CN112660345A - Six-degree-of-freedom underwater detection robot - Google Patents
Six-degree-of-freedom underwater detection robot Download PDFInfo
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- CN112660345A CN112660345A CN202110006530.7A CN202110006530A CN112660345A CN 112660345 A CN112660345 A CN 112660345A CN 202110006530 A CN202110006530 A CN 202110006530A CN 112660345 A CN112660345 A CN 112660345A
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Abstract
The invention discloses a six-degree-of-freedom underwater detection robot, wherein an upper frame is provided with a first supporting component, the lower frame is provided with the second supporting component, one end of each connecting strip is fixedly connected with the upper frame, the other end of each connecting strip is fixedly connected with the lower frame, the middle frame is fixedly connected with each connecting strip, and is embedded between each connecting strip, the buoyancy block is fixedly connected with the upper frame and positioned above the upper frame, the power supply cabin is fixedly connected with the middle frame, and is positioned below the middle frame, the electronic cabin is fixedly connected with the middle frame and is positioned below the electronic cabin, the upper frame, the connecting strip, the middle frame and the lower frame form a machine body frame in a surrounding way, the propelling component is arranged in the machine body frame, the underwater robot can carry out underwater detection without depending on manpower by the arrangement of the structure.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater detection robot with six degrees of freedom.
Background
At present, the number of bridges in China is huge, and in the maintenance process, the parts above the water surface of the bridge pier need to be monitored, and the parts under the water surface and influenced by flowing water in water also need to be monitored. The danger and cost of manual work in the flowing water are high, so that a mechanical device is urgently needed to replace human beings to do the work. Robots are mechanical devices that can perform tasks automatically, which is a great advantage for performing dangerous, human-based tasks that are difficult to accomplish. The underwater robot is one of the robots and a representative branch thereof, and brings a great pushing effect for solving the problem of underwater detection for human beings.
The underwater robots are mainly classified into manned underwater robots (HOVs), autonomous unmanned underwater robots (AUVs) and cable remote-controlled underwater Robots (ROVs) according to the presence of people and the real-time control of the presence of people. HOVs are generally large in size, a driver needs to operate the HOVs in a submersible, the underwater robot is deep in submergence depth and extremely dangerous, and complicated carrying, laying and lifesaving systems need to be equipped, so that the application range is greatly limited. The AUV belongs to an unmanned cableless remote control underwater robot. The power supply by a self-contained battery, a fuel cell or other energy sources is normally carried out by pre-programming the running track path of the robot without manual intervention. The ROV is an underwater robot with a cable and provided with energy and signals by the ground or a mother ship, and mainly comprises a water surface control system and an underwater robot body. The execution is overhauld under water, what the operation is mostly the ROV, and these robots can float under water, carry out conventional reconnaissance task, more can carry out the high-risk work behind the installation manipulator, avoid personnel's injury. Manned underwater robots, autonomous unmanned underwater robots and cabled remote control underwater robots all need to rely on manual work to carry out underwater detection.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom underwater detection robot, and aims to solve the technical problem that an underwater robot in the prior art needs to depend on manpower to perform underwater detection.
In order to achieve the purpose, the invention adopts a six-degree-of-freedom underwater detection robot which comprises an upper frame, connecting strips, a middle frame, a lower frame, a first supporting assembly, a second supporting assembly, a buoyancy block, a power supply cabin, an electronic cabin and a propelling assembly, wherein the upper frame is provided with the first supporting assembly, the lower frame is provided with the second supporting assembly, the number of the connecting strips is multiple, one end of each connecting strip is fixedly connected with the upper frame, the other end of each connecting strip is fixedly connected with the lower frame, the middle frame is fixedly connected with each connecting strip and embedded between the connecting strips, the buoyancy block is fixedly connected with the upper frame and positioned above the upper frame, the power supply cabin is fixedly connected with the middle frame and positioned below the middle frame, and the electronic cabin is fixedly connected with the middle frame, and the upper frame, the connecting strip, the middle frame and the lower frame form a machine body frame in a surrounding manner, and the propelling component is arranged in the machine body frame.
The propulsion assembly comprises four upper side propellers, and each upper side propeller is connected with the first support assembly through bolts and is located below the buoyancy block.
The propulsion assembly further comprises four lower side propellers, and each lower side propeller is connected with the second supporting assembly through bolts and is located below the corresponding upper side propeller.
The first support assembly comprises four first support rods and four connecting rods, each first support rod is fixedly connected with the upper frame and is respectively located at four inner corners of the upper frame, the connecting rods are arranged on each first support rod, and each upper propeller is respectively in bolted connection with the corresponding connecting rod.
The second support assembly comprises four second support rods, each second support rod is fixedly connected with the lower frame and is respectively located at four inner corners of the lower frame, and the lower side propellers are respectively connected with the corresponding second support rods through bolts.
Wherein, the buoyancy block is provided with a flow hole.
The invention has the beneficial effects that: the buoyancy block balances the gravity of the six-freedom-degree underwater detection robot under water, the working strength of a motor is relieved when the six-freedom-degree underwater detection robot moves upwards and hovers, the loss of electric energy is reduced, the propulsion assembly controls the underwater movement of the six-freedom-degree underwater detection robot, a switching power supply is loaded in the power supply cabin, a raspberry group, a power carrier plate, a main control plate, an electric speed regulator, a gyroscope, a depth meter, a camera and other control elements are loaded in the electronic cabin, when the six-freedom-degree underwater detection robot performs detection under water, an upper computer converts a control signal into an electric signal through the power carrier plate, then the electric signal is converted into an optical signal through a twisted pair wire and transmitted to the power carrier plate in the electronic cabin, and the rear raspberry group receives and then sends the PWM wave influencing output to the main control plate to be transmitted to the electric speed regulator, the raspberry group is added for data transmission, the data transmission capability is increased, a main control board is prevented from being used for data processing and transmission, the performance of the main control board is improved, the use performance of the robot is further improved, the electric control is a brush electric control which converts an input power into voltages with different sizes and currents in different directions by receiving PWM signals and transmits the voltages and the currents to the motor, so that the motor generates different rotating speeds and rotating directions to further control the movement of the robot, if the position and the posture of water flow of the robot under water are changed, the gyroscope transmits the position and the posture change condition to the main control board, the main control board outputs the PWM waves as signals to the electric control, the voltages and the currents output by the electric control are transmitted to the motor, the motor generates different rotating speeds and rotating directions to further achieve the purpose of changing the rotating speed and adjusting the position and posture, and image information acquired by the camera is transmitted to the raspberry group, the raspberry group is transmitted to the host computer and is displayed, after the position and pose obtained by the sensor and the position information are transmitted to the main control board, the position and pose are transmitted to the raspberry group through serial port communication, the raspberry group transmits the information to the host computer to be displayed, the technical personnel can check the information displayed by the host computer at the moment, the detection result is known, and the underwater robot can carry out underwater detection without depending on manual work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a six-degree-of-freedom underwater inspection robot of the present invention.
Fig. 2 is a schematic structural view of the fuselage frame of the present invention.
Figure 3 is a schematic view of the position of the propulsion assembly of the present invention.
Fig. 4 is a schematic diagram of the structure of the power pod of the present invention.
Fig. 5 is a schematic view of the structure of the electronic pod of the present invention.
The underwater detection robot comprises a 100-six-degree-of-freedom underwater detection robot body, a 1-upper frame, a 2-connecting strip, a 3-middle frame, a 4-lower frame, a 5-first supporting component, a 6-second supporting component, a 7-buoyancy block, an 8-power supply cabin, a 9-electronic cabin, a 10-propulsion component, a 11-body framework, a 12-first supporting rod, a 13-connecting rod, a 14-second supporting rod, a 15-circulation hole, a 16-upper side propeller, a 17-lower side propeller, a 18-first cabin body, a 19-first sealing ring, a 20-second cabin body and a 21-second sealing ring.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, the present invention provides a six-degree-of-freedom underwater inspection robot 100, including an upper frame 1, connection strips 2, a middle frame 3, a lower frame 4, first support components 5, second support components 6, buoyancy blocks 7, a power supply cabin 8, an electronic cabin 9 and a propulsion component 10, wherein the upper frame 1 is provided with the first support components 5, the lower frame 4 is provided with the second support components 6, the number of the connection strips 2 is multiple, one end of each connection strip 2 is respectively fixedly connected with the upper frame 1, the other end of each connection strip 2 is respectively fixedly connected with the lower frame 4, the middle frame 3 is fixedly connected with each connection strip 2 and is embedded between each connection strip 2, the buoyancy blocks 7 are fixedly connected with the upper frame 1 and are located above the upper frame 1, the power supply cabin 8 is fixedly connected with the middle frame 3, and is located the below of center 3, electronics cabin 9 with center 3 fixed connection to be located the below of electronics cabin 9, upper ledge 1 the connecting strip 2 center 3 with lower frame 4 encloses to close and forms fuselage frame 11, propulsion subassembly 10 set up in the fuselage frame 11.
In this embodiment, the body frame 11 plays a role of supporting and fixing the buoyancy block 7, the power cabin 8, the electronic cabin 9 and the propulsion assembly 10, the buoyancy block 7 balances the gravity of the six-degree-of-freedom underwater detection robot 100 under water, so as to reduce the working strength of the motor when the six-degree-of-freedom underwater detection robot 100 moves upwards and hovers, and reduce the loss of electric energy, the propulsion assembly 10 controls the underwater movement of the six-degree-of-freedom underwater detection robot 100, the power cabin 8 is loaded with a switching power supply, the electronic cabin 9 is loaded with control elements such as a raspberry pi, a power carrier plate, a main control plate, an electric controller, a gyroscope, a depth meter, a camera and the like, when the six-degree-of-freedom underwater detection robot 100 performs detection under water, the upper computer converts a control signal into an electric signal through the power carrier plate, and then transmits the electric signal to the power carrier plate in the electronic cabin 9 through a twisted pair to convert into an, the back raspberry group receives the PWM wave which is sent to the main control board to influence the output and transmits the PWM wave to the electric regulator, the raspberry group is added to carry out data transmission, the data transmission capability is increased, the main control board is prevented from being used for data processing and transmission, the performance of the main control board is improved, the use performance of the robot is further improved, the electric regulator is a brushed electric regulator, the electric regulator converts an input power supply into voltages with different sizes and currents with different directions by receiving PWM signals and transmits the voltages and the currents to the motor, so that the motor generates different rotating speeds and rotating directions to further control the movement of the robot, if the position of the water flow is changed when the robot encounters water, the gyroscope transmits the position change situation to the main control board, the main control board outputs the PWM wave as a signal to the electric regulator, the voltage and the current output by the electric regulator are transmitted to the motor, so that the motor generates different rotating speeds and rotating directions to further achieve the purpose, image information that the camera obtained transmits for the raspberry group back, and the raspberry group transmits to the host computer and shows, after the position appearance that the sensor obtained and positional information transmitted for the main control board, through serial ports communication transmission to raspberry group, the raspberry group shows information transfer to the host computer, and the information that the host computer shows can be looked over to the technical staff this moment, knows the testing result, has realized that underwater robot need not rely on the manual work just can carry out underwater detection.
Further, the propulsion assembly 10 comprises four upper propellers 16, and each upper propeller 16 is respectively bolted to the first support assembly 5 and is located below the buoyancy block 7.
Further, the propulsion assembly 10 further comprises four lower propellers 17, and each lower propeller 17 is respectively bolted to the second support assembly 6 and is located below the corresponding upper propeller 16.
In this embodiment, four upper propellers 16 and four lower propellers 17 are respectively located at eight inner corners of the body frame 11, and the upper propellers 16 and the lower propellers 17 are vertically corresponding to each other, when the six-degree-of-freedom underwater inspection robot 100
In the moving process along the xyz axis, under the condition of no water flow, the upper side propeller 16 is matched with the lower side propeller 17, the robot is pushed to move by rotating when receiving a rotation signal, when the robot moves positively along the x axis, the upper side propeller 16 stops rotating, two adjacent lower side propellers 17 rotate positively, and the rest lower side propellers 17 rotate reversely to generate thrust along the positive direction of the x axis to push the robot to move; when the robot moves along the y-axis square, the upper propellers 16 stop rotating, the other two adjacent lower propellers 17 rotate forwards, and the other lower propellers 17 rotate backwards to generate thrust along the y-axis positive direction to push the robot to move; when the robot moves in a square along the z axis, the lower propeller 17 stops rotating, the upper propeller 16 rotates forwards, and thrust in the positive direction of the z axis is generated to push the robot to move; vice versa, movement is in the negative direction. In the process of rotating around the xyz shaft, under the condition of no water flow, the upper propellers 16 are matched with the lower propellers 17, the robot is pushed to move by rotating when receiving a rotation signal, when rotating around the xyz shaft anticlockwise, two adjacent upper propellers 16 rotate forwards, the other upper propellers 16 rotate backwards, a force along the positive direction of the y shaft is generated at the upper end part of the robot, the lower propellers 17 corresponding to the upper propellers 16 rotate forwards or backwards along with the positive direction, a force along the negative direction of the y shaft is generated at the lower end part of the robot, and the robot rotates by the matching of the two forces; when the robot rotates anticlockwise around the y axis, two adjacent upper side propellers 16 rotate forwards, the other upper side propellers 16 rotate backwards, a force along the positive direction of the x axis is generated at the upper end part of the robot, the lower side propellers 17 corresponding to the upper side propellers 16 rotate backwards or forwards along with the force, a force along the negative direction of the x axis is generated at the lower end part of the robot, and the two forces are matched to enable the robot to rotate; when the robot rotates anticlockwise around the z axis, the upper side propellers 16 stop rotating, two opposite lower side propellers 17 rotate forwards, and the other lower side propellers 17 rotate backwards to enable the robot to rotate in a matching mode; rather, it is rotated clockwise. The upper thruster 16 and the lower thruster 17 are engaged, so that the six-degree-of-freedom underwater detecting robot 100 performs six-degree-of-freedom motions.
Further, first supporting component 5 includes four first bracing pieces 12 and four connecting rods 13, every first bracing piece 12 all with upper frame 1 fixed connection, and be located respectively four interior angle departments of upper frame 1, and every all be provided with on the first bracing piece 12 connecting rod 13, every upside propeller 16 respectively with correspond connecting rod 13 bolted connection.
Further, the second support assembly 6 includes four second support rods 14, each of the second support rods 14 is fixedly connected to the lower frame 4 and is respectively located at four inner corners of the lower frame 4, and each of the lower propellers 17 is respectively connected to the corresponding second support rod 14 by a bolt.
In this embodiment, first bracing piece 12 with connecting rod 13 supports upside propeller 16, second bracing piece 14 supports downside propeller 17, upside propeller 16 with downside propeller 17 designs respectively for 45, and adopts the mode of symmetric position to install, has strengthened the adjustment ability to the position appearance, increases the motion flexibility to avoided atress quantity to be the odd number, and reduced the control degree of difficulty.
Further, the buoyancy block 7 is provided with a flow hole 15.
In the present embodiment, the buoyancy block 7 has the flow hole 15, and water flows through the flow hole 15 immediately after the six-degree-of-freedom underwater detection robot 100 is launched, so that the six-degree-of-freedom underwater detection robot 100 is prevented from being influenced by the buoyancy of water and being out of control when launched; the buoyancy block 7 balances the gravity of the six-degree-of-freedom underwater detection robot 100 under water, so that the working strength of a motor is reduced when the robot moves upwards and hovers, and the loss of electric energy is reduced.
Further, the power supply compartment 8 includes a first compartment 18 and a first sealing ring 19, the first compartment 18 is fixedly connected to the middle frame 3 and is located above the middle frame 3, and the first sealing ring 19 is fixedly connected to the first compartment 18 and covers an inner side wall of the first compartment 18.
In this embodiment, the first cabin 18 is made of an aluminum alloy material, the design requirement of light weight is fully considered, and the first sealing ring 19 is made of a waterproof material, so that the control element is prevented from being damaged due to water immersion, and the six-degree-of-freedom underwater detection robot 100 cannot be controlled by an upper computer.
Further, the electronic cabin 9 includes a second cabin 20 and a second sealing ring 21, the second cabin 20 is fixedly connected to the middle frame 3 and is located below the middle frame 3, and the second sealing ring 21 is fixedly connected to the second cabin 20 and covers the inner side wall of the second cabin 20.
In this embodiment, the second cabin 20 is made of an aluminum alloy material, and the design requirement of light weight is fully considered, and the second sealing ring 21 is made of a waterproof material, so that the second cabin is prevented from being immersed into the switching power supply and damaging the switching power supply, and the six-degree-of-freedom underwater detection robot 100 is not driven by electric power to perform underwater detection.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An underwater detection robot with six degrees of freedom is characterized in that,
the portable electronic device comprises an upper frame, connecting strips, a middle frame, a lower frame, a first supporting assembly, a second supporting assembly, buoyancy blocks, a power cabin, an electronic cabin and a propelling assembly, wherein the upper frame is provided with the first supporting assembly, the lower frame is provided with the second supporting assembly, the connecting strips are multiple in number, one end of each connecting strip is fixedly connected with the upper frame, the other end of each connecting strip is fixedly connected with the lower frame, the middle frame is fixedly connected with each connecting strip and embedded between the connecting strips, the buoyancy blocks are fixedly connected with the upper frame and positioned above the upper frame, the power cabin is fixedly connected with the middle frame and positioned below the middle frame, the electronic cabin is fixedly connected with the middle frame and positioned below the electronic cabin, and the upper frame, the connecting strips, the middle frame and the lower frame are enclosed to form a frame, the propulsion assembly is disposed within the fuselage frame.
2. The six degree-of-freedom underwater inspection robot of claim 1,
the propulsion assembly comprises four upper side propellers, and each upper side propeller is connected with the first support assembly through bolts and is located below the buoyancy block.
3. The six degree-of-freedom underwater inspection robot of claim 2,
the propulsion assembly further comprises four lower side propellers, and each lower side propeller is connected with the second supporting assembly through bolts and is located below the corresponding upper side propeller.
4. The six degree-of-freedom underwater inspection robot of claim 3,
the first support assembly comprises four first support rods and four connecting rods, each first support rod is fixedly connected with the upper frame and is respectively located at four inner corners of the upper frame, the connecting rods are arranged on each first support rod, and each upper propeller is respectively in bolted connection with the corresponding connecting rod.
5. The six degree-of-freedom underwater inspection robot of claim 4,
the second supporting assembly comprises four second supporting rods, each second supporting rod is fixedly connected with the lower frame and is respectively positioned at four inner corners of the lower frame, and the lower side propellers are respectively connected with the corresponding second supporting rods through bolts.
6. The six degree-of-freedom underwater inspection robot of claim 5,
the buoyancy block is provided with a through hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110006530.7A CN112660345A (en) | 2021-01-05 | 2021-01-05 | Six-degree-of-freedom underwater detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110006530.7A CN112660345A (en) | 2021-01-05 | 2021-01-05 | Six-degree-of-freedom underwater detection robot |
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| CN112660345A true CN112660345A (en) | 2021-04-16 |
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| CN202110006530.7A Pending CN112660345A (en) | 2021-01-05 | 2021-01-05 | Six-degree-of-freedom underwater detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114248891A (en) * | 2021-12-22 | 2022-03-29 | 重庆文高科技有限公司 | Underwater robot, control system and method |
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