CN112356041A - Novel eight-degree-of-freedom diving robot - Google Patents
Novel eight-degree-of-freedom diving robot Download PDFInfo
- Publication number
- CN112356041A CN112356041A CN202011156952.4A CN202011156952A CN112356041A CN 112356041 A CN112356041 A CN 112356041A CN 202011156952 A CN202011156952 A CN 202011156952A CN 112356041 A CN112356041 A CN 112356041A
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- Prior art keywords
- propeller
- waterproof
- cabin
- freedom
- waterproof cabin
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
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- 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
- B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose
Abstract
The invention relates to a novel eight-degree-of-freedom submersible robot, which comprises an anti-collision beam outside a propeller, upper and lower waterproof cabin partition plates, a propeller rotating aluminum alloy frame, a component waterproof cabin, a waterproof cabin waterproof sealing ring, upper and lower waterproof cabin partition plate supports, a propeller vector rotating motor and a propeller, wherein the propeller rotating aluminum alloy frame is arranged on the upper and lower waterproof cabin partition plates; the outer anti-collision beam and the upper and lower waterproof cabin partition plates of the propeller are respectively connected with the rotating aluminum alloy framework of the propeller, the upper and lower waterproof cabin partition plate supports, the propeller vector rotating motor and the propeller, and the component waterproof cabin is respectively connected with the waterproof cabin waterproof sealing ring, the upper and lower waterproof cabin partition plate supports and the propeller vector rotating motor. The rotation direction of the propeller is controlled by the independent propeller vector rotating motor, the propeller vector rotating motor is internally provided with the wireless communication module, the wireless communication module can be controlled by the central controller of the waterproof cabin of the component, and the central controller also monitors the rotation speed in the reverse direction, so that the accident problem is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a novel eight-degree-of-freedom submersible robot.
Background
At present, the technical field of unmanned equipment is developed rapidly, wherein the application of unmanned planes obtains great effect, and besides, the development of unmanned submarines is also concerned widely. The unmanned submarine is developed in the 50 th century of the 20 th century, and the technology is mature in the 70-80 th century, but is mainly applied to mine clearance and has a single task. Since the end of the last century, navies in developed countries of the world have started to pay general attention to unmanned marine vessels, so that the development speed of unmanned submarines is increased.
In order to reduce cost and energy consumption, the navigation body technology of the unmanned underwater vehicle is developed towards small volume, high compatibility and modularization, thereby breaking through the obstacles in the design of the existing navigation body. On one hand, as the international technical cooperation is more and more intensive, the application of the high compatibility and the modularization technology can greatly reduce the manufacturing cost of the unmanned underwater vehicle; on the other hand, due to the application of the micro-electro-mechanical system technology and the reduction of the device thereof, the unmanned underwater vehicle with smaller volume is designed, and the energy consumption is further reduced. With the rapid development of the 5G technology, the high-speed link transmits data, so that the development prospect of the submersible is further improved. The submersible has good field application in various scenes, and has the defects of high cost, excessive risk and the like in the case of complex underwater operation environment in a submersible mode; in some environments of water quality measurement, topographic survey, such as bridge corrosion degree inspection, river composition analysis, sea fish school analysis and the like, corresponding dynamic parameters can be rapidly captured by adopting the unmanned submersible robot. Through multi-information fusion, the functions of each unmanned submersible are richer, and the application field is wider. The size of the existing diving robot is huge, the cost is high, the performance of the small robot is not good, when the water flow of turbulence is faced, the adaptability adjustment is difficult to carry out, the essential factor lies in that certain limitation exists in the propeller design, and the unmanned aerial vehicle does not have such problem in the similar industry of the submersible, the unmanned aerial vehicle starts earlier, and the development is rapid, the direction is changed through the direction that changes the screw mostly, and the influence of keeping overall stability in order to avoid high-strength wind. Therefore, the unmanned submersible vehicles in recent years are also designed similarly, but the related market and development are relatively slow, and further innovative development of the model functions of the unmanned submersible vehicles is still needed.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a novel eight-degree-of-freedom submersible robot, wherein the rotation direction of a propeller is controlled by an independent propeller vector rotating motor, a wireless communication module is arranged in the propeller vector rotating motor, the wireless communication module can be controlled by a central controller of a component waterproof cabin, the central controller can also monitor the rotation speed reversely, and the accident problem is avoided.
The invention is realized by adopting the following technical scheme: a novel eight-degree-of-freedom submersible robot comprises an anti-collision beam outside a propeller, upper and lower waterproof cabin separation plates, a propeller rotating aluminum alloy frame, a component waterproof cabin, a waterproof cabin waterproof sealing ring, upper and lower waterproof cabin separation plate supports, a propeller vector rotating motor and a propeller; the outer anti-collision beam and the upper and lower waterproof cabin partition plates of the propeller are respectively connected with the rotating aluminum alloy framework of the propeller, the upper and lower waterproof cabin partition plate supports, the propeller vector rotating motor and the propeller, and the component waterproof cabin is respectively connected with the waterproof cabin waterproof sealing ring, the upper and lower waterproof cabin partition plate supports and the propeller vector rotating motor.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the diving robot adopts the independent propeller vector rotating motor to control in the rotating direction of the propeller, the propeller vector rotating motor is internally provided with the wireless communication module, the wireless communication module can be controlled by the central controller of the waterproof cabin of the component, and the central controller also monitors the rotating speed reversely, thereby avoiding the accident problem.
2. According to the invention, a user of the submersible robot can set the device waterproof cabin according to different functional requirements, can arrange a temperature sensor, a flow velocity sensor and other exploration sensors in the device waterproof cabin, adopts a semitransparent design for the device waterproof cabin, can arrange a camera in front of the device waterproof cabin for shooting, and meets the complex requirements of photographic exploration and the like.
3. The central controller of the diving robot automatically adjusts the propelling direction of each propeller and the rotating speed of the propeller by acquiring data processing and angle adjustment, ensures that the body can be stabilized under strong water pressure, and reduces the risk of the body being impacted by water flow.
Drawings
FIG. 1 is a perspective view of a submersible robot of the present invention;
FIG. 2 is a schematic front view of the submersible robot of the present invention;
FIG. 3 is a schematic left side view of the submersible robot of the present invention;
in the figure, 1 is a propeller external anti-collision beam and upper and lower waterproof compartment separation plates, 2 is a propeller rotating aluminum alloy frame, 3 is a component waterproof compartment, 4 is a waterproof compartment waterproof sealing ring, 5 is an upper and lower waterproof compartment separation plate support, 6 is a propeller vector rotating motor, and 7 is a propeller.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1-3, the novel eight-degree-of-freedom submersible robot of the embodiment mainly includes an external anti-collision beam of a propeller, an upper waterproof compartment separation plate 1, a lower waterproof compartment separation plate 1, a propeller rotating aluminum alloy frame 2, a component waterproof compartment 3, a waterproof compartment sealing ring 4, an upper waterproof compartment separation plate support 5, a propeller vector rotating motor 6 and a propeller 7; the outer anti-collision beam and the upper and lower waterproof cabin partition plates of the propeller are respectively connected with the rotating aluminum alloy framework of the propeller, the upper and lower waterproof cabin partition plate supports, the propeller vector rotating motor and the propeller, and the component waterproof cabin is respectively connected with the waterproof cabin waterproof sealing ring, the upper and lower waterproof cabin partition plate supports and the propeller vector rotating motor.
In this embodiment, waterproof cabin division board about, adopts thickness to make for 0.5 centimetre's aluminium alloy plate, and waterproof cabin division board expands outward as the outside crashproof roof beam of propeller from top to bottom, and the outside crashproof roof beam of propeller is as the outside support of propeller, mainly plays the effect of protection propeller, accomplishes around the horizontal axis carrying out the strong point of rotation as providing the propeller, and this strong point adopts the stainless steel screw to fix. Through the steering wheel, it is fixed with the rotatory aluminum alloy frame of propeller for the propeller can carry out rotatory operation. The middle parts of the upper and lower waterproof compartment partition plates isolate the upper and lower component waterproof compartments, can be used for supporting the upper and lower component waterproof compartments and undertakes the mounting function of the steering engine.
In this embodiment, the component waterproof compartment is a sealed sub-grid force cylinder with a length of 1.5 meters and a width of 0.4 meter, the interior hollow space is used for setting functional articles such as a simulation power supply control sensor and a camera, the front part adopts a hemispherical design for simplifying the advancing resistance of water, and a red waterproof compartment waterproof sealing ring is arranged to ensure the diving tightness of the component waterproof compartment, and the rear part is provided with a wiring hole for connecting an electric wire with the outside and is sealed by waterproof rubber. The upper and lower layers of the component waterproof cabin are the same, and the component waterproof cabin is positioned on the upper and lower layers of the anti-collision beam outside the propeller and the partition plates of the upper and lower waterproof cabins.
In this embodiment, 4 propellers adopt two screws from top to bottom to constitute, and the rotor piece installation direction of two screws adopts the opposite direction of diagonal to install to adopt carbon fiber to constitute. The upper and lower double propellers of the propeller are powered by an independent propeller vector rotating motor, the power and the propelling direction angle of the upper and lower double propellers are integrally controlled by a central controller in the waterproof cabin of the component, and the adaptability adjustment can be performed in the face of water flow impact force in different directions. The propeller vector rotating motor is internally provided with the wireless communication module, the wireless communication module is controlled by the central controller of the component waterproof cabin, and the central controller can also monitor the rotating speed in the reverse direction, so that accidents are avoided.
The axis of rotation of propeller passes through the outside anticollision roof beam both sides of propeller and is the strong point, carry out angle adjustment through the rotation of propeller vector rotating electrical machines, carry out angle adjustment control by central controller, and rotation angle also will feed back to central controller, be used for data processing and angle adjustment, central controller obtains the rivers data that will pass through the sensor collection behind the data, the direction of propulsion and the rotational speed of two screws of each propeller of automatic adjustment, the assurance is under powerful water pressure, can stabilize the fuselage, reduce the risk that the fuselage is impacted by rivers.
The central controller is arranged in the component waterproof cabin, the space in the component waterproof cabin is enough, a user can set in the component waterproof cabin according to different functional requirements, and a temperature sensor, a flow velocity sensor and other exploration sensors can be arranged in the component waterproof cabin. The component waterproof cabin adopts a semitransparent design, a camera can be arranged in the front of the component waterproof cabin for shooting, and complex requirements such as photographic exploration and the like are met. Remote radar module is built-in to central controller, and the angle of each sensor and double screw slew velocity and propeller will all return control terminal, and control terminal can obtain data in real time, and control terminal can the novel dive robot's of real-time manual control motion, and the slew velocity of the motion angle of propeller and double screw is controllable at any time promptly.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A novel eight-degree-of-freedom submersible robot is characterized by comprising an anti-collision beam outside a propeller, upper and lower waterproof cabin separation plates, a propeller rotating aluminum alloy frame, a component waterproof cabin, a waterproof cabin waterproof sealing ring, upper and lower waterproof cabin separation plate supports, a propeller vector rotating motor and a propeller; the outer anti-collision beam and the upper and lower waterproof cabin partition plates of the propeller are respectively connected with the rotating aluminum alloy framework of the propeller, the upper and lower waterproof cabin partition plate supports, the propeller vector rotating motor and the propeller, and the component waterproof cabin is respectively connected with the waterproof cabin waterproof sealing ring, the upper and lower waterproof cabin partition plate supports and the propeller vector rotating motor.
2. The eight-degree-of-freedom novel submersible robot according to claim 1, wherein the upper and lower watertight compartment separation plates are made of aluminum alloy plates, the upper and lower watertight compartment separation plates are expanded outwards to serve as outer anti-collision beams of the thruster, and the outer anti-collision beams of the thruster serve as outer supports of the thruster.
3. The eight-degree-of-freedom novel submersible robot according to claim 2, wherein the propeller outer impact beam has a supporting point on it where the propeller completes rotation around a horizontal axis.
4. The eight-degree-of-freedom novel submersible robot according to claim 2, wherein the middle parts of the upper and lower waterproof compartment partition plates isolate the upper and lower component waterproof compartments to support the upper and lower component waterproof compartments.
5. The eight-degree-of-freedom novel submersible robot as claimed in claim 4, wherein the component waterproof compartment is a sealed ya ge li cylinder, and the inside of the component waterproof compartment is hollow and is used for arranging a simulation power supply control sensor and a camera functional article; the front part adopts a hemispherical design and is provided with a waterproof cabin waterproof sealing ring; the rear part is provided with a wiring hole which is sealed by waterproof rubber; the component waterproof cabin is positioned on the upper layer and the lower layer of the anti-collision beam outside the propeller and the upper waterproof cabin and the lower waterproof cabin separation plate.
6. The eight-degree-of-freedom novel submersible robot according to claim 1, wherein the propeller is composed of an upper propeller and a lower propeller, the installation directions of rotating pieces of the two propellers are diagonally opposite, and the propeller is made of carbon fiber.
7. The eight-degree-of-freedom novel submersible robot according to claim 6, wherein the upper and lower double propellers of the propeller are powered by independent propeller vector rotating motors, the power and the propulsion direction angle of the upper and lower double propellers are integrally controlled by a central controller in a component waterproof compartment, a wireless communication module is arranged in the propeller vector rotating motor, the wireless communication module is controlled by the central controller in the component waterproof compartment, and the central controller supervises the rotation speed of the propeller reversely.
8. The eight-degree-of-freedom novel submersible robot according to claim 7, wherein exploration sensors including temperature sensors and flow velocity sensors are built in the component waterproof compartment.
9. The eight-degree-of-freedom novel submersible robot according to claim 8, wherein the component waterproof compartment is of a translucent design.
10. The eight-degree-of-freedom novel submersible robot as claimed in claim 9, wherein a long-distance radar module is built in the central controller, the rotation speed of the sensor and the double propellers and the angles of the propellers are returned to the control terminal, and the control terminal obtains data in real time and controls the motion of the novel submersible robot in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011156952.4A CN112356041A (en) | 2020-10-26 | 2020-10-26 | Novel eight-degree-of-freedom diving robot |
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| CN202011156952.4A CN112356041A (en) | 2020-10-26 | 2020-10-26 | Novel eight-degree-of-freedom diving robot |
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| CN112356041A true CN112356041A (en) | 2021-02-12 |
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| CN202011156952.4A Pending CN112356041A (en) | 2020-10-26 | 2020-10-26 | Novel eight-degree-of-freedom diving robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060260A (en) * | 2021-03-30 | 2021-07-02 | 三峡大学 | Small submersible device with water quality collection and monitoring functions and use method |
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
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Application publication date: 20210212 |