CN110091974A - A kind of single driving underwater robot of annular - Google Patents
A kind of single driving underwater robot of annular Download PDFInfo
- Publication number
- CN110091974A CN110091974A CN201910485804.8A CN201910485804A CN110091974A CN 110091974 A CN110091974 A CN 110091974A CN 201910485804 A CN201910485804 A CN 201910485804A CN 110091974 A CN110091974 A CN 110091974A
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- China
- Prior art keywords
- steering
- ring
- steering ring
- driving
- controller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of single driving underwater robots of annular, from the inside to the outside successively around the first steering ring of setting, the second steering ring and third steering ring；First steering ring is connect by first rotating shaft with the second steering ring, and realizes rotation by the first servo driving；Second steering ring is connect by the second shaft with third steering ring, and realizes rotation by the second servo driving；It is equipped with driving paddle device in the first steering ring ring, the adjustment of driving paddle device driving direction in three-dimensional space is realized by the mutual rotation between the first steering ring, the second steering ring and third steering ring；It further include connecting the first steering engine, the second steering engine and the controller and power supply that drive paddle device.Advantage are as follows: robot is connected with each other by three steering rings, can mutually be rotated, and the setting driving blade in the ring of most inner side steering ring, realizes robot single-blade direction controlling in water and driving, operates more flexible, and whole freedom degree is higher.
Description
Technical field
The present invention relates to robot fields, more particularly, to a kind of single driving underwater robot of annular.
Background technique
Since the mankind are born, the exploration of ocean has just never been stopped.Ocean area has accounted for the 71% of global area, accumulates
Contain great mineral resources, in today that earth's surface resource is increasingly in an emergency, exploration and exploitation to marine resources seem especially heavy
It wants.However, underwater environment is complicated and changeable, environment is preferable, in the biggish situation in space, manned submersible can be used in we
It is detected；But the waters violent in some undercurrents, for fear of space or environmental condition, manned submersible cannot be competent at these
Detection operations.Then, the underwater robot designed for various specific conditions comes into being.
Underwater robot, which is divided into, cable formula and cable-free type, in order to cope with some deep-sea detectings and complex environment, cable-free type water
Lower robot has obtained extensive utilization.However, can all reach drive using many motors for general underwater robot
Dynamic and deflecting function, which greatly enhances the volume and weight of robot, the waterproof compartment used is also mostly heavy, it is difficult to dismantle.
In addition, underwater robot can be divided into open-shelf and streamlined two class according to mechanical structure again.Open-shelf robot is suitable for shallow
Extra large operation, diving speed is slower, and structure is also more stable.Streamlined diving speed is very fast, can rapidly reach deep-sea, is applicable in
In deep ocean work.
Summary of the invention
Goal of the invention: in order to overcome the shortcomings of background technique, the invention discloses a kind of single driving underwater robots of annular.
Technical solution: the single driving underwater robot of annular of the present invention, comprising: from the inside to the outside successively around setting
First steering ring, the second steering ring and third steering ring；
First steering ring is connect by first rotating shaft with the second steering ring, and is realized and turned by the first servo driving
It is dynamic；Second steering ring is connect by the second shaft with third steering ring, and realizes rotation by the second servo driving；It is described
Driving paddle device is equipped in first steering ring ring, by between the first steering ring, the second steering ring and third steering ring
The mutually rotation adjustment of realizing driving paddle device driving direction in three-dimensional space；
It further include connecting the first steering engine, the second steering engine and the controller and power supply that drive paddle device.
Remotely control the first steering engine by controlling terminal and the second steering engine combustion adjustment turn to driving paddle device towards
The opposite direction in the direction for needing robot to advance realizes the navigation of robot in water.
Further, the first rotating shaft is mutually perpendicular to straight line where the second shaft, i.e., the first steering ring is with respect to second
The rotation direction of the rotation direction of steering ring third rotation direction opposite with the second steering ring is mutually perpendicular to.
Further, the driving paddle device includes: the support frame being planar arranged in the first steering ring, is arranged
Blade motor and blade on the support frame.The navigation side of robot is adjusted by adjusting the direction of the first steering ring
To.
Wherein, support frame as described above is equipped with the first sealed compartment, is equipped in first sealed compartment for controlling blade motor
Electric machine controller.
Second steering ring is equipped with the second sealed compartment, is equipped in second sealed compartment for controlling the first steering engine
First steering engine controller.
The third steering ring is equipped with third sealed compartment for placing controller and power supply, in the third sealed compartment
Equipped with the second steering engine controller for controlling the second steering engine.
Further, the controller includes master controller and assistant controller, and the master controller is to fly control Pixhawk4,
Include gyroscope, accelerometer, magnetometric sensor, depth gauge, rotation angle is calculated according to current pose；The assistant controller
For raspberry pie development board, Ethernet power line carrier module is carried, data is carried out for master controller and controlling terminal and signal passes
It passs.
The utility model has the advantages that compared with prior art, advantages of the present invention are as follows: firstly, robot passes through three steering ring phases
It connects, can mutually rotate, and the setting driving blade in the ring of most inner side steering ring, realize the list of robot in water
Paddle direction controlling and driving, operation is more flexible, and whole freedom degree is higher；Secondly, the miniaturization by robot is set
Meter has preferable applicability for the region that some healthy robots can not detect, such as pipeline, rock seam, gate detection；
The characteristics of and, the mutual connection type of the main frame of robot is simple again, is easy to install and remove, and minimizes lightness
So that the route speed of robot in water is improved.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the first steering ring of the invention and the second steering ring combination diagram；
Fig. 3 is the second steering ring of the invention and third steering ring combination diagram；
Fig. 4 is communication structure schematic diagram of the present invention；
Fig. 5 is present system work flow diagram；
Fig. 6 is schematic diagram of the present invention in three-dimensional shaft.
Specific embodiment
Further description of the technical solution of the present invention with reference to the accompanying drawings and examples.
The single driving underwater robot of annular as shown in Figure 1, Figure 2 and Figure 3, comprising: from the inside to the outside successively around setting
First steering ring 1, the second steering ring 2 and third steering ring 3；The diameter of three steering rings successively increases, 1 He of the first steering ring
Second steering ring 2 is all made of light-duty pressure-resistant corrosion-resisting material, and third steering ring 3 uses heavier pressure-resistant corrosion-resisting material.
First steering ring 1 is connect by first rotating shaft 101 with the second steering ring 2, and is driven by the first steering engine 102
Realize rotation, which can be respectively set in the top and bottom of the first steering ring 1 and the second steering ring 2, realize and turn
Dynamic connection；Second steering ring 2 is connect by the second shaft 201 with third steering ring 3, and is driven by the second steering engine 202
Realize rotation, the connection type of use is same as above, in addition, first rotating shaft 101 is mutually perpendicular to 201 place straight line of the second shaft, makes
Obtain the rotation direction phase of the first steering ring third rotation direction opposite with the second steering ring with respect to the rotation direction of the second steering ring
It is mutually vertical；It is equipped with driving paddle device in first steering ring, 1 ring, passes through the first steering ring 1, the second steering ring 2 and the
The adjustment of driving paddle device driving direction in three-dimensional space is realized in mutual rotation between three steering rings 3.
Wherein, the driving paddle device includes: the support frame 103 being planar arranged in the first steering ring 1, is arranged
Blade motor 104 and blade 105 on the support frame 103, are equipped with the first sealed compartment 106 on support frame 103, and described the
The electric machine controller for controlling blade motor 104 is equipped in one sealed compartment 106.It is located at the first steering engine on the second steering ring 2
It is equipped with the second sealed compartment 203 at 102 position, is equipped in second sealed compartment 203 for controlling the first of the first steering engine 102
Steering engine controller.It is located at 202 position of the second steering engine on third steering ring 3 and is equipped with third sealed compartment 301, the third sealing
The second steering engine controller for controlling the second steering engine 202 is equipped in cabin 301.
Electric machine controller, the first steering engine controller and the second steering engine controller are all made of STM32 development board.
The first steering engine 102 of connection, the second steering engine 202 and driving paddle are equipped in the third sealed compartment 301 of third steering ring 3
The controller and power supply of leaf device, power supply are whole device power supply.The controller includes master controller and assistant controller, described
Master controller is to fly control Pixhawk4, includes gyroscope, accelerometer, magnetometric sensor, depth gauge, can be according to current appearance
State clears out rotation angle, and assistant controller is raspberry pie development board, Ethernet power line carrier module is carried, for master controller and control
Terminal processed carries out data and signal transmitting.
As shown in Figure 4 and Figure 5, communication and workflow of the invention are as follows:
Instruction is issued to assistant controller by controlling terminal, instruction is transferred to master controller by assistant controller, and main control is first
Blade rotation speed is controlled, then is resolved, the angle deflected as needed, angle is settled accounts as circular motion in both direction
Angle, and then calculate steering engine selected angle, control steering engine controller to adjust the angle of the first steering ring and the second steering ring,
It is completed to turning to, then be sent to controlling terminal for signal is completed, communication terminates.
As shown in fig. 6, robot of the present invention deflecting in XYZ axis three-dimensional space, original state robot make ascending motion,
It is moved along Y-axis positive direction, present demand robot is to X-axis negative direction deflecting.
It is instructed firstly, operator is sent by controlling terminal to X-axis negative direction deflecting, assistant controller receives instruction, will count
It is resolved according to master controller is transmitted to.According to such specific condition, master controller will be calculated: the first steering ring should to around
X-axis rotates counterclockwise 90 °, and the second steering ring should be to the attitude adjusting method for being rotated clockwise 90 ° around Y-axis.
Then, master controller issues instructions to first and second steering engine controller, according to this specific condition, steering engine controller
The first steering engine reversion a quarter week is controlled, the second steering engine rotates forward a quarter week.
The rotation of first steering engine and the second steering engine is so that the shaft respectively connected rotates equal angular, to make the first steering
90 ° are rotated counterclockwise around X-axis, second, which turns to circumferential direction, has been rotated clockwise 90 ° around Y-axis, turns to and completes.
Claims (7)
1. a kind of single driving underwater robot of annular characterized by comprising first successively around setting turns to from the inside to the outside
Ring (1), the second steering ring (2) and third steering ring (3)；
First steering ring (1) is connect by first rotating shaft (101) with the second steering ring (2), and passes through the first steering engine (102)
Rotation is realized in driving；Second steering ring (2) is connect by the second shaft (201) with third steering ring (3), and passes through second
Rotation is realized in steering engine (202) driving；It is equipped with driving paddle device in first steering ring (1) ring, passes through the first steering ring
(1), the mutual rotation between the second steering ring (2) and third steering ring (3) realizes driving paddle device in three-dimensional space
The adjustment of driving direction；
It further include connecting the first steering engine (102), the second steering engine (202) and the controller and power supply that drive paddle device.
2. the single driving underwater robot of annular according to claim 1, it is characterised in that: the first rotating shaft (101) with
Straight line where second shaft (201) is mutually perpendicular to.
3. the single driving underwater robot of annular according to claim 1, it is characterised in that: the driving paddle device packet
It includes: in the support frame (103) that the first steering ring (1) is planar arranged, the blade motor being arranged on the support frame (103)
(104) and blade (105).
4. the single driving underwater robot of annular according to claim 3, it is characterised in that: support frame as described above is set on (103)
Have the first sealed compartment (106), the electric machine controller for controlling blade motor (104) is equipped in first sealed compartment (106).
5. the single driving underwater robot of annular according to claim 1, it is characterised in that: on second steering ring (2)
The first steering engine for controlling the first steering engine (102) is equipped with equipped with the second sealed compartment (203), in second sealed compartment (203)
Controller.
6. the single driving underwater robot of annular according to claim 1, it is characterised in that: on the third steering ring (3)
It is equipped with equipped with the third sealed compartment (301) for placing controller and power supply, in the third sealed compartment (301) for controlling the
Second steering engine controller of two steering engines (202).
7. the single driving underwater robot of annular according to claim 1, it is characterised in that: the controller includes main control
Device and assistant controller, the master controller are to fly control Pixhawk4, include gyroscope, accelerometer, magnetometric sensor, depth
Meter；The assistant controller is raspberry pie development board, carries Ethernet power line carrier module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485804.8A CN110091974A (en) | 2019-06-05 | 2019-06-05 | A kind of single driving underwater robot of annular |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485804.8A CN110091974A (en) | 2019-06-05 | 2019-06-05 | A kind of single driving underwater robot of annular |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091974A true CN110091974A (en) | 2019-08-06 |
Family
ID=67450298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910485804.8A Pending CN110091974A (en) | 2019-06-05 | 2019-06-05 | A kind of single driving underwater robot of annular |
Country Status (1)
| Country | Link |
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| CN (1) | CN110091974A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191326897A (en) * | 1913-11-22 | 1915-01-28 | Joseph Macinante | Improvements in the Propulsion of Aerial or Water Vehicles. |
| US5439401A (en) * | 1994-09-02 | 1995-08-08 | Clark; James F. | Electric trolling motor steering device |
| US6471159B1 (en) * | 2000-09-05 | 2002-10-29 | Mutsuro Bundo | Airship shaped space craft |
| JP2010058779A (en) * | 2008-09-05 | 2010-03-18 | Tokyo Denki Univ | Flying robot |
| US20100221964A1 (en) * | 2008-08-25 | 2010-09-02 | Marine 1, Llc | Adjustable propeller |
| CN102874400A (en) * | 2012-10-22 | 2013-01-16 | 湖南航天机电设备与特种材料研究所 | Airship tail vectored thrust device |
| KR20140049734A (en) * | 2012-10-18 | 2014-04-28 | 삼성중공업 주식회사 | Propulsion apparatus for vessel |
| CN203612227U (en) * | 2013-12-20 | 2014-05-28 | 中国科学院沈阳自动化研究所 | Three-axis turntable capable of moving in all directions |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN209972749U (en) * | 2019-06-05 | 2020-01-21 | 南京信息工程大学 | Annular single-drive underwater robot |
-
2019
- 2019-06-05 CN CN201910485804.8A patent/CN110091974A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191326897A (en) * | 1913-11-22 | 1915-01-28 | Joseph Macinante | Improvements in the Propulsion of Aerial or Water Vehicles. |
| US5439401A (en) * | 1994-09-02 | 1995-08-08 | Clark; James F. | Electric trolling motor steering device |
| US6471159B1 (en) * | 2000-09-05 | 2002-10-29 | Mutsuro Bundo | Airship shaped space craft |
| US20100221964A1 (en) * | 2008-08-25 | 2010-09-02 | Marine 1, Llc | Adjustable propeller |
| JP2010058779A (en) * | 2008-09-05 | 2010-03-18 | Tokyo Denki Univ | Flying robot |
| KR20140049734A (en) * | 2012-10-18 | 2014-04-28 | 삼성중공업 주식회사 | Propulsion apparatus for vessel |
| CN102874400A (en) * | 2012-10-22 | 2013-01-16 | 湖南航天机电设备与特种材料研究所 | Airship tail vectored thrust device |
| CN203612227U (en) * | 2013-12-20 | 2014-05-28 | 中国科学院沈阳自动化研究所 | Three-axis turntable capable of moving in all directions |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN209972749U (en) * | 2019-06-05 | 2020-01-21 | 南京信息工程大学 | Annular single-drive underwater robot |
Non-Patent Citations (1)
| Title |
|---|
| 文跃兵;: "一种新型的液压驱动矢量推进装置的运动学分析", 装备制造技术, no. 07, pages 20 - 22 * |
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