesses bigger docking range, it is two layers that fixture closes up later, increases chucking power.
Description
Technical field
The invention belongs to latent device and underwater robot technical fields, and in particular to a kind of novel six freedom for docking
Position underwater robot.
Background technique
In 21 century, the effect that ocean plays is increasing, and each state all increases the exploitation to ocean, for China
Speech, the 18 of party are big it is also proposed that carrying out ocean power strategy, it is seen then that exploration and research to the underwater world are related to national future
Economic development and inherently safe, and underwater robot is exactly one of the carrier for replacing the mankind to explore ocean, so increasing to underwater
The research of robot has far reaching significance.
Underwater robot be one kind can free running in water, there is vision system and sensory perceptual system, pass through the reality of people
Border manipulation, the program perhaps set by people replace people using relevant tool or manned go to complete underwater construction, see
The device of tasks such as examine, investigate, sampling, destroying.In general, underwater robot has cable underwater robot by can be divided into whether there is or not umbilical cables
And cableless underwater robot.For having cable underwater robot, maximum feature is exactly that people can manipulate underwater machine in real time
Device people, and related data that is robot itself or measuring can be returned into people in real time.
With the development of science and technology, manned underwater vehicle such as submarine is widely used in the fields such as military affairs, scientific research, and as one
Kind machinery equipment, failure is inevitable, but unlike that the automobile of land, submarine may after breaking down
It is faced with situations such as can not returning to the water surface, sinking, therefore, once such happen, other equipment need to be launched from the water surface, to water
Lower accident object carries out the Contingency supply of gas, electric energy, communication etc., and the premise of Contingency supply is first and accident object pair
It connects, remote underwater robot of the invention is exactly for underwater mating in such cases.
Summary of the invention
The purpose of the present invention is the requirements according to submarine target butt joint body size and remote underwater robot carrier dimensions, mention
Underwater robot is positioned for a kind of novel six freedom for docking.
The object of the present invention is achieved like this:
A kind of novel six freedom positioning underwater robot, including propeller conduit 1, fixture clamping plate 2, searchlight 3, support
Plate 4, video camera 5, light shell 6, central gear 7, fixture steering engine 8, propeller 9, fixture gear 10, pressure-resistant hatchcover 11, pressure-resistant cabin
12, waterproof plug 13, fixture shaft end 14, propeller cantilever 15, vector steering engine 16, clamp shaft 19, fiber optic cable 21；The machine
Human agent's shape, that is, generally the elliposoidal of light shell 6, there are conduit 1, the robots conduit propeller and fixture, slot for surrounding
Road propeller is located at 6 surrounding of light shell, and conduit propeller is made of propeller conduit 1 and propeller 9, and the propeller 9 is pushing away
Into in tank road 1；Totally one layer of the support plate 4, pressure-resistant cabin 12, and 4 aperture of support plate are carried above, and position of opening loads camera shooting
Machine 5 and searchlight 3；The pressure resistance hatchcover 11 is located at 12 end of pressure-resistant cabin, and the side wall of the pressure-resistant cabin 12 disposes waterproof plug 13,
The waterproof plug 13 runs through associated cable；The center of the centrally located gear 7 of the fixture steering engine 8 is equipped with around central gear 7
Fixture gear 10, and two kinds of gears tightly engage；Clamp shaft 19 runs through fixture gear 10 and fixed thereto, the clamp shaft 19 1
End connection 15 end of propeller cantilever, other end jockey clamping plate 2；One end of propeller cantilever 15 and the fixture shaft end
14 is fixed, and other end connected vector steering engine 16 is simultaneously fixed thereto；16 connecting channel propeller of vector steering engine；It is connected on light shell 6
Fiber optic cable 21.
The robot passes through the docking accident submersible 17 of target butt joint body 18；Between the light shell 6 and support plate 4
Space layout counterweight or buoyancy material；The pressure-resistant cabin 12 is provided with master controller, optical transmitter and receiver, voltage reduction module and corresponding posture
Sensor.
There are four conduit propeller and fixture, four conduit propellers to be centrosymmetric and be distributed in light shell for the robot
6 peripheries；There are four fixture gears 10, is centrosymmetric and is distributed in around central gear 7；Through the clamp shaft of fixture gear 10
19 also there are four；The propeller cantilever 15 and fixture clamping plate 2 connecting with clamp shaft 19 are respectively four；Connect with propeller cantilever 15
The vector steering engine 16 connect also there are four.
The beneficial effects of the present invention are:
1. as the Contingency supply device for carrying out gas, electric energy, communication etc. for underwater accident vehicle such as submarine
The underwater robot of docking docks robot compared to other, it is contemplated that outer dimension, the present invention have portable advantage；
2. adjusting the direction of conduit propeller by vector steering engine, makes propeller that can serve as horizontal direction and promote mainly, again
The vertical of vertical direction can be served as to push away, that is to say, that realize underwater robot difference freedom degree using four conduit propellers
Navigation；
3. the remote underwater robot for docking of the invention can realize six degree of freedom dynamic positioning, i.e. consideration target pair
Junctor may be not at horizontality, can only dock under horizontality different from conventional robot, robot of the invention
It can be by controlling the angle of vector propeller and the size of thrust, and then docking is realized in the state of under various angles；
4. the present invention is to realize docking by the opening and closing of fixture, the opening of fixture is so that robot possesses bigger docking model
It encloses, it is two layers that fixture closes up later, increases chucking power.
Detailed description of the invention
Fig. 1 is surface structure schematic diagram of the invention；
Fig. 2 is surface structure sectional view of the invention；
Fig. 3 is the schematic diagram of internal structure when present invention hides light shell；
Schematic diagram of internal structure when Fig. 4 is the hiding light shell of the present invention and propeller；
Fig. 5 is surface structure schematic diagram of the present invention under clamp position；
Fig. 6 is top view of the present invention under clamp position；
Fig. 7 is structural schematic diagram of the present invention under forward travel state；
Fig. 8 is structural schematic diagram of the present invention under fallback state；
Fig. 9 is structural schematic diagram of the present invention under left-handed state；
Figure 10 is structural schematic diagram of the present invention under dextrorotation state；
Figure 11 is structural schematic diagram of the present invention under the state of moving to left；
Figure 12 is structural schematic diagram of the present invention under the state of moving to right；
Figure 13 is structural schematic diagram of the present invention under floating state；
Figure 14 is structural schematic diagram of the present invention under diving stations；
Figure 15 is the structural schematic diagram of the invention made under trim or roll action state；
Figure 16 is that the present invention is near completion the schematic diagram of mated condition when docking under vertical case；
Figure 17 is the schematic diagram that the present invention docks clamp position when finishing under vertical case；
Figure 18 is that the present invention is near completion the schematic diagram of mated condition when docking in non-perpendicular situation；
Figure 19 is the schematic diagram that the present invention docks clamp position when finishing in non-perpendicular situation.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
Such as attached drawing 1, attached drawing 6, the underwater robot shape approximation elliposoidal.
As attached drawing 1, conduit 1 and propeller 9 form conduit propeller.
Such as attached drawing 1, for the underwater robot light shell 6 there are conduit, the conduit is the movement road of propeller cantilever 15
Diameter.
Such as attached drawing 1, there are holes for the underwater robot support plate 4, and the hole is for running through video camera 5, searchlight 3.
Such as attached drawing 4, pressure-resistant hatchcover 11 is located at 12 end of pressure-resistant cabin, and the side wall of the pressure-resistant cabin 12 is for disposing waterproof plug
13, the waterproof plug 13 is used to run through associated cable.
Such as attached drawing 4, totally one layer of support plate, for carrying the pressure-resistant cabin 12, the searchlight 2, the video camera are fixed
5。
Such as attached drawing 2, attached drawing 4, attached drawing 5, docking operation of the invention specifically: after the robot receives instruction, fixture
Steering engine 8 rotates respective angles, and central gear 7 is driven to rotate, since fixture gear 10 and central gear 7 are intermeshed, fixture tooth
The 10 corresponding angle of rotation of wheel, fixture gear 10 are connect by clamp shaft 19 with fixture clamping plate 2, and four fixture clamping plates 2 rotate phase
Angle is answered, and is finally closed up, at the same time, the end phase of the end, that is, fixture shaft end 14 and propeller cantilever 15 of clamp shaft 19
Even, so working as fixture gear 10 when rotated, propeller cantilever 15 can also rotate, and rotate identical angle with fixture gear.
The vector principle of propeller of the underwater robot are as follows: the person of being operated first provides instruction, and signal is by optical transmitter and receiver from waterborne
It reaches under water, is finally transmitted to master controller, the master controller issues instruction, and order steering engine 16 goes to corresponding position, controls
The direction of propeller conduit 1, one side order motor are in work or halted state.And then realize the movement of different freedom degrees.
Arrow direction indicates the thrust direction generated in attached drawing.
The length difference representative generation thrust of different arrows is of different sizes in same attached drawing, and arrow is longer, and thrust is bigger.
As shown in Fig. 5, for the underwater robot in forward travel state, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, and propeller rotates forward, and generates forward thrust.
As shown in Fig. 6, for the underwater robot in fallback state, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, is allowed to direction under forward travel state on the contrary, propeller rotating forward, generates thrust backward.
As shown in Fig. 7, for the underwater robot in left-handed state, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, and propeller rotates forward, and generates the torque for keeping robot left-handed.
As shown in Fig. 8, for the underwater robot in dextrorotation state, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, is allowed to direction under left-handed state on the contrary, propeller rotates forward, generating one keeps robot right
The torque of rotation.
As shown in Fig. 9, for the underwater robot in the state of moving to left, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, and propeller rotates forward, and generates thrust to the left.
As shown in Fig. 10, for the underwater robot in the state of moving to right, four propellers are in horizontality, and pass through rudder
Machine controls corresponding propeller direction, is allowed to and moves to left under state towards on the contrary, propeller rotating forward, generates thrust to the right.
As shown in Fig. 11, for the underwater robot in floating state, four propellers are in plumbness, and pass through rudder
Machine controls corresponding propeller direction, and propeller rotates forward, and four propellers generate equal in magnitude, the identical power in direction, and then make
Robot generates upward thrust.
As shown in Fig. 12, for the underwater robot in floating state, four propellers are in plumbness, and pass through rudder
Machine controls corresponding propeller direction, is allowed to direction under floating state on the contrary, propeller rotates forward, four propellers generate sizes
It is equal, the identical power in direction, and then robot is made to generate downward thrust.
As shown in Fig. 13, for the underwater robot when doing roll, pitch movements, four propellers are in vertical configuration
State, and corresponding propeller direction is controlled by steering engine, four propellers generation sizes are unequal, the identical power in direction, in turn
Robot is set to generate corresponding torque in XOZ, YOZ plane.
Such as attached drawing 16, attached drawing 17, underwater robot of the invention target butt joint body be under horizontality to taking over
Journey.
Such as attached drawing 18, attached drawing 19, underwater robot of the invention can be used not only for realizing with horizontal target butt joint body
Docking, and can realize and dock with the target butt joint body under non-standard state, i.e. six degree of freedom dynamic positioning, dynamic positioning system
The main task of system be propeller effect under, keep robot pose angle and position it is constant, or make robot motion to make a reservation for
Position.Robot is redundancy using the vector propeller four orientation cross arrangement and can rotated within the scope of 0~90 °
Solid rocket engine.This requires according to six degree of freedom control instruction, can efficiently distribute to each propeller simultaneously on reasoning distributes
Meet the smallest requirement of energy consumption.This dynamic positioning system obtains current pose by sensor, and is compared in object pose
Deviation and deviation variation rate are relatively obtained, deviation is input to controller, control force is calculated.Controller uses the face S controller,
Zero dimension power is returned, and has dimension to calculate six degree of freedom thrust.Thrust distribution system uses genetic algorithm, with energy consumption minimum
It is optimized for objective function, calculates the thrust and corner of four propellers.The i.e. corresponding machine of six degree of freedom dynamic positioning process
The mated condition of device people, robot tilts to angle identical with target butt joint body at this time, and the angle is then kept to continue to approach
Target butt joint body completes docking, is finally clamp position, fixture, which closes up, at this time is completely fixed robot with target butt joint body.
Such as attached drawing 6, the space in underwater robot carrier for placing underwater robot is hemispherical, and underwater robot carries
Body placement space profile 20 is 400 millimeters of diameter of circle, and full-size is less than 400 millis under the underwater robot mated condition
Rice, can be placed in underwater robot carrier.
The pressure-resistant cabin 12 of the underwater robot is provided with master controller, optical transmitter and receiver, voltage reduction module and corresponding posture
Sensor.When the robot navigation is in the waters of water flow complexity, the attitude transducer returns to the practical boat state of robot
And it is expected that the deviation for state of navigating, it may be assumed that the head that the attitude transducer can obtain underwater robot in real time shakes, the angle of heel, trim
Degree and angular acceleration, and data are back to waterborne by fiber optic cable 21, so that operator is made decisions in time.
The underwater robot buoyancy adjustment mainly passes through arrangement counterweight or buoyancy material.Robot Design mistake under water
Cheng Zhong usually makes buoyancy be equal to gravity by adjusting, i.e. underwater robot can suspend in water, but since error can not be kept away
Exempt from, so usually making buoyancy slightly larger than gravity, specifically, the space between the light shell 6 and the support plate 4 is used for cloth
Set counterweight or buoyancy material.
Claims (5)
1. a kind of novel six freedom positions underwater robot, it is characterised in that: the robot include propeller conduit (1),
Fixture clamping plate (2), searchlight (3), support plate (4), video camera (5), light shell (6), central gear (7), fixture steering engine (8),
Propeller (9), pressure-resistant hatchcover (11), pressure-resistant cabin (12), waterproof plug (13), fixture shaft end (14), pushes away fixture gear (10)
Into device cantilever (15), vector steering engine (16), clamp shaft (19), fiber optic cable (21)；Robot body's shape, that is, light shell (6)
Generally elliposoidal, for surrounding there are conduit (1), there are conduit propeller and fixture in the robot, and conduit propeller is located at light outer
Shell (6) surrounding, conduit propeller are made of propeller conduit (1) and propeller (9), and the propeller (9) is in propeller conduit
(1) in；Totally one layer of the support plate (4) carries pressure-resistant cabin (12) above, and support plate (4) aperture, and position of opening loads camera shooting
Machine (5) and searchlight (3)；The pressure resistance hatchcover (11) is located at pressure-resistant cabin (12) end, the side wall placement of the pressure-resistant cabin (12)
Waterproof plug (13), the waterproof plug (13) run through associated cable；In the centrally located gear of the fixture steering engine (8) (7)
The heart, central gear (7) surrounding is equipped with fixture gear (10), and two kinds of gears tightly engage；Clamp shaft (19) runs through fixture gear
(10) and fixed thereto, described clamp shaft (19) one end connects propeller cantilever (15) end, other end jockey clamping plate
(2)；One end of propeller cantilever (15) and the fixture shaft end (14) are fixed, other end connected vector steering engine (16) and therewith
It is fixed；Vector steering engine (16) connecting channel propeller；Fiber optic cable (21) are connected on light shell (6).
2. a kind of novel six freedom according to claim 1 positions underwater robot, it is characterised in that: the robot
Accident submersible (17) is docked by target butt joint body (18).
3. a kind of novel six freedom according to claim 1 positions underwater robot, it is characterised in that: the light shell
(6) the space layout counterweight or buoyancy material between support plate (4).
4. a kind of novel six freedom according to claim 1 positions underwater robot, it is characterised in that: the pressure-resistant cabin
(12) master controller, optical transmitter and receiver, voltage reduction module and corresponding attitude transducer are provided with.
5. a kind of novel six freedom according to claim 1 positions underwater robot, it is characterised in that: the robot
There are four conduit propeller and fixture, four conduit propellers, which are centrosymmetric, is distributed in light shell (6) periphery；Fixture gear
(10) it there are four, is centrosymmetric and is distributed in around central gear (7)；Clamp shaft (19) through fixture gear (10) also has
Four；The propeller cantilever (15) and fixture clamping plate (2) connecting with clamp shaft (19) are respectively four；With propeller cantilever (15)
The vector steering engine (16) of connection also there are four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017360.7A CN109050840B (en) | 2018-09-01 | 2018-09-01 | Six-degree-of-freedom positioning underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811017360.7A CN109050840B (en) | 2018-09-01 | 2018-09-01 | Six-degree-of-freedom positioning underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109050840A true CN109050840A (en) | 2018-12-21 |
| CN109050840B CN109050840B (en) | 2020-05-22 |
Family
ID=64759102
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|---|---|---|---|
| CN201811017360.7A Active CN109050840B (en) | 2018-09-01 | 2018-09-01 | Six-degree-of-freedom positioning underwater robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398648A (en) * | 2018-10-15 | 2019-03-01 | 哈尔滨工程大学 | A kind of manipulator for underwater mating |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN110968913A (en) * | 2019-11-19 | 2020-04-07 | 贵州电网有限责任公司 | Method for improving climbing capability of double-wheel-driven spherical robot |
| CN111319738A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Novel super-power-driven underwater helicopter and control method thereof |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
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| CN107521639A (en) * | 2017-08-16 | 2017-12-29 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery butt-joint locking device and butt-joint locking method |
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| CN103926934A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Sonar detection device and method for docking between underwater robot and underwater working platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
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| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN110968913A (en) * | 2019-11-19 | 2020-04-07 | 贵州电网有限责任公司 | Method for improving climbing capability of double-wheel-driven spherical robot |
| CN110968913B (en) * | 2019-11-19 | 2023-09-05 | 贵州电网有限责任公司 | Method for improving climbing capacity of double-wheel-driven spherical robot |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN111319738A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Novel super-power-driven underwater helicopter and control method thereof |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
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| Publication number | Publication date |
|---|---|
| CN109050840B (en) | 2020-05-22 |
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