CN109665079A - A kind of underwater robot of jet pump and steering engine combination drive - Google Patents
A kind of underwater robot of jet pump and steering engine combination drive Download PDFInfo
- Publication number
- CN109665079A CN109665079A CN201910037392.1A CN201910037392A CN109665079A CN 109665079 A CN109665079 A CN 109665079A CN 201910037392 A CN201910037392 A CN 201910037392A CN 109665079 A CN109665079 A CN 109665079A
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- China
- Prior art keywords
- steering engine
- underwater robot
- jet pump
- cabin
- motor
- Prior art date
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Classifications
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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- 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
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
- B63H11/08—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps of rotary type
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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- 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
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
- B63H11/08—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps of rotary type
- B63H2011/081—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps of rotary type with axial flow, i.e. the axis of rotation being parallel to the flow direction
Abstract
The invention discloses the underwater robots of a kind of jet pump and steering engine combination drive, including cabin, jet pump propulsive mechanism and steering engine joint to swing propulsive mechanism；It is divide into upper part and lower part inside cabin, singlechip control panel setting is distributed in cabin lower half portion in cabin top half, the regulating mechanism that rises and falls；Singlechip control panel controls for realizing the mass motion of underwater robot；Sink-float regulating mechanism floats or dive in water for making underwater robot；Jet pump propulsive mechanism is distributed in the bottom of cabin, and the thrust that can generate advance realizes fast starting and high-performance cruise；Steering engine joint swings the rear end that cabin is arranged in propulsive mechanism, can generate straight trip, turning, floating dive campaign that thrust realizes underwater robot.With good mobility and the fast coverage area of wide trip, it can satisfy multi-functional subsea tasks demand, have broad application prospects.
Description
Technical field
The invention belongs to underwater robot technical fields, and in particular to a kind of underwater machine of jet pump and steering engine combination drive
Device people.
Background technique
As national marine strategy promotes, underwater robot is in marine organisms research, seabed resources detection and ocean army
The dual-use field of thing task dispatching is widely used.Underwater robot, which can be divided into, cable underwater robot and untethered underwater
Two class of robot has cable underwater robot to be communicated using cable with robot, and working range is limited by cable, nothing
Autonomous navigation is realized in the control that method is detached from water surface base station；Another kind is cableless underwater robot, with small in size, movement spirit
The advantages that work, mobility is good, it can adapt to the changeable environment of underwater complex, therefore can be used for executing Submarine Pipeline without cable robot
The civilian and military subsea tasks of the complexity such as road laying, underwater equipment maintenance, seabed clearance, ocean military surveillance.
Cableless underwater robot can be divided into traditional UAV navigation and novel bionic underwater robot.Traditional
UAV navigation generallys use propeller as driving method, and the powerful outburst ability of propeller enables submarine navigation device
Quickly starting and high-performance cruise are realized in water.However, traditional UAV navigation based on propeller propulsive mechanism is deposited
In following shortcoming and deficiency: energy expenditure rate is high and capacity usage ratio is low, in order to improve the continuation of the journey of aircraft, can only carry bigger
The battery of capacity, this not only increases cost, but also occupies the volumetric spaces of robot；Concealment is poor, lofty shape and sea
Foreign environment is uncoordinated, therefore concealment is poor, is not suitable for the subsea tasks for executing the observation of short distance marine organisms.Novel is bionical
Underwater robot refers to the underwater robot for imitating equipment for fish shape and mode of moving about, and possesses, concealment small to environmental perturbation
By force, the advantages that energy utilization is high.However, all there is these deficiencies: travelling speed in most of bionic underwater robots so far
Degree is slow, and the reciprocally swinging for generalling use bionic caudal fin generates propulsive force, and fltting speed is limited to the hunting frequency of tail fin；Promote function
Rate is low, and the propulsive force that tail fin swings generation is too small, and quick start ability is poor.
Therefore, it researches and develops a kind of jet pump and the underwater robot of steering engine combination drive is imperative.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of jet pumps, and its is low with the underwater robot of steering engine combination drive
It swings propulsive mechanism using steering engine joint when speed cruise to drive, fast starting generates preceding precession using jet pump with when high-performance cruise
Power can satisfy the needs of a variety of subsea tasks.
In order to achieve the above objectives, a kind of jet pump of the present invention and the underwater robot of steering engine combination drive include successively
Head, cabin and the steering engine joint of setting swing propulsive mechanism, and jet pump propulsive mechanism is provided with below cabin, and jet pump promotes
Mechanism and steering engine joint swing propulsive mechanism and are used to provide driving force to underwater robot；Jet pump propulsive mechanism includes first
Motor and water pipe, first motor are fixedly connected by first shaft coupling with transmission shaft one end, and the other end of transmission shaft is fixed
There is propeller；Water pipe one end is water inlet, and the other end is water outlet, and propeller is arranged in water outlet.
Further, motor water cooling device is provided on the outside of first motor, motor water cooling device includes being fixed on the first electricity
Water cooled housing body outside machine is provided with water inlet port and the water outlet port of connection on water cooled housing body.
Further, it includes several sequentially connected steering engine joints that steering engine joint, which swings propulsive mechanism, and is connected to most
Artificial tail fin on the steering engine joint of end, each steering engine joint include steering engine unit and connecting bracket, and steering engine unit includes rudder
Machine fixed frame is fixed with waterproof steering engine on steering engine fixed frame, and steering wheel, steering wheel and connection branch are connected on the output shaft of waterproof steering engine
Frame upper end is fixedly connected, and steering engine fixed frame lower end and connecting bracket are hinged.
Further, sink-float regulating mechanism is provided in cabin, sink-float regulating mechanism includes firm banking and lead screw, is fixed
Pedestal is fixedly connected with cabin, and lead screw both ends are installed on the fixed base by bearing, and guide rail, guide rail are fixed on firm banking
On slidably connect sliding block, lead screw and sliding block are threadedly coupled, and the power output shaft of the second motor passes through second shaft coupling and lead screw
It is fixedly connected.Sink-float regulating mechanism realizes the multidimensional of underwater robot for making the floating or dive of underwater robot in water
Degree movement.
Further, sliding block is lead, and sliding block quality is the 10%~15% of underwater robot quality.
Further, head is provided with depth transducer.
Further, power module is provided in cabin, all electron source portions of robot under power module water supply
Part power supply.
Further, singlechip control panel is provided in cabin, singlechip control panel is used to control the start and stop of first motor
And revolving speed.
Further, transmission outer shaft sleeve has waterproof axle sleeve, and waterproof axle sleeve is provided with waterproof end cover close to one end of shaft coupling.
Further, cabin lower part two sides are symmetrically fixed with two bionical artificial pectoral fins；Cabin outer surface upper end is fixed with
Bionical artificial dorsal fin.
Compared with prior art, the present invention at least has technical effect beneficial below, and the present invention provides a kind of jet pump
With the underwater robot of steering engine combination drive.Compared with the traditional underwater unmanned vehicle driven using propeller merely, this hair
It is bright to gather around there are two types of driving unit, it is swung in low cruise using steering engine joint and is used as driving method, can be effectively reduced system
Energy expenditure rate improves its cruising ability；
The present invention takes the fairshaped design of imitative shark shape simultaneously, effectively reduces the travelling resistance of robot in water
Power, while enhancing its harmony with underwater environment, improve concealment when executing subsea tasks.Bionic caudal fin is used with simple
The bionic underwater robot of driving is compared, what the present invention was combined using jet pump with the swing of steering engine joint when realizing high-speed motion
Mode is driven, and is realized to quick start in water using the powerful propulsive force of jet pump and be cruised with high speed, while being closed using steering engine
Section, which is swung, realizes Servo Control, effectively enhances its maneuverability, expands it and swims fast section.Jet pump and common propeller promote
Device is compared, and volume is smaller, and the integrated structure of drive module is also easier to be embedded into cabin.
Further, sink-float regulating mechanism is provided in cabin, sink-float regulating mechanism includes firm banking and lead screw, is fixed
Pedestal is fixedly connected with cabin, and lead screw both ends are installed on the fixed base by bearing, and guide rail, guide rail are fixed on firm banking
On slidably connect sliding block, lead screw and sliding block are threadedly coupled, and the power output shaft of the second motor passes through second shaft coupling and lead screw
It is fixedly connected,
Further, motor water cooling device is provided on the outside of first motor.Motor water cooling device can effectively take away first
The heat that motor generates when working, reduces the surface temperature of motor, this is conducive to that motor is made to keep good working order, simultaneously
Prevent motor from breaking down because of overheat.
Further, cabin lower part two sides are symmetrically fixed with two bionical artificial pectoral fins；Cabin outer surface upper end is fixed with
Bionical artificial dorsal fin, head, cabin, bionical artificial pectoral fin and bionical artificial dorsal fin constitute the stream that underwater robot imitates fish shape
The main body of the shelling machine of line style, the design of this fairing advantageously reduce the travelling resistance of underwater robot in water
Power reduces energy loss.
Detailed description of the invention
Fig. 1 is the structure chart of the underwater robot of combination drive of the invention；
Fig. 2 is the structural schematic diagram that steering engine joint of the invention swings propulsive mechanism；
Fig. 3 is steering engine cellular construction schematic diagram of the invention；
Fig. 4 is the structural schematic diagram of sink-float regulating mechanism of the invention；
Fig. 5 is the structural schematic diagram of jet pump propulsive mechanism of the invention；
Fig. 6 is the structural schematic diagram of motor water cooling device of the invention；
In attached drawing: the head 1-, 2- cabin, 3- sink-float regulating mechanism, the bionical artificial pectoral fin of 4-, 5- jet pump propulsive mechanism,
6- steering engine joint swings propulsive mechanism, 7- power module, the bionical artificial dorsal fin of 8-, 9- singlechip control panel, 10- the first steering engine list
Member, the first connecting bracket of 11-, 12- the second steering engine unit, the second connecting bracket of 13-, 14- third steering engine unit, 15- third connect
Connect bracket, the bionical artificial tail fin of 16-, 17- steering engine fixed frame, 18- waterproof steering engine, 19- steering wheel, 20- firm banking, 21- bearing,
22- lead screw, 23- sliding block, 24- guide rail, 25- second shaft coupling, the second motor of 26-, 27- propeller, 28- water pipe, 29- are anti-
Water axle sleeve, 30- waterproof end cover, 31- first shaft coupling, 32- motor water cooling device, 33- first motor, 34- water cooled housing body,
35- water inlet port, 36- water outlet port.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance or the quantity for implicitly indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple " contain
Justice is two or more.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition
The concrete meaning of above-mentioned term in the present invention.
To keep the purpose of the present invention, advantage and technical solution more obvious, below in conjunction with attached in the embodiment of the present invention
Figure, technical solution in the embodiment of the present invention in more detail, completely describe.It should be strongly noted that for the ease of
It describes, the relevant partial structure diagram with the present invention is only gived in attached drawing, instead of all the embodiments.
Referring to Fig.1, a kind of jet pump and the underwater robot of steering engine combination drive include the head 1 set gradually, cabin
2 and steering engine joint swing propulsive mechanism 6；1 shape of head is class fish head shape.
Head 1 is fixedly connected with the front end of cabin 2；It is divided into two cavitys up and down inside cabin 2, cabin top half is placed
There are power module 7 and singlechip control panel 9, power module 7 and the electrical connection of all electron source elements, 9 He of singlechip control panel
Depth transducer, first motor 33, first to third steering engine and the connection of the second motor 26；Power module 7 is used to underwater machine
All electron source elements of device people are powered, and singlechip control panel 9 is used to receive the depth signal of depth transducer transmitting, and to the
One motor 33, first to third steering engine, the second motor 26 issues control command, and singlechip control panel 9 is equivalent to underwater robot
Brain, controlled for realizing the mass motion of underwater robot, specifically: be responsible for making overall plans and coordinate the floating of underwater robot,
Dive, straight trip, turning, low cruise, high-performance cruise movement instruction；2 lower half portion of cabin is placed sink-float regulating mechanism 3, uses
In making the floating or dive of underwater robot in water, the various dimensions movement of underwater robot is realized.
Fig. 1 and Fig. 4 are please referred to, sink-float regulating mechanism 3 is arranged in the lower half portion inside cabin 2, passes through firm banking 20
It is fixedly connected with cabin 2.The regulating mechanism 3 that rises and falls includes firm banking 20, bearing 21, lead screw 22, sliding block 23, guide rail 24, second
Shaft coupling 25 and the second motor 26, the second motor 26 are stepper motor.
Firm banking 20 is fixedly connected with cabin 2, is respectively mounted bearing 21 on two side plates of firm banking 20, and 22 liang of lead screw
End connection bearing 21；It is provided with guide rail 24 on firm banking 20, sliding block 23, lead screw 22 and sliding block 23 are slidably connected on guide rail 24
It is threadedly coupled, the power output shaft of the second motor 26 is fixedly connected by second shaft coupling 25 with lead screw 22.
The rotary motion of second motor 26 drives the rotation of lead screw 22 by second shaft coupling 25, and then is converted to sliding block 23
Back-and-forth motion.Sliding block 23 is made of the biggish lead of density, and 23 mass of sliding block is the 10-15% of overall mass, when its front and back
When mobile deviation equilbrium position, the center of gravity of underwater robot can also be changed correspondingly, when sliding block 23 is mobile to head side, under water
The center of gravity of robot is biased to head side, generates the movement of dive；When sliding block 23 is mobile to the opposite side in head, underwater machine
The center of gravity of device people is biased to bionical artificial 16 side of tail fin, generates the movement of floating.
The present invention realizes rice root nematode under the floating of underwater robot using screw slider mechanism, and this method is compared to tradition
Change robot volume method realize floating dive for, control it is more accurate, the speed of floating dive is faster.Simultaneously
Depth transducer can be added to accurately measure the depth information of underwater robot and feed back to singlechip control panel 9, depth transducer
Fish mouth position on head 1, the depth data according to measured by depth transducer of singlechip control panel 9 and target depth are set
Control data compare solution, and the depth data difference of the two is finally converted to sliding block 23 and needs mobile range data,
And the rotation by controlling the second motor 26 slides into distance to a declared goal come band movable slider 23, to realize the essence of underwater robot
Quasi- Depth control.
2 lower part two sides of cabin are symmetrically fixed with two bionical artificial pectoral fins 4；2 outer surface highest position of cabin is fixed with
Bionical artificial dorsal fin 8.Head 1, cabin 2, bionical artificial pectoral fin 4 and bionical artificial dorsal fin 8 constitute underwater robot and imitate fish
The design of the main body of the fairshaped shelling machine of shape, this fairing advantageously reduces the trip of underwater robot in water
Dynamic resistance reduces energy loss.
2 exterior bottom of cabin is provided with jet pump propulsive mechanism 5, and jet pump propulsive mechanism 5 and power module 7 are electrically connected,
It is connected with singlechip control panel 9 by signal wire.The energy of jet pump propulsive mechanism 5 is provided by special power module 7, control
Signal processed is generated by singlechip control panel 9, and the thrust that can generate advance realizes fast starting and high-performance cruise.
Fig. 1 and Fig. 5 are please referred to, jet pump propulsive mechanism 5 includes propeller 27, pipeline 28, waterproof axle sleeve 29, waterproof end cover
30, first shaft coupling 31, first motor 33 and motor water cooling device 32, first motor 33 are brushless motor.
First motor 33 is fixedly connected by first shaft coupling 31 with transmission shaft one end, and the other end of transmission shaft is fixed with spiral shell
Revolve paddle 27；When first motor 33 drives propeller 27 to rotate, water flow is from 5 bottom water inlet of jet pump propulsive mechanism through water pipe
28 flow to 5 rear end of jet pump propulsive mechanism, and the reaction force of water flow provides the power that underwater robot is pushed ahead.
Referring to Fig. 6, motor water cooling device 32 includes water cooled housing body 34, water inlet port 35 and water outlet port 36；Water cooling
Outer housing 34 is fixedly connected with 33 shell of first motor, and water cooling liquid is flowed into through water inlet port 35, is flowed out, is taken away from water outlet port 36
33 surface heat of first motor, reduces its surface temperature, prevents its overheat from stopping working.
Waterproof axle sleeve 29 is arranged on the outside of transmission shaft, and 29 one end of waterproof axle sleeve is fixed with waterproof end cover 30；The waterproof axis
The effect of set 29 and waterproof end cover 30 is to prevent the water in pipeline from flowing into cabin 2；
The motor water cooling device 32 includes water cooled housing body 34, water inlet port 35 and water outlet port 36；The water cooling
Outer housing 34 is connect with 33 outer surface of first motor, and water cooling liquid is flowed into through water inlet port 35, is flowed out from water outlet port 36, band
33 surface heat of first motor is walked, its surface temperature is reduced.
Jet pump has powerful explosive force, and motor speed reaches as high as 50000rpm (rpm refer to rev/min),
This provides enough propeller powers to underwater robot, compensates for the trip of the simple underwater robot using bionic caudal fin driving
The slow deficiency of speed.Motor water cooling device 32 has also been devised in the present invention, can effectively take away when first motor 33 works and generate
Heat reduces the surface temperature of motor, this is conducive to that motor is made to keep good working order, while preventing motor due to overheat
It breaks down.
Steering engine joint swings the rear end that cabin 2 is arranged in propulsive mechanism 6, is formed by connecting by independent steering engine joint, rudder
The end of machine swinging joint is provided with bionical artificial tail fin 16, and the power that underwater robot advances is mainly by bionical artificial tail fin 16
Reciprocally swinging when suffered water flow reaction force generate.Can generate thrust realize the straight trip of underwater robot, turning, on
Floating dive campaign.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, it includes the first steering engine unit 10, the second steering engine list that steering engine joint, which swings propulsive mechanism 6,
Member 12, third steering engine unit 14 and bionical artificial tail fin 16.First steering engine unit 10 passes through the first connecting bracket 11 and second
Steering engine unit 12 connects, and the second steering engine unit 12 is connect by the second connecting bracket 13 with third steering engine unit 14, third steering engine
Unit 14 is connect by third connecting bracket 15 with bionical artificial tail fin 16.Steering engine joint swings 6 front end of propulsive mechanism and cabin 2
It is fixedly connected.First is identical to third steering engine cellular construction, and first is identical to third connection mounting structure.Each rudder
Organ's section includes steering engine unit and connecting bracket, and steering engine unit includes steering engine fixed frame 17, waterproof steering engine 18 and steering wheel 19.Waterproof
Steering engine 18 is fixed in steering engine fixed frame 17, and the upper end of connecting bracket is connect with steering wheel 19, and connecting bracket lower end is fixed with steering engine
Frame 17 is hinged.The movement instruction in steering engine joint is the pulse signal control generated by singlechip control panel 9.
When underwater robot, which executes, floats movement, singlechip control panel 9 issues control instruction to the second motor 26, makes the
The reversion of two motors 26, drives lead screw 22 to rotate, and then move backward with movable slider 23, and the center of gravity of underwater robot moves back at this time,
The direction on head 1 is upward.
When underwater robot executes dive campaign: singlechip control panel 9 issues to the second motor 26 and controls signal, makes the
Two motors 26 rotate forward, and lead screw 22 is driven to rotate, and then move forward with movable slider 23, and underwater robot center of gravity moves forward at this time, head
1 direction of portion is downward.The floating of underwater robot and the power of dive save swing mechanism 6 by 9 control flaps organ of singlechip control panel
Movement provides.
When underwater robot executes straight trip movement: singlechip control panel 9 sends to first to third steering engine and controls signal,
The first rule presentation sine wave curve rule changed over time to the output angle of third steering engine, so that each steering engine joint
Along the axis direction reciprocally swinging perpendicular to fish body, i.e., the line of the equilbrium position in three steering engine joints and the axis weight of fish body
It closes, while the rotational angle rule of the steering engine of the latter steering engine unit is compared to the rotational angle of the steering engine of previous steering engine unit
Rule has the relationship of a delayed phase.Three steering engine joints according to this rule perpendicular to fish body axis direction reciprocally swinging,
The straight trip campaign of the imitative fish waveform of steering engine joint swing mechanism 6 can be realized, the power of straight trip is by third steering engine unit 14
Drive bionical artificial tail fin 16 perpendicular to the reciprocally swinging acquisition of fish body axis direction along head by third connecting bracket 15
The water flow reaction force in portion direction provides.
When underwater robot executes turning motion, principle and straight trip kinematic similitude need to only pass through singlechip control panel 9
It is sent to first to third steering engine and controls signal, so that the reciprocally swinging in three steering engine joints of steering engine joint swing mechanism 6 is flat
Weigh position line deviate 30 degree of fish body axis, in a counterclockwise direction for positive direction for, underwater robot turn left when, steering engine pass
The angle of the line and fish body axis that save the reciprocally swinging equilbrium position in three steering engine joints of swing mechanism 6 is 30 degree, conversely,
When underwater robot is turned right, the line of the reciprocally swinging equilbrium position in three steering engine joints of steering engine joint swing mechanism 6 and fish
The angle of body axis is -30 degree.
When underwater robot executes low cruise, jet pump propulsive mechanism 5 does not work, and the power of cruise is closed by steering engine
Swing mechanism 6 is saved to provide.
When underwater robot executes high-performance cruise, singlechip control panel 9 is respectively to first motor 33 and first to third
Steering engine sends control signal, so that jet pump propulsive mechanism 5 and steering engine joint swing mechanism 6 work at the same time, high-performance cruise is moved
The water flow reaction force that power generates when being worked by jet pump propulsive mechanism 5 provides, and the effect of steering engine joint swing mechanism 6 is to realize
Turning motion control when high-performance cruise.
What the travelling mode that steering engine joint swings propulsive mechanism 6 imitated is the travelling machine of the efficient undulate propulsion of fish
Reason is swung by controlling each steering engine joint according to fish body wave rule, can simulate the travelling posture of true fish, this imitative
Raw travelling mode is small to the disturbance of environment, and the amalgamation of travelling posture true to nature and aquatic organism is more preferable, therefore especially suitable
For in the stronger underwater reconnaissance task of concealment and marine organisms observation.
There are two types of driving methods by the present invention, when executing low speed task, in such a way that steering engine joint is swung, are conducive to save
Energy is saved, cruising ability is increased；It needs to quick start an emergency situation is encountered or when high speed object pursuit, using jet pump and rudder
The mode that organ's section swings combination is driven, and the thrust advanced is generated using jet pump, while swinging in fact using steering engine joint
Existing Servo Control；This enables underwater robot to execute complicated task in changeable sea situation.
The present invention will have the jet pump propeller of high speed outburst power in conjunction with the driving method of novel bionic caudal fin
Get up, provide the underwater robot of a kind of jet pump and steering engine combination drive, with the fast range of wide trip, can adapt to
The needs of the task of difference trip speed.When underwater robot low cruise in water, mode mould is swung using steering engine joint
Intend the travelling posture of true fish, energy consumption is lower, and concealment is stronger.It cruises task when needing to be implemented target tracking high speed
When, using jet pump as main driving method, water high speed is able to achieve using the powerful burst of jet pump and is cruised；Its stream simultaneously
The design of line style is also beneficial to reduce travelling resistance when water high speed is advanced.
In conclusion combination drive mode underwater robot proposed by the present invention has stronger mobility and broader
Fast coverage area is swum, is had broad application prospects in the subsea tasks of Military and civil fields.
The above content is only to illustrate the technical idea of the present application, cannot function as limiting the scope of protection of the present invention according to
According to, all any modifications according to design concept proposed by the present invention and technical characteristic, made in technical solution and replacement,
Within the protection scope of claims of the present invention.
Claims (10)
1. the underwater robot of a kind of jet pump and steering engine combination drive, which is characterized in that including set gradually head (1),
Cabin (2) and steering engine joint swing propulsive mechanism (6), are provided with jet pump propulsive mechanism (5) below cabin (2), jet pump pushes away
Propulsive mechanism (6) are swung into mechanism (5) and steering engine joint to be used to provide driving force to underwater robot；Jet pump propulsive mechanism
It (5) include first motor (33) and water pipe (28), first motor (33) passes through first shaft coupling (31) and transmission shaft one end
It is fixedly connected, the other end of transmission shaft is fixed with propeller (27)；Water pipe (28) one end is water inlet, and the other end is water outlet
Mouthful, propeller (27) is arranged in water outlet.
2. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that first
It is provided with motor water cooling device (32) on the outside of motor (33), motor water cooling device (32) includes being fixed on first motor (33) outside
Water cooled housing body (34) is provided with water inlet port (35) and the water outlet port (36) of connection on water cooled housing body (34).
3. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that steering engine
It includes several sequentially connected steering engine joints that joint, which swings propulsive mechanism (6), and is connected on the steering engine joint of least significant end
Artificial tail fin (16), each steering engine joint include steering engine unit and connecting bracket, and steering engine unit includes steering engine fixed frame (17), rudder
It is fixed on machine fixed frame (17) waterproof steering engine (18), steering wheel (19), steering wheel is connected on the output shaft of waterproof steering engine (18)
(19) it is fixedly connected with connecting bracket upper end, steering engine fixed frame (17) lower end and connecting bracket are hinged.
4. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that cabin
(2) sink-float regulating mechanism (3) is provided in, sink-float regulating mechanism (3) includes firm banking (20) and lead screw (22), firm banking
(20) it is fixedly connected with cabin (2), lead screw (22) both ends are mounted on firm banking (20) by bearing (21), firm banking
(20) it being fixed with guide rail (24), is slidably connected on guide rail (24) sliding block (23) on, lead screw (22) and sliding block (23) are threadedly coupled,
The power output shaft of second motor (26) is fixedly connected by second shaft coupling (25) with lead screw (22).
5. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 4, which is characterized in that sliding block
It (23) is lead, sliding block (23) quality is the 10%~15% of underwater robot quality.
6. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that head
(1) it is provided with depth transducer.
7. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that cabin
(2) it is provided in power module (7), all electron source elements power supply of robot under power module (7) water supply.
8. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that cabin
(2) it is provided in singlechip control panel (9), singlechip control panel (9) is used to control start and stop and the revolving speed of first motor (33).
9. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that transmission
Outer shaft sleeve has waterproof axle sleeve (29), and waterproof axle sleeve (29) is provided with waterproof end cover (30) close to one end of shaft coupling.
10. the underwater robot of a kind of jet pump and steering engine combination drive according to claim 1, which is characterized in that cabin
Body (2) lower part two sides are symmetrically fixed with two bionical artificial pectoral fins (4)；Cabin (2) outer surface upper end is fixed with bionical artificial back
Fin (8).
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| CN112141312A (en) * | 2020-09-25 | 2020-12-29 | 山东交通学院 | Steering engine control method capable of accurately and quickly reaching laying position of underwater robot |
| CN112946074A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院武汉岩土力学研究所 | Diversion tunnel lining structure damage detection system and method |
| CN113247214A (en) * | 2021-06-03 | 2021-08-13 | 浙江大学 | Multi-track underwater precise positioning device |
| CN113650764A (en) * | 2021-09-14 | 2021-11-16 | 西湖大学 | Bionic aircraft |
| CN117068349A (en) * | 2023-07-31 | 2023-11-17 | 山东大学 | Marine underwater transportation method |
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