CN109515651A - A kind of modularization underwater robot based on integrated form vector propeller - Google Patents
A kind of modularization underwater robot based on integrated form vector propeller Download PDFInfo
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- CN109515651A CN109515651A CN201811340303.2A CN201811340303A CN109515651A CN 109515651 A CN109515651 A CN 109515651A CN 201811340303 A CN201811340303 A CN 201811340303A CN 109515651 A CN109515651 A CN 109515651A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63G8/08—Propulsion
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of modularization underwater robots based on integrated form vector propeller, integrated form vector propeller is distributed in the left and right sides of underwater robot cabin, various dimensions direction thrust can be generated and realize navigation attitude, the deep measurement of boat and itself gesture stability, the two sides of tail of underwater robot cabin and back are respectively fixed with tail fin and dorsal fin, power supply module, payload module and communication module are arranged in robot cabin under water, power supply module is used to power for underwater robot, communication module is connect with payload module and integrated form vector propeller respectively, it is transmitted for the acquisition data of payload module and ground host computer, and the control signal transmission of integrated form vector propeller and ground host computer.The present invention has stronger mobility, functionality and intelligence while ensuring underwater robot stability, improves the exploration ability under complicated sea situation, has broad application prospects.
Description
Technical field
The invention belongs to underwater robot technical fields, and in particular to a kind of modularization based on integrated form vector propeller
Underwater robot.
Background technique
The dual-use aspect such as target homing, marine resources detection, ocean military mission obtains underwater robot under water
It is widely applied.In practical applications, mobility, the maneuverability of underwater robot how are under water improved under complex environment, with
And the flexibility that modularization mission payload changes the outfit is critical issue.
Traditional propeller has the following defects and deficiency:
1. realize that different directions movement needs to install multiple propellers to generate multi-dimensional direction propulsive force, occupied space compared with
Greatly, arrangement form is complicated, while needing to carry the battery of larger capacity, increases cost；
2. changing the posture of aircraft under the collective effect pushed away with left and right sides in upper sagging push away.Although this method is current
It is able to satisfy requirement, but thrust has counteracting, it is inefficient；
3. multi-thruster can reduce Underwater Navigation ability when lowsteaming, mobility is bad, increases the navigation of robot
Resistance.Traditional propeller is difficult to meet the needs of complex action.
Therefore, it is imperative to research and develop a kind of modularization underwater robot based on integrated form vector propeller.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on integrated
The modularization underwater robot of formula vector propeller can need flexible configuration according to task using vector Push Technology
The payload module of different function, support have cable control and two kinds of operating modes of autonomous cruise, meet the needs of complex action.
The invention adopts the following technical scheme:
A kind of modularization underwater robot based on integrated form vector propeller, including it is integrated form vector propeller, underwater
Robot cabin, power supply module, payload module and communication module, integrated form vector propeller are distributed in underwater robot cabin
The left and right sides, various dimensions direction thrust can be generated and realize navigation attitude, the deep measurement of boat and itself gesture stability, underwater robot cabin
The two sides of tail of body and back are respectively fixed with tail fin and dorsal fin, and power supply module, payload module and communication module are arranged in water
In lower robot cabin, power supply module is used to power for underwater robot, and communication module is sweared with payload module and integrated form respectively
Propeller connection is measured, for the transmission of the acquisition data of payload module and ground host computer and integrated form vector propeller and ground
The control signal of face host computer transmits.
Specifically, integrated form vector propeller includes screw propeller, deflection vector mechanism and motion control unit, fortune
Dynamic control unit is connect by deflection vector mechanism with screw propeller, moves screw propeller by electric transfer drive.
Further, motion control unit includes inertial sensor, depth transducer and STM32 control panel, STM32 control
Making sheet is used to receive the action command of ground host computer, and determines underwater machine according to the information of inertial sensor and depth transducer
Device people current posture and depth, output pwm signal control the first steering engine and the rotation of the second steering engine of deflection vector mechanism.
Further, the pwm signal of motion control unit controls the first steering engine and the second steering engine turns over corresponding angle respectively
Spend α and β, servo driving deflection vector mechanism carry out rolling and side-sway movement, thrust space direction by deflection vector mechanism
The angle, θ of rolling and side-sway andIt determines, specifically:
Wherein, z1For the number of teeth of the first spur gear, z2For the number of teeth of the second spur gear, z3For the number of teeth of first bevel gear, z4
For the number of teeth of second gear, z5For the number of teeth of third hand tap gear, z6For the number of teeth of the 4th bevel gear, z7For the tooth of the 5th bevel gear
Number.
Further, roll angle is -90 °≤θ≤90 °, and side-sway angle is
Further, deflection vector mechanism is coupled to form by side-sway transmission chain and rolling transmission chain, there are two the tools of space
Rotary freedom, vectored thrust form a spherical surface in space.
Further, side-sway transmission chain includes the first steering engine, and the first steering engine successively passes through the first spur gear, the second straight-tooth
Wheel, first bevel gear and second bevel gear are driven, and it is α that the first steering engine, which turns over angle, then side-sway angleAre as follows:
Wherein, z1For the number of teeth of the first spur gear, z2For the number of teeth of the second spur gear, z3For the number of teeth of first bevel gear, z4
For the number of teeth of second gear.
Further, rolling transmission chain includes the second steering engine, and the second steering engine successively passes through third hand tap gear, the 4th cone tooth
The cyclic train that wheel and the 5th bevel gear are formed is driven, and it is β, roll angle θ that the second steering engine, which turns over angle, are as follows:
Wherein, z5For the number of teeth of third hand tap gear, z6For the number of teeth of the 4th bevel gear, z7For the number of teeth of the 5th bevel gear.
Specifically, the input terminal of power supply module is connect by neutral buoyancy cable with ground power supply, output end respectively with integrate
Formula vector propeller, payload module and communication module connection, output voltage are 5V and 12V.
Specifically, communication module support has cable control and autonomous cruise, including navigation module and power line carrier module, there is cable
Control is communicated using neutral buoyancy cable and power line carrier module, and autonomous cruise operating mode utilizes wireless telecommunications and navigation mould
Block carries out communication and autonomous cruise.
Compared with prior art, the present invention at least has the advantages that
The present invention provides a kind of modularization underwater robot based on integrated form vector propeller, integrated form vector propeller
While generating various dimensions direction thrust using deflection vector mechanism, navigation attitude, the deep measurement of boat and itself gesture stability can be realized
Function has stronger mobility and flexibility, improves the exploration ability under complicated sea situation, next integrated form vector propeller is just
In the modularization for realizing underwater robot, underwater robot is allow to need the load of flexible configuration different function according to task
Lotus module carries out selection replacement according to different application environments, greatly reduces repetitive operation, realizes needed for same motor function
The propeller quantity wanted is few, and control efficiency is high.
Further, motion control unit is integrated with inertial sensor, depth transducer and STM32 control panel, STM32
Control panel receives the action command of ground host computer, and according to the information analysis underwater of inertial sensor and depth transducer
People current posture and depth form the deep measurement of navigation attitude, boat with manipulation and execute integrated intelligent propeller.
Further, roll angle is -90 °≤θ≤90 °, and side-sway angle isMeet underwater robot
The needs of vertical plane pitching movement and horizontal plane yawing rotation.
Further, deflection vector mechanism includes that side-sway transmission chain and rolling transmission chain are coupled to form, and has two in space
A rotary freedom, the thrust that propeller generates is related with revolving speed, to form size in space and direction in space is controllable
Vector propulsive force.
Further, support there is cable control and two kinds of operating modes of autonomous cruise, the complicated sea situation interference of reply has stronger
Robustness, have stronger functional and intelligence while ensuring stability.
In conclusion the present invention has stronger mobility, functionality and intelligence while ensuring underwater robot stability
Energy property improves the exploration ability under complicated sea situation, has broad application prospects.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is that vector of the present invention promotes underwater robot system composition schematic diagram, wherein (a) is to have cable to control Working mould
Formula (b) is autonomous cruise operating mode；
Fig. 2 is integrated form vector propeller structure chart of the present invention；
Fig. 3 is deflection vector mechanism of the present invention side-sway and rolling transmission chain figure；
Fig. 4 is that vector of the present invention promotes underwater robot yawing rotation schematic diagram；
Fig. 5 is that vector of the present invention promotes underwater robot depthkeeping to move schematic diagram.
Wherein: 1. integrated form vector propellers；2. underwater robot cabin；3. power supply module；4. payload module；5. logical
Interrogate module；6. wireless telecommunications and navigation module；7. power line carrier module；8. screw propeller；9. deflection vector mechanism；10.
Motion control unit；11. inertial sensor；12. depth transducer；13.STM32 control panel；14. the first steering engine；15. second
Steering engine；16. the first spur gear；17. the second spur gear；18. first bevel gear；19. second bevel gear；20. third hand tap gear；
21. the 4th bevel gear；22. the 5th bevel gear；23. deflecting bracket.
Specific embodiment
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "inner",
The orientation or positional relationship of the instructions such as "outside", " side ", " one end ", " one side " is that orientation based on the figure or position are closed
System, 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 must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.Term " first ", " the
Two " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicate indicated technology spy
The quantity of sign." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more be somebody's turn to do
Feature.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention provides a kind of modularization underwater robots based on integrated form vector propeller, can be appointed according to work
Business needs the payload module of flexible configuration different function.Integrated form vector propeller is generating various dimensions using deflection vector mechanism
While the thrust of direction, it can be realized the functions such as navigation attitude, the deep measurement of boat and itself gesture stability.Power supply module provides underwater
The power supply of people's modules is supplied.Communication module support has cable control and two kinds of operating modes of autonomous cruise, realizes payload module
The control signal of the transmission of acquisition data and integrated form vector propeller and ground host computer with ground host computer transmits.
Referring to Fig. 1, a kind of modularization underwater robot based on integrated form vector propeller of the present invention, including integrated form
Vector propeller 1, underwater robot cabin 2, power supply module 3, payload module 4 and communication module 5, underwater robot cabin 2
Using streamlined, underwater resistance is reduced, the two sides Yu back of robot cabin 2 are respectively fixed with tail fin and dorsal fin under water, rise
To balanced action；Two integrated form vector propellers 1 are distributed in 2 left and right sides of underwater robot cabin.
The input terminal of power supply module 3 is connect by neutral buoyancy cable with ground power supply, output end respectively with integrated form vector
Propeller 1, payload module 4 and communication module 5 connect, and provide the power supply supply of underwater robot modules, floating using zero
The electric energy that power cable realizes ground power supply to underwater robot supplies.
The power management circuit board output voltage of power supply module 3 is 5V and 12V, and 5V is used to power for sensor module, 12V
For for deflection vector mechanism 9 in integrated form vector propeller 1 steering engine and screw machine propeller 8 power.
Underwater robot can need the payload module 4 of flexible configuration different function according to task, and support is taken the photograph under water
Picture, sonar detection, portable explosive and other add-on modules.
The support of communication module 5 has cable control and two kinds of operating modes of autonomous cruise, realizes payload module 4 and ground host computer
The transmission of acquisition data and the control signal of integrated form vector propeller 1 and ground host computer transmit.There is cable to control Working mould
Formula is communicated using neutral buoyancy cable and power line carrier module 7.Autonomous cruise operating mode utilizes wireless telecommunications and navigation mould
Block 6 carries out communication and autonomous cruise.
Referring to Fig. 2, integrated form vector propeller 1 includes screw propeller 8, deflection vector mechanism 9 and motion control
Unit 10；Motion control unit 10 passes through electric transfer drive and moves screw propeller 8, and maximum thrust 30N meets the speed of a ship or plane and is not less than
2kn while generating various dimensions direction thrust using deflection vector mechanism 9, can be realized navigation attitude, the deep measurement of boat and itself posture
Control function.
Motion control unit 10 includes inertial sensor 11, depth transducer 12 and STM32 control panel 13, STM32 control
Plate 13 receives the action command of ground host computer, and according to the underwater machine of the information analysis of inertial sensor 11 and depth transducer 12
Device people current posture and depth export PWM signal to deflection vector mechanism 9.
Referring to Fig. 3, deflection vector mechanism 9 is in space tool, there are two rotary freedoms, are coupled to form by two kinematic chains,
Respectively side-sway transmission chain and rolling transmission chain, vectored thrust form a spherical surface in space, reach vector and promote underwater
People flexibly changes the requirement of posture.
Side-sway transmission chain passes through the first spur gear 16 and the second spur gear 17, and there are also first bevel gear 18 and second bevel gears
19 are driven, and it is α that the first steering engine 14, which turns over angle, then side-sway angleAre as follows:
Wherein, z1For the number of teeth of the first spur gear, z2For the number of teeth of the second spur gear, z3For the number of teeth of first bevel gear, z4
For the number of teeth of second gear.
Rolling transmission chain formd under the coupling of side-sway transmission chain bevel gear set at cyclic train, rolling be driven chain warp
It crosses third hand tap gear 20, the 4th bevel gear 21 and the 5th bevel gear 22 to be driven, it is β that the second steering engine 15, which turns over angle, then rolls
Gyration θ are as follows:
Wherein, z5For the number of teeth of third hand tap gear, z6For the number of teeth of the 4th bevel gear, z7For the number of teeth of the 5th bevel gear.
The pwm signal of motion control unit 10 controls the first steering engine 14 and the second steering engine 15 turns over corresponding angle [alpha] respectively
And β, servo driving deflection vector mechanism 9 carry out rolling and side-sway movement, thrust is rolled in the direction in space by deflection vector mechanism
Turn and side-sway angle, θ andIt determines, specifically:
Deflection vector mechanism can reach posture angular region are as follows: roll angleSide-sway angle
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 described and shown in usually here in attached drawing is real
The component for applying example can be arranged and be designed by a variety of different configurations.Therefore, below to the present invention provided in the accompanying drawings
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of of the invention selected
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 4, when ground host computer issues yawing rotation order to underwater robot, in motion control unit 10
STM32 control panel 13 the left-hand rotation action command of ground host computer is received by communication module 5, exported to deflection vector mechanism 9
Pwm signal, control steering engine make deflection vector mechanism carry out side-sway movement, to be in horizontal plane generation and navigation angular separation
Thrust, execute counterclockwise motion.In the process of implementation, STM32 control panel 13 is analyzed in real time according to the information of inertial sensor 11
The current posture position of underwater robot, after the completion of judging left-hand rotation movement, control deflection vector mechanism 9 returns to original state.
Referring to Fig. 5, when ground host computer issues depthkeeping motion command to underwater robot, in motion control unit 10
STM32 control panel 13 the dive action command of ground host computer is received by communication module 5, exported to deflection vector mechanism 9
Pwm signal, control steering engine make deflection vector mechanism carry out rolling movement, so that generating in vertical plane and navigate by water angular separation is θ
Thrust, execute dive campaign.In the process of implementation, STM32 control panel 13 is analyzed in real time according to the information of depth transducer 12
The current depth location of underwater robot, after judgement reaches submerged depth, control deflection vector mechanism 9 returns to original state.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (10)
1. a kind of modularization underwater robot based on integrated form vector propeller, which is characterized in that pushed away including integrated form vector
It is pushed away into device (1), underwater robot cabin (2), power supply module (3), payload module (4) and communication module (5), integrated form vector
It is distributed in the left and right sides of underwater robot cabin (2) into device (1), various dimensions direction thrust can be generated and realize that navigation attitude, boat are deep
Measurement and itself gesture stability, the two sides of tail of underwater robot cabin (2) and back are respectively fixed with tail fin and dorsal fin, power
Module (3), payload module (4) and communication module (5) setting are under water in robot cabin (2), and power supply module (3) is for being
Underwater robot power supply, communication module (5) are connect with payload module (4) and integrated form vector propeller (1) respectively, are used for load
Module (4) and the transmission of the acquisition data of ground host computer and the control of integrated form vector propeller (1) and ground host computer are believed
Number transmission.
2. the modularization underwater robot according to claim 1 based on integrated form vector propeller, which is characterized in that collection
Accepted way of doing sth vector propeller (1) includes screw propeller (8), deflection vector mechanism (9) and motion control unit (10), movement control
Unit (10) processed is connect by deflection vector mechanism (9) with screw propeller (8), moves screw propeller by electric transfer drive
(8)。
3. the modularization underwater robot according to claim 2 based on integrated form vector propeller, which is characterized in that fortune
Dynamic control unit (10) include inertial sensor (11), depth transducer (12) and STM32 control panel (13), STM32 control panel
(13) for receiving the action command of ground host computer, and it is true according to the information of inertial sensor (11) and depth transducer (12)
Determine underwater robot current posture and depth, output pwm signal controls first steering engine (14) and the of deflection vector mechanism (9)
Two steering engines (15) rotation.
4. the modularization underwater robot according to claim 3 based on integrated form vector propeller, which is characterized in that fortune
The pwm signal control the first steering engine (14) of dynamic control unit (10) and the second steering engine (15) turn over corresponding angle [alpha] and β respectively,
Servo driving deflection vector mechanism (9) carry out rolling and side-sway movement, thrust space direction by the rolling of deflection vector mechanism
With the angle, θ of side-sway andIt determines, specifically:
Wherein, z1For the number of teeth of the first spur gear, z2For the number of teeth of the second spur gear, z3For the number of teeth of first bevel gear, z4It is
The number of teeth of two gears, z5For the number of teeth of third hand tap gear, z6For the number of teeth of the 4th bevel gear, z7For the number of teeth of the 5th bevel gear.
5. the modularization underwater robot according to claim 4 based on integrated form vector propeller, which is characterized in that rolling
Gyration is -90 °≤θ≤90 °, and side-sway angle is
6. the modularization underwater robot according to claim 2 based on integrated form vector propeller, which is characterized in that arrow
Amount deflection mechanism (9) is coupled to form by side-sway transmission chain and rolling transmission chain, and in space, there are two rotary freedom, vector pushes away tool
Power forms a spherical surface in space.
7. the modularization underwater robot according to claim 6 based on integrated form vector propeller, which is characterized in that side
Putting transmission chain includes the first steering engine (14), and the first steering engine (14) is successively by the first spur gear (16), the second spur gear (17), the
One bevel gear (18) and second bevel gear (19) are driven, and it is α that the first steering engine (14), which turns over angle, then side-sway angleAre as follows:
Wherein, z1For the number of teeth of the first spur gear, z2For the number of teeth of the second spur gear, z3For the number of teeth of first bevel gear, z4It is
The number of teeth of two gears.
8. the modularization underwater robot according to claim 6 based on integrated form vector propeller, which is characterized in that rolling
Turn transmission chain include the second steering engine (15), the second steering engine (15) successively by third hand tap gear (20), the 4th bevel gear (21) and
The cyclic train that 5th bevel gear (22) is formed is driven, and it is β, roll angle θ that the second steering engine (15), which turns over angle, are as follows:
Wherein, z5For the number of teeth of third hand tap gear, z6For the number of teeth of the 4th bevel gear, z7For the number of teeth of the 5th bevel gear.
9. the modularization underwater robot according to claim 1 based on integrated form vector propeller, which is characterized in that supply
The input terminal of electric module (3) is connect by neutral buoyancy cable with ground power supply, output end respectively with integrated form vector propeller
(1), payload module (4) and communication module (5) connection, output voltage are 5V and 12V.
10. the modularization underwater robot according to claim 1 based on integrated form vector propeller, which is characterized in that
Communication module (5) support has cable control and autonomous cruise, including navigation module (6) and power line carrier module (7), there is cable control benefit
It is communicated with neutral buoyancy cable and power line carrier module (7), autonomous cruise operating mode utilizes wireless telecommunications and navigation module
(6) communication and autonomous cruise are carried out.
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| CN114132470A (en) * | 2021-12-10 | 2022-03-04 | 威海海洋职业学院 | Control vertical vector propulsion device of underwater robot and propulsion method thereof |
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