CN109178285A - 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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- CN109178285A CN109178285A CN201810887106.6A CN201810887106A CN109178285A CN 109178285 A CN109178285 A CN 109178285A CN 201810887106 A CN201810887106 A CN 201810887106A CN 109178285 A CN109178285 A CN 109178285A
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- underwater robot
- propeller
- propulsion device
- steering engine
- propulsion
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- 230000033001 locomotion Effects 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 35
- 239000007921 spray Substances 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 14
- 230000008859 change Effects 0.000 abstract description 7
- 230000002195 synergetic effect Effects 0.000 abstract description 2
- 230000001141 propulsive effect Effects 0.000 description 13
- 238000012544 monitoring process Methods 0.000 description 7
- 238000005507 spraying Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008278 dynamic mechanism Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- 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
-
- 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
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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 for making propulsion device 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 passes through setting propeller and driving mechanism, driving mechanism main function is the direction of propulsion for adjusting propeller, by change propeller thrust direction to come realize propulsion device more freedom movement, and then realize underwater robot more freedom movement.The present invention realizes the multifreedom motion of underwater robot by the synergistic effect of control system and propulsion device by setting propulsion device and control system, and then realizes that underwater robot monitors more full visual angle.
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 technique
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, unable to monitor to arrive more full visual angle, thus there are underwater robot monitoring efficiencies not
High technical problem.
Summary 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: the propulsion device for underwater robot can not achieve multifreedom motion, not have 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, existing in the prior art for solving: underwater
Robot can not achieve multivariant movement, so that underwater robot cannot be monitored and be detected with more full visual angle, from
And the technical problem for keeping underwater task efficiency low.
The embodiment of the present invention is achieved in that including balance element, propeller and promotes for adjusting the propeller
The driving mechanism in direction；The balance element is for making the propulsion device 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.
Plane perpendicular to the rotational axis line of the rotation of propeller described in first servo driving is the first plane, vertically
The plane of the rotational axis line of the rotation of the propeller described in second servo driving is the second plane, first plane and institute
The angle for stating the second plane is α, α≤90 ° 0 <.
In order to which the present invention is better achieved, further, the angle α of first plane and second plane is 90 °,
Propeller rotation described in the rotational axis line and second servo driving of the rotation of propeller described in first servo driving
Rotational axis line is coplanar, and the rotational axis line of the rotation of propeller described in first servo driving and the axial line of propeller are total
Plane.
In order to which the present invention is better achieved, further, the propulsion device be it is multiple, 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 annular in shape.
In order to which the present invention is better achieved, further, the underwater robot further includes shell, the propulsion device and
The control system is placed in the shell, and the shell is equipped with the notch for 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 for receiving
Information that the sensor issues and by the information carry out data processing and analysis, simultaneously will treated information to the drive
Motivation structure issues instruction.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
The invention solves the first technical problem be that propulsion device can not achieve multivariant movement, the present invention passes through
Propeller is set and driving mechanism, driving mechanism main function are the direction of propulsion for adjusting propeller, is promoted by changing
The thrust direction of device realizes underwater robot more freedom to come the movement of realizing the more freedom of propulsion device
Movement.
The invention solves the second technical problem be that underwater robot is unable to multifreedom motion, to make to monitor 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.
Detailed description of the invention
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 structural schematic diagram of propulsion device of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of hydraulic propeller of the embodiment of the present invention and driving mechanism；
Fig. 3 is the structural schematic diagram of underwater robot of the embodiment of the present invention；
Fig. 4 is underwater robot of embodiment of the present invention decomposition texture schematic diagram；
Fig. 5 is first visual angle of the underwater robot of the embodiment of the present invention perpendicular to horizontal motion；
Fig. 6 is second visual angle of the underwater robot of the embodiment of the present invention perpendicular to horizontal direction；
Fig. 7 is perspective view 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 of embodiment of the present invention direction of forward movement；
Fig. 9 is the second visual angle of underwater robot of embodiment of the present invention direction of forward movement；
Figure 10 is the perspective view of underwater robot of embodiment of the present invention direction of forward movement；
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 perspective view 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 perspective view that underwater robot of the embodiment of the present invention prolongs inclined direction movement.
Wherein: 11- balance element, the first steering engine of 21-, the second steering engine of 22-, 23- tuning frame, 24- tuning axis, 25- propeller,
31- first shell, 32- second shell, 33- waterproof compartment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the orientation of the instructions such as term "vertical", "horizontal", "inner", "outside"
Or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation usually put
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply 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 that the expression structure has to be substantially parallel, and
It is that can be slightly tilted.
The terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, but can be with
It is slightly tilted.It is not to indicate that the structure is had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
Fully horizontally, it but can be slightly tilted.
In addition, the terms such as " substantially ", " basic " be intended to illustrate related content be not require it is absolute accurate, 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 ", it is usually present certain deviation.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 which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.
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 for making the propulsion device keep balance.
Further, the driving mechanism includes steering engine and tuning component；The steering engine and the tuning component are sequentially connected,
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 for the rotational axis line for driving the propeller 25 to rotate perpendicular to first steering engine 21 is the
One plane, the plane perpendicular to the rotational axis line that second steering engine 22 drives the propeller 25 to rotate are the second plane,
The angle of first plane and second plane is α, α≤90 ° 0 <.
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
The axial line in face, rotational axis line and propeller 25 that first steering engine 21 drives the propeller 25 to rotate is coplanar.
Further, the propulsion device is multiple, and multiple propulsion devices are uniformly distributed in the balance element 11.
Further, the propeller 25 is hydraulic propeller 25.
It should be pointed out that underwater robot is also developed rapidly, mesh with the development of robot and the relevant technologies
The propulsion device of preceding underwater robot is usually that freedom degrees more as far as possible is realized using least propeller 25.The prior art
In, usually only 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, to be difficult to realize the movement of underwater robot more freedom.
The present apparatus is mainly used for solving the technical problems existing in the prior art: the propulsion dress of existing underwater robot
It sets, cannot realize full view pose adjustment in the case where low energy consumption, high reliability, that is, can not achieve multivariant movement；
In order to realize multivariant movement, the present apparatus passes through setting balance element 11, propeller 25 and driving mechanism.
It is a variety of that the propeller 25 of the present apparatus can be screw propeller 25, hydraulic propeller 25 or vector propeller 25 etc.
In any one, used by screw propeller is current most of underwater robots, its thrust be by fluid from
What the variation in front of propeller to rear propeller momentum generated, even if also water is released and is accelerated in water by the helicoid of blade,
Since the reaction force of water flow generates thrust in turn.In order to obtain higher movement velocity, screw propeller is optimal choosing
It selects, because of screw propeller thrust with higher.Really screw propeller can generate higher thrust, but also therefore
Biggish 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 of the resultant force of water flow by spraying after water pump acquisition speed through spout by water
For thrust, thrust pushes underwater robot movement, and hydraulic propeller 25 is used as power source using water spray motor, has 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 water flow is logical
After crossing spout ejection, water (flow) direction is certain, so that propulsion device be enable to walk along fixed route, cooperates driving mechanism control
The outbound course of brake force, so that the action control of underwater robot is more accurate, propulsive efficiency is 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, drives the flat of the rotational axis line of the rotation of hydraulic propeller 25 perpendicular to the second steering engine 22
Face is the second plane, and there are angle α, the value ranges of the angle α between the first plane and the second plane are as follows: 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
To the reverse thrust direction of the water spray thrust of hydraulic propeller 25, then be the direction of motion of hydraulic propeller 25, is pushed away by changing water spray
Into the water spraying direction of device 25, to change the direction that propulsion device moves under water, and then changes underwater robot and transport under water
Dynamic direction.
When the angle of the first plane and the second plane is 90 °, the first steering engine 21 drives the rotation axis of the rotation of propeller 25
Heart line and the rotational axis line that the second steering engine 22 driving propeller 25 rotates are coplanar, and the first steering engine 21 drives propeller 25 to rotate
Rotational axis line and propeller 25 axial line it is coplanar.
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 ° that α, which is arranged, and the range 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 the direction of motion for controlling 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, adjusting the direction of motion of tuning component under the driving effect of steering engine, steering engine can be one, be also possible to more
A, it is the first steering engine 21 and the second steering engine 22 respectively that the preferred steering engine of the present apparatus, which is two, 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 the figure, 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, drive tuning frame 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
For greater 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 drives 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 realize and promote dress
The adjusting in direction is set, to achieve the purpose that adjust the underwater robot direction of motion.
It is driven perpendicular to the plane of the rotational axis line of the first steering engine 21 driving tuning frame 23 with perpendicular to the second steering engine 22
The angle of the plane intersection of the rotational axis line of tuning axis 24 is 90 °, the range 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 the direction of motion for controlling entire propulsion device comprehensively.
In order to make the present apparatus be able to maintain balance 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, be also possible to annulus etc..Present apparatus propeller 25 and drive
Dynamic Mechanism Combination is propulsive mechanism, propulsive mechanism more than one, when propulsive mechanism only one when, which preferably matches
Pouring weight.Propulsive mechanism can have multiple, such as have 4, the balance element 11 is annular in shape, which is located at flat
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.
The present apparatus adjusts the direction of propulsion of entire propulsion device by 4 propulsive mechanisms of setting jointly, which is 4 water sprays
The opposite direction of the resultant force 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
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 opposite direction of the resultant force 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 the figure, the present apparatus has 4 propulsive mechanisms, and 4 propulsive mechanisms point
Not Wei Yu balance element 11 4 directions, by the first steering engine 21 drive tuning frame 23, the second steering engine 22 drive tuning axis 24, lead to
Toning acts synergistically on hydraulic propeller 25 simultaneously to frame 23 and tuning axis 24, to change the side of the water spray of hydraulic propeller 25
To the opposite direction of the resultant force 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, thus
Propulsion device is set 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 set 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 annular in shape.
Further, the underwater robot further includes shell, and the propulsion device and the control system are placed in described
In shell, the shell is equipped with the notch for 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 receive the information that the sensor issues, simultaneously
The information is subjected to data processing and analysis, treated information is issued to the driving mechanism instruct simultaneously.
It should be pointed out that underwater robot is mainly used for underwater monitoring and detecting, existing underwater robot by
More multifactor limitation, for example promote angle that cannot have more freedom degrees etc., to make the free movement of underwater robot
The range of degree is more narrow, and underwater robot of the invention can be realized the monitoring of more free angles and detect, to make underwater machine
Device people it is underwater monitoring and detect more full view, more precisely.
There is the movement of more freedom in order to realize underwater robot under water, using propulsion device and for controlling
The propulsion device so that underwater robot directed movement control system.
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 shell, which can be spherical in shape, the body of torpedo constant current contour type, and the shell
The material of body, which can be, selects metal plate either glass fibre etc., and the shell of this underwater robot is preferably spherical, because of ball
This shape of shape has particularity, can realize 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 set to shell
In vivo, underwater robot is made to have higher mobility and anti-interference ability.
When the shape of shell is spherical, as shown in Fig. 3,4, shell 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 and is 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 be in U-shape.
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 placed 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.The main function of gravity sensor is acceleration caused by measurement gravity, can calculate underwater robot
Tilt angle 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 as first processor for connecing
It receives the underwater acceleration of underwater robot of sensor sending, gradient, impact force, Vibration Condition, rotate angle and mostly oneself
By information such as degree movements, and to second processing above- mentioned information progress data processing and be sent in the second circuit of control assembly
Device, AVR is used to receive the instruction of the first processing as second processor and passes through pwm signal in second circuit controls first respectively
The operating of steering engine 21, the second steering engine 22 and hydraulic propeller 25.Wherein DSP first processor selects TMS320F28355 type number
Signal processor, AVR second processor select ATmega2560 microprocessor；Life between first processor and second processor
It enables and state feds back through RS232 asynchronous serial communication to realize；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 be made to be 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 panel, the control panel of the second layer by AVR control panel 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 it is dry to avoid mutual electromagnetism
It disturbs.Meanwhile this space just gives the communication module of integration to provide space, so that the space acquisition in waterproof compartment 33 is higher
Utilization rate, whole layout more optimizes, at the same can also there are spaces, further upgrading control system so that underwater machine
Device people can complete increasingly complex task.
Specific embodiment: underwater robot passes through sensor collecting data information under water, and the data of acquisition are believed
Breath is sent to control assembly, is handled by control assembly, analysis processing, and sends final output order to propulsion device, leads to
Steering engine is crossed to adjust 25 water spraying direction of hydraulic propeller, 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, to mention
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 of the resultant force 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, are overlapped the direction of spout 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 is needed towards when inclined direction movement, as Figure 14~
Shown in 16；First steering engine 21 and the second steering engine 22 driving hydraulic propeller 25 jointly, the resultant force of all hydraulic propellers 25 it is anti-
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 are as follows:
A variety of change, modification, replacement and modification, the present invention can be carried out to these embodiments by not departing under the principle of the present invention and objective
Range be defined by the claims and their equivalents.
Claims (10)
1. a kind of propulsion device for underwater robot, which is characterized in that described including balance element, propeller and for adjusting
The driving mechanism of propeller direction of propulsion；The balance element is for making the propulsion device 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 and the tuning component are sequentially connected, 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；
Plane perpendicular to the rotational axis line of the rotation of propeller described in first servo driving is the first plane, perpendicular to institute
The plane for stating the rotational axis line of the rotation of propeller described in the second servo driving is the second plane, first plane and described the
The angle of two planes is α, α≤90 ° 0 <.
4. the propulsion device according to claim 3 for underwater robot, which is characterized in that the α is 90 °, described
The rotation of propeller rotation described in the rotational axis line and second servo driving of the rotation of propeller described in first servo driving
Axial line is coplanar, and the rotational axis line of the rotation of propeller described in first servo driving and the axial line of propeller 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 the described in any item propulsion devices of Claims 1 to 5 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 annular in shape.
9. underwater robot according to claim 6, it is characterised in that: the underwater robot further includes shell, described
Propulsion device and the control system are placed in the shell, and the shell is equipped with the notch for propeller water spray.
10. according to the described in any item underwater robots of claim 7~9, 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 for receiving the information of the sensor sending and the information being carried out data processing and analysis, simultaneously by place
Information after reason is issued to the driving mechanism to be instructed.
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| Application Number | Priority Date | Filing Date | Title |
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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 |
| CN201810075035X | 2018-01-25 |
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| CN109178285A true CN109178285A (en) | 2019-01-11 |
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| CN201810075035.XA Pending CN108082436A (en) | 2018-01-25 | 2018-01-25 | A kind of propulsion device and underwater robot for underwater robot |
| 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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| CN110789695A (en) * | 2019-08-29 | 2020-02-14 | 金陵科技学院 | Rapid obstacle avoidance system and method for underwater robot |
| CN112078686A (en) * | 2020-09-09 | 2020-12-15 | 哈尔滨工业大学 | Underwater detection robot |
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| CN108082436A (en) | 2018-05-29 |
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