CN109533241B - Intelligent flap underwater robot - Google Patents
Intelligent flap underwater robot Download PDFInfo
- Publication number
- CN109533241B CN109533241B CN201811530802.8A CN201811530802A CN109533241B CN 109533241 B CN109533241 B CN 109533241B CN 201811530802 A CN201811530802 A CN 201811530802A CN 109533241 B CN109533241 B CN 109533241B
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- Prior art keywords
- cabin
- wing
- underwater robot
- automatic
- main control
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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
Abstract
The invention relates to an intelligent flap underwater robot, and belongs to the field of robots. The energy cabin and the main load cabin of the intelligent flap underwater robot are installed to form an integral machine body structure; a transparent semi-spherical cover is arranged at the front section of the main control cabin; the main control cabin is provided with an extensible and closable automatic wing; the automatic wing is driven by a steering engine driving mechanism to move; the steering engine driving mechanism is arranged in the main control cabin, and is supplied with energy by the energy cabin; the tail of the main load cabin is provided with a power system. The intelligent flap underwater robot provided by the invention can exert the advantage of high streamline submerging speed and has the capacity of opening frame type stable operation, and the foldable wings are additionally arranged on the two sides of the main cabin of the streamline structure, so that the wings are unfolded during operation, and the functions of stability and balance can be achieved; the wings are contracted during the submerging process, so that the vehicle can be submerged quickly. The structure can be suitable for different ocean environments by adjusting the posture of the wing.
Description
Technical Field
The invention relates to an intelligent flap underwater robot, and belongs to the field of robots.
Background
From ancient times to date, the exploration activities of human beings on the ocean never stopped, and in the past, the range of human activities was limited to land and the development of the ocean was limited, and with the development of technology, people have conducted deep exploration on the ocean which occupies three quarters of the land area, and the progress of technology from land to ocean was made. As is well known, the ocean is a huge resource treasury, contains abundant mineral resources, and land resources are gradually exhausted after being exploited for hundreds of years in the 21 st century, so people start to turn to the ocean to seek for exploitation and utilization resources, but due to limited conditions of the people, the underwater operation can be completed only by means of the underwater robot, the underwater robot is divided into two types of split frame type or streamline type according to the structure, if the traditional underwater robot is used for deep sea operation, the robot is designed into streamline type, the structure is favorable for diving, the resistance of water is reduced, the energy is saved, the deep sea area is easy to reach, the ocean activity is completed, the defects of unfavorable deep sea seabed operation, poor stability, low reliability and difficult control are overcome; the open frame is beneficial to shallow sea operation and has good stability.
The stability of the open frame type structure is good, but the submerging speed is low, and the streamline structure can submerge rapidly, but is unfavorable for fixed-point operation. At present, the underwater robot is usually designed according to fixed purposes, is difficult to meet different working environments, is easily influenced by sea environment, and has low working efficiency.
Disclosure of Invention
The invention provides an intelligent flap underwater robot aiming at the defects.
The invention adopts the following technical scheme:
the invention relates to an intelligent flap underwater robot, which comprises a transparent hemispherical cover, a main control cabin, an energy cabin and a main load cabin, wherein the main load cabin is arranged on the main control cabin; the main control cabin, the energy cabin and the main load cabin are installed to form an integral engine body structure; a transparent semi-spherical cover is arranged at the front section of the main control cabin; the main control cabin is provided with an extensible and closable automatic wing; the automatic wing is driven by a steering engine driving mechanism to move; the steering engine driving mechanism is arranged in the main control cabin, and is supplied with energy by the energy cabin; the tail of the main load cabin is provided with a power system.
The intelligent flap underwater robot of the invention, the steering engine driving mechanism comprises a stepping motor, the device comprises a vertical gear, a driving gear, a transmission shaft, a connecting gear and a wing shaft;
a driving gear is arranged on the driving shaft of the stepping motor;
vertical gears are coaxially arranged at two ends of the transmission shaft respectively;
the wing shaft is axially provided with a connecting gear, the outer wall of the wing shaft is connected with the automatic wings, the rotation of the wing shaft drives the automatic wings to be unfolded and closed, the number of the automatic wings is two, and each automatic wing is respectively fixed with the wing shaft;
the two sides of the driving gear are respectively provided with a transmission shaft, and the transmission shafts are positioned on the same straight line; a vertical gear on one side, close to the driving gear, of the two transmission shafts is meshed with the driving gear;
the vertical gears on one side, far away from the driving gear, of the two transmission shafts are meshed with the connecting gear;
the connecting gears on the two wing shafts are arranged in a staggered way.
According to the intelligent flap underwater robot disclosed by the invention, the driving gear is provided with the dividing disc, and the rotation angle of the driving gear is displayed through the dividing disc so as to control the unfolding angle of the automatic wing.
The intelligent flap underwater robot is characterized in that a counterweight is arranged on the outer side of a machine body structure; the bottom of the machine body structure is provided with an anti-corrosion support.
According to the intelligent flap underwater robot, a camera is arranged in the transparent hemisphere; the outer side of the transparent semi-spherical cover is provided with an underwater waterproof LED lamp.
The intelligent flap underwater robot is characterized in that guide pipe spiral propellers are arranged on the side walls of two sides of the machine body structure.
According to the intelligent flap underwater robot, the water depth sensor is arranged at the top of the main control cabin between the automatic wings.
According to the intelligent flap underwater robot, the outer side of the transmission shaft is provided with the protection sleeve.
Advantageous effects
The intelligent flap underwater robot provided by the invention can exert the advantage of high streamline submerging speed and has the capacity of opening frame type stable operation, and the foldable wings are additionally arranged on the two sides of the main cabin of the streamline structure, so that the wings are unfolded during operation, and the functions of stability and balance can be achieved; the wings are contracted during the submerging process, so that the vehicle can be submerged quickly. The structure can be suitable for different ocean environments by adjusting the posture of the wing.
The intelligent flap underwater robot provided by the invention has a simple structure, can realize operation no matter in shallow sea or deep sea, greatly improves the operation efficiency, makes up the advantages of the traditional streamline or open frame type structure and is isolated from each other, so that the streamline type rapid submergence can be realized, the streamline structure can greatly reduce the resistance of water, and the energy consumption is low; when the robot is submerged to a certain height, the folded double wings are automatically unfolded, so that the underwater robot becomes an open frame, the stability and the reliability can be greatly improved, and the underwater operation can be smoothly completed.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a steering engine driving mechanism of the invention;
FIG. 3 is a schematic cross-sectional view of a drive structure of the present invention;
FIG. 4 is a schematic view of the sensing mechanism installation of the present invention.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
As shown in fig. 1: intelligent flap underwater robot structure schematic diagram: the transparent semi-spherical cover 1 is used for protecting the camera; the underwater camera 2 is used for collecting image information, and an up-and-down rotating steering engine is additionally arranged behind the camera, so that the range of image collection is enlarged; the main control cabin 3 is provided with an electronic control board and used for controlling the underwater robot to operate in a coordinated manner; the guide pipe propeller 4 is provided with a guide pipe, so that the thrust can be increased by 30% -35%; the underwater waterproof LED lamp 5 supplies illumination light for the camera; the underwater corrosion prevention support 6 is used for supporting the underwater robot.
The automatic flap 7 has different wing states under different sea conditions and different working conditions, and when the automatic flap is submerged, the automatic flap is required to be submerged at a high speed, and the double wings are required to be retracted; when working underwater, the stability of the underwater robot is required to be stronger, and then the double wings are required to be opened. The balancing weight 8 is indispensable to the underwater robot and is used for increasing the weight and balance of the underwater robot and beneficial to submergence. The energy cabin 9 supports a 3-4S lithium battery and provides power for the whole underwater robot; the underwater waterproof sonar 10 is used for the underwater robot seabed obstacle avoidance.
As shown in fig. 2: the steering engine driving mechanism comprises a stepping motor 71, a vertical gear 72, a driving gear 73, a transmission shaft 74, a connecting gear 75 and a wing shaft 76;
the joint of the steering engine driving mechanism and the intelligent flap robot is schematically shown, the stepping motor 71 firstly rotates clockwise in a stepping way, and 4 index plates are shown as followsWhen the intelligent underwater robot is in operation, 1 step stops rotating, wings on two sides of the steering engine driving mechanism slowly open along with the rotation of the stepping motor, so that the intelligent underwater robot is changed into an open frame type intelligent underwater robot from a simple streamline shape, and the stability is greatly improved; conversely, when the step is rotated counterclockwise, the 4 index plate indicates +.>When the stepping rotation is stopped, the wings at two sides of the driving mechanism are slowly closed along with the rotation of the motor, and at the moment, the underwater robot becomes streamline from an open frame, so that deep sea submergence is facilitated, the resistance is small, and the submergence speed is high.
The vertical gear 72 is meshed with the driving gear 73; the stepper motor 71 rotates clockwise and the drive shaft drives the drive gear 73 clockwiseWhen the wing shafts 76 drive the wings on the two sides to expand or contract, the corresponding two vertical gears 72 also drive the transmission shafts 74 to rotate. The drive shaft sleeve is used to protect the drive shaft from impurities or other interfering factors to avoid affecting mechanical work.
The scale on the index plate of steering engine actuating mechanism shows the rotation degree, and the index plate is arranged on driving gear 73, and driving gear 73 connects the sensor, gives stm32F103VCT6 chip processing with gathering analog signal, sends the step motor 71 with feedback signal after the processing, and forward rotation step motor 71 stops rotating, realizes wing and opens the purpose.
The transmission shaft 74 transmits the obtained rotational kinetic energy to the wing shaft to realize wing opening; the driving gear 73 is meshed with the vertical gear 72, and kinetic energy is transmitted to the automatic wing 7, so that the automatic wing 7 can be unfolded and folded. The folding robot wing 7 is folded up and down or opened up, thereby realizing a streamline-to-open frame transition.
An image acquisition cabin is arranged in the underwater robot cabin and is used for acquiring images and protecting a camera; the system comprises a camera module, an electronic cabin, an energy cabin, a control chip stm32F103VCT6, a power supply module, a control module and a control module, wherein the camera module acquires an underwater image data electronic cabin and is provided with a control chip stm32F103VCT6; the tail cabin is streamline, so that the resistance is reduced; and the power module is used for providing thrust.
The wing shaft 76 is axially provided with a connecting gear 75, the outer wall of the wing shaft 76 is connected with the automatic wings 7, the rotation of the wing shaft 76 drives the automatic wings 7 to be unfolded and closed, the number of the automatic wings 7 is two, and each automatic wing 7 is respectively fixed with the wing shaft 76;
the two sides of the driving gear 73 are respectively provided with a transmission shaft 74, and the transmission shafts 74 are positioned on the same straight line; the vertical gears 72 on the two transmission shafts 74 near one side of the driving gear 73 are meshed with the driving gear 73; the vertical gears 72 on the two transmission shafts 74 at the side far away from the driving gear 73 are meshed with the connecting gears 75;
in the initialized state, the automatic wings 7 of the underwater intelligent underwater robot are in a two-side contracted state, when the underwater robot just runs down water, the water depth sensor 13 collects data, and the underwater intelligent underwater robot belongs to a submerged state, as shown in the figure 4, the automatic wings 7 are attached to the main control cabin 3 in a submerged pipeline type schematic mode under the cross section of the electronic cabin of the underwater robot of the automatic wings 7.
Fig. 4 shows: when the underwater robot arrives at 100m under water and arrives at an operation area, the water depth sensor 14 obtains a return value of 100m, the sensor obtains data and sends the data to the control board, the control board responds to control the steering engine driving mechanism to rotate clockwise, the wings are opened along with the rotation of the steering engine from two sides of the cabin body to become an opening frame potential, balance is kept, stability is improved, and operation is improved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (5)
1. An intelligent flap underwater robot comprises a transparent semi-spherical cover (1), a main control cabin (3), an energy cabin (9) and a main load cabin (11); the main control cabin (3), the energy cabin (9) and the main load cabin (11) are installed to form an integral machine body structure; the front section of the main control cabin (3) is provided with a transparent semi-spherical cover (1); the method is characterized in that: an automatic wing (7) which can be unfolded and closed is arranged on the main control cabin (3); the automatic wing (7) is driven by a steering engine driving mechanism to move; the steering engine driving mechanism is arranged in the main control cabin (3), and is supplied with energy by the energy cabin (9); the tail part of the main load cabin (11) is provided with a power system (12); the steering engine driving mechanism comprises a stepping motor (71), a vertical gear (72), a driving gear (73), a transmission shaft (74), a connecting gear (75) and a wing shaft (76);
a driving gear (73) is arranged on the driving shaft of the stepping motor (71);
two ends of the transmission shaft (74) are coaxially provided with vertical gears (72) respectively;
the wing shaft (76) is axially provided with a connecting gear (75), the outer wall of the wing shaft (76) is connected with the automatic wings (7), the rotation of the wing shaft (76) drives the automatic wings (7) to be unfolded and closed, the number of the automatic wings (7) is two, and each automatic wing (7) is respectively fixed with the wing shaft (76);
the two sides of the driving gear (73) are respectively provided with a transmission shaft (74), and the transmission shafts (74) are positioned on the same straight line; a vertical gear (72) on one side, close to the driving gear (73), of the two transmission shafts (74) is meshed with the driving gear (73);
a vertical gear (72) on one side of the two transmission shafts (74) far away from the driving gear (73) is meshed with the connecting gear (75);
the connecting gears (75) on the two wing shafts (76) are arranged in a staggered way;
the outer side of the machine body structure is provided with a balancing weight (8); the bottom of the machine body structure is provided with an anti-corrosion bracket (6);
a camera (2) is arranged in the transparent semi-spherical cover (1); an underwater waterproof LED lamp (5) is arranged on the outer side of the transparent semi-spherical cover (1).
2. The intelligent flap underwater robot of claim 1 wherein: the driving gear (73) is provided with an index plate, and the rotation angle of the driving gear (73) is displayed through the index plate so as to control the unfolding angle of the automatic wing (7).
3. The intelligent flap underwater robot of claim 1 wherein: the side walls of the two sides of the machine body structure are provided with guide pipe spiral propellers (4).
4. The intelligent flap underwater robot of claim 1 wherein: the top of the main control cabin (3) between the automatic wings (7) is provided with a water depth sensor (13).
5. The intelligent flap underwater robot of claim 1 wherein: the outside of the transmission shaft (74) is provided with a protective sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530802.8A CN109533241B (en) | 2018-12-14 | 2018-12-14 | Intelligent flap underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530802.8A CN109533241B (en) | 2018-12-14 | 2018-12-14 | Intelligent flap underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN109533241A CN109533241A (en) | 2019-03-29 |
| CN109533241B true CN109533241B (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811530802.8A Active CN109533241B (en) | 2018-12-14 | 2018-12-14 | Intelligent flap underwater robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481737B (en) * | 2019-08-29 | 2020-10-13 | 浙江大学 | Flexible foldable wing device applied to underwater robot |
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| CN109533241A (en) | 2019-03-29 |
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