CN113022822A - Underwater outer limb and application thereof - Google Patents

Underwater outer limb and application thereof Download PDF

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Publication number
CN113022822A
CN113022822A CN202110267817.5A CN202110267817A CN113022822A CN 113022822 A CN113022822 A CN 113022822A CN 202110267817 A CN202110267817 A CN 202110267817A CN 113022822 A CN113022822 A CN 113022822A
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driver
output shaft
underwater
joint
rod
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CN113022822B (en
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宋超阳
冯世豪
顾宇平
郭宇芹
陈铭栋
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Southwest University of Science and Technology
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Southwest University of Science and Technology
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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
    • B63C11/02—Divers' equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Toys (AREA)
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Abstract

The invention discloses an underwater outer limb and application thereof, belonging to the technical field of ocean engineering. The propeller is used for providing power or auxiliary power, and the driver is used for adjusting the axial angle of the propeller so as to adjust the propelling direction of the propeller, provide power or auxiliary power at multiple angles and realize underwater multi-mode movement or operation; the underwater outer limb can be applied to underwater drive backpacks and underwater robots.

Description

Underwater outer limb and application thereof
Technical Field
The invention relates to the technical field of ocean engineering, in particular to an underwater outer limb and application thereof.
Background
With the continuous deepening of various countries in the world on marine scientific research and marine energy resource development, underwater robot technology is rapidly developed and widely applied to the fields of marine environment monitoring, marine resource survey development, scientific investigation and the like. Wherein, the shallow sea tangle (permeable layer) with the water depth of 0-200 m has sufficient sunlight, and the variety and quantity of various organisms far exceed those of sea areas with other depths. In shallow sea tangle science research and resource development, however, usually requires the use of marine technical equipment, such as underwater robots capable of underwater operations.
At present, in order to meet the requirement of minimum maneuverability of the underwater robot, the underwater robot needs to have motion with 3 degrees of freedom at minimum, namely advance and retreat, submergence and heading (steering), and usually one or a pair of propellers is installed independently for each degree of freedom. In order to realize the maneuverability of an underwater robot (ROV/AUV/UUV and the like) in multi-degree-of-freedom motion in an underwater environment, the mainstream underwater propeller arrangement schemes comprise two schemes: the first is an open rack design that employs 6 or 8 propellers, each propeller typically being independently affixed to the robot body frame; the second is a torpedo-shaped design, the tail part of which is independently provided with 1 propeller, and the device is often combined with auxiliary robots such as fins, flippers or swimming feet to complete steering. The former arrangement is common to small underwater robots. However, if only 1 propeller is used for one degree of freedom, for example, to achieve forward and backward movements, the result would be additional pitching movements, which are detrimental to small and medium sized underwater robots. Generally, the open-frame type underwater robot usually adopts propellers which are used in pairs and are symmetrically arranged, so that the number of the propellers arranged on a rack of the robot is too large, the robot is heavy, the integration cost is too high, the open-frame type arrangement is opposite to the streamline design, the dynamic motion performance of the underwater robot is influenced, and the energy loss is large. The latter is commonly found in medium and large-sized underwater robots, although the streamline design is beneficial to reducing the fluid resistance when the robot moves forward and backward, the tubular design of fishes affects the maneuverability of underwater movement, and the defect of the maneuverability can cause fatal damage under complex underwater environments.
Because the underwater space motion with 6 degrees of freedom essentially has a degree of freedom coupling effect, in the prior art, the propellers are fixed relative to the robot frame, and the number of the propellers is often 2 times of the number of the degrees of freedom, the design has the advantages that the coupling motion caused by unfavorable asymmetric harmful component force is eliminated, and the theoretical design, the mechanism analysis and the control technology are simple, direct and mature. The main problem is that the propellers with redundant degrees of freedom not only have complex shapes, poor hydrodynamic performance, poor turning performance and the like, but also the inflow of the propellers is hindered by equipment with narrow frame space, which further reduces the propulsion efficiency of the propellers. This poses limitations on the design, manufacturing installation and use of the underwater robot.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an underwater outer limb and application thereof, wherein a driver is used for adjusting the propelling angle of a propeller, so that multi-angle power or auxiliary power is provided, and underwater multi-mode movement or operation is realized.
The invention provides an underwater outer limb, which comprises a driver and a propeller, wherein the output end of the driver is connected with the outer side wall of the propeller.
Preferably, the underwater outer limb further comprises a connecting assembly, the connecting assembly comprises a positioning rod and a hoop, the output end of the driver is connected with one end of the positioning rod, and the other end of the positioning rod is connected with the outer side wall of the propeller; the staple bolt spare upside is equipped with the through-hole, the locating lever rotatably passes the through-hole.
Preferably, the underwater outer limb further comprises a connecting assembly, the connecting assembly comprises a positioning rod and hoop members, the hoop members are mounted at the left end and the right end of the positioning rod respectively, a driver is mounted on one side of the hoop members, and the output end of the driver is connected with the outer side wall of the propeller through a second connecting piece.
The underwater outer limb can be applied to an underwater driving backpack, the driver is installed in the underwater driving backpack, the left side and the right side of the underwater driving backpack are respectively provided with a propeller, and the output end of the driver is connected with the outer side wall of the propeller.
The underwater outer limb can also be applied to an underwater robot, the driver is arranged on a body of the underwater robot, the left side and the right side of the body are respectively provided with a propeller, and the output end of the driver is connected with the outer side wall of the propeller.
Preferably, one side of the machine body is provided with an over-constrained movement device, the over-constrained movement device comprises an over-constrained link mechanism and a coaxial driving device fixed on the machine body, the coaxial driving device comprises an outer driver, an inner driver, an outer output shaft and an inner output shaft, the outer driver drives the outer output shaft, the inner driver drives the inner output shaft, and the inner output shaft and the outer output shaft are coaxially arranged and extend outwards of the machine body; the inner output shaft is connected with a first driving rod of the over-constraint connecting rod mechanism, and the outer output shaft is connected with a second driving rod of the over-constraint connecting rod mechanism.
Preferably, the coaxial driving device further comprises a mounting plate and a support frame, the outer driver and the inner driver are mounted on the mounting plate, a base is arranged on one side of the mounting plate, the outer output shaft is rotatably mounted on the base, a first outer synchronous pulley is mounted on an output shaft of the outer driver, and the first outer synchronous pulley is connected with a second outer synchronous pulley mounted on the outer output shaft through a synchronous belt; a first inner synchronous belt wheel is mounted on an output shaft of the inner driver and connected with a second inner synchronous belt wheel mounted on the inner output shaft through a synchronous belt; the outer driver and the inner driver are installed on the same side of the mounting plate.
Preferably, the over-constrained linkage comprises one of: all over-constraining mechanisms such as Bennett mechanism, Goldberg mechanism, Myard mechanism, Extended Myard mechanism, Double-Goldberg mechanism, Waldron's Hybrid mechanism, Yu & Baker's Syncopated mechanism, Mavroidis & Roth's 6R mechanism, Dietmaier's 6R mechanism, Bricard mechanism, Altmann's 6R mechanism, Wohlhart's Hybrid6R mechanism, etc.
Preferably, the connecting rod of the Bennett mechanism further comprises a first driven rod and a second driven rod, the upper ends of the first driving rod and the second driving rod form a first joint, a second joint is formed between the first driving rod and the first driven rod, a third joint is formed between the second driving rod and the second driven rod, a fourth joint is formed at the joint of the first driven rod and the second driven rod,
the expression for the Bennett mechanism is:
a12＝a34＝a,a23＝a41＝b,
α12＝α34＝α,α23＝α41＝β,
Figure BDA0002972676400000031
Ri＝0 (11)
wherein, aijDenoted as links between the i and j joints, alphaijDenotes aijA and b are the link lengths, alpha and beta are the twist angles, RiRepresents the joint offset, i represents the joint;
the relationship of the joint angles is:
Figure BDA0002972676400000032
wherein, thetaiThe included angle of the two connecting rods on the joint is shown as the joint corner.
Preferably, the depth camera is installed at the front end of the machine body, an extension rod is arranged at the tail end of the over-constraint connecting rod mechanism, and a mechanical finger is arranged on the extension rod of the front-side over-constraint connecting rod mechanism.
Compared with the prior art, the invention has the beneficial effects that: the propeller is used for providing power or auxiliary power, and the driver is used for adjusting the axis angle of the propeller, thereby adjusting the propelling direction of the propeller, providing power or auxiliary power of multiple angles, and realizing underwater multi-modal movement or operation.
Drawings
FIG. 1 is a schematic view of an underwater outer limb structure of the present invention;
FIG. 2 is a schematic view of the structure of the underwater external limb of embodiment 2;
FIG. 3 is a schematic view of the structure of the underwater drive backpack;
FIG. 4 is a schematic view of the underwater robot;
FIG. 5 is a schematic diagram of the motion of the underwater robot;
FIG. 6 is a schematic view of a depth camera installation in an underwater robot;
FIG. 7 is a schematic structural view of an over-constrained exercise device;
FIG. 8 is a schematic view of the structure of the coaxial driving device;
FIG. 9 is a schematic view of an overconstrained linkage dynamics analysis;
FIG. 10 is a schematic diagram of an equivalent open chain analysis of an over-constrained linkage;
FIG. 11 is a schematic view of the kinetic analysis of the Bennett mechanism;
FIG. 12 is a schematic of the kinetic analysis of the Myard mechanism;
FIG. 13 is a schematic of the kinetic analysis of the Extended Myard mechanism;
FIG. 14 is a schematic view of the detection and working space of the Bennett mechanism;
FIG. 15 is a schematic diagram of three motion profiles of a robotic leg;
FIG. 16 is a center of gravity detection diagram for three motions;
FIG. 17 is a schematic structural diagram of an overconstrained robot;
FIG. 18 is a schematic view of a second over-constrained exercise device;
FIG. 19 is a schematic view of a third over-constrained exercise device;
fig. 20 is a schematic structural view of a quadruped robot.
The labels in the figure are: 1 over-constrained link mechanism, 2 inner output shaft; 3 an outer output shaft; 4, mounting a plate; 5 an outer driver; 6 an outer drive output shaft; 7, synchronous belts; 8 a first outer synchronous pulley; 9, supporting frames; 10, a base; 11 second inner synchronous belt pulley, 12 coaxial driving device, 13 second outer synchronous belt pulley, 15 inner driver, 16 inner driver output shaft, 18 first inner synchronous belt pulley, 19 bearing; 21 a first driving rod, 22 a second driving rod, 23 a first driven rod, 24 a second driven rod, 25 tail ends; 31 a first portion, 32 a second portion,33 connecting ring, 34 connecting column, 35 screws, 36 hinged screws, 41 first joint, 42 second joint, 43 third joint, 44 fourth joint, 45 tension wheel, 46 second fixing frame, 51 connecting piece, 52 body, 53 fixing plate, 54 depth camera, 55 over-constrained motion device, 56 mounting frame, 57 control box, 61 positioning pipe, 62 hinged assembly, 72 mechanical finger, 73 positioning rod, 74 propeller, 75 driver, 76 hoop part, 77 second connecting piece, 78 extending rod, 79 illuminating lamp, 80 detection sonar, 81 underwater drive backpack, 82 diving operator, z-direction mechanical finger, 73 connecting rod, 75 driver, 76 extension rod, 77 second connecting piece, 78 extension rod, 79 illuminating lamp, 80 detection sonar, 81 underwater drive backpack, 82 diving operator1Drive shaft, z2First intermediate shaft, z4Second intermediate shaft, z3A distal shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
the invention provides an underwater outer limb, which comprises a driver 75 and a propeller 74, wherein the output end of the driver 75 is connected with the outer side wall of the propeller 74, the propeller 74 is used for providing power or auxiliary power, the driver 75 is used for adjusting the axial angle of the propeller, so that the propelling direction of the propeller is adjusted, multi-angle power or auxiliary power is provided, and underwater multi-mode movement or operation is realized; compared with the fixed propeller, the number of the propellers 74 can be effectively reduced, the manufacturing cost of the underwater robot is reduced, the service efficiency of the propellers 74 can be improved, the energy consumption is reduced, the endurance time is further prolonged, and the maneuverability of the underwater robot and the diving operation personnel can be improved.
Wherein, the underwater outer limb can be provided with two propellers 74 which are arranged symmetrically left and right; the axis of the output end of the driver 75 may be perpendicular to the axis of the pusher 74, while the axes of the pushers 74 disposed in bilateral symmetry are parallel. The propeller comprises a propeller motor propeller, a hydraulic propeller and a water jet propeller; the driver may include, but is not limited to, a waterproof steering engine, a waterproof sealed dc brushless motor, and a flexible driver capable of rotational movement about its axis.
Example 1
As shown in fig. 1, the underwater outer limb further comprises a connecting assembly, the connecting assembly comprises a positioning rod 73 and a hoop 76, an output end of the driver 75 is connected with one end of the positioning rod 73, and the other end of the positioning rod 73 is connected with the outer side wall of the propeller 74; the upper side of the hoop member 76 is provided with a through hole through which the positioning rod 73 rotatably passes.
In this embodiment, the positioning rod 73 is driven to rotate by a driver 75, so as to drive the propeller 74 to rotate, the hoop member 76 plays a role of auxiliary fixation, a bearing may be disposed in the through hole of the hoop member 76, and the positioning rod 73 is mounted on an inner ring of the bearing.
Example 2
As shown in fig. 2, unlike embodiment 1, two drivers are provided: the connecting assembly comprises a positioning rod 73 and hoop members 76, the left end and the right end of the positioning rod 73 are respectively connected with the hoop members 76, a driver 75 is installed on one side of the hoop members 76, and the output end of the driver 75 is connected with the outer side wall of the propeller 74 through a second connecting piece 77. In one embodiment, the connection member 77 employs a connection flange.
The hoop member has a fixing function for fixing the driver 75, and the positioning rod 73 is connected with the drivers 75 symmetrically arranged on the left side and the right side. The left and right drivers 75 are used for independently controlling the propulsion direction of the propeller 74, and the positioning rod 73 is used for connecting the two drivers 75 on one hand and keeping the axes of the output shafts of the drivers 75 coincident on the other hand, thereby keeping the relative positions of the two propellers.
Example 3
As shown in fig. 3, the underwater outer limb of the present invention can be applied to an underwater drive backpack:
the driver 75 is fixed in the underwater driving backpack 81, the left and right sides of the underwater driving backpack 81 are respectively provided with a propeller 74, and the output end of the driver 75 is connected with the outer side wall of the propeller 74.
After the diving operator 82 equips the underwater drive backpack 81, the propulsion angle of the propeller 75 is adjusted by the driver 75, and the multi-degree-of-freedom movement is performed.
Example 4
As shown in fig. 4, the underwater outer limb of the present invention can be applied to an underwater robot: the driver 75 is installed on the body 52 of the underwater robot, the left and right sides of the body 52 are respectively provided with a propeller 74, and the output end of the driver 75 is connected with the outer side wall of the propeller 74. The existing underwater robot is generally provided with a fixed rod on the body, and can be fixed on the fixed rod through a hoop on the lower side of a hoop part.
Wherein, one side of the machine body 52 can be provided with an over-constrained movement device 55, the over-constrained movement device 55 comprises an over-constrained link mechanism 1 and a coaxial driving device 12 fixed on the machine body 52, the coaxial driving device 12 comprises an outer driver 5, an inner driver 15, an outer output shaft 3 and an inner output shaft 2, the outer driver 5 drives the outer output shaft 3, the inner driver 15 drives the inner output shaft 2, and the inner output shaft 2 and the outer output shaft 3 are coaxially arranged and extend out of the machine body 52; the inner output shaft 2 is connected with a first active rod 21 of the over-constrained linkage 1, and the outer output shaft 3 is connected with a second active rod 22 of the over-constrained linkage 1.
The robot is powered underwater through the propeller 74, on one hand, advancing power is provided, on the other hand, the angle of the propeller 74 is adjusted through the driver 75, and the angle of the body 52 and the posture of the robot, such as submerging, floating, submerging, standing on both feet and the like, are adjusted; through the over-constrained movement device 55, walking or other operations such as grabbing articles can be realized, the over-constrained movement device 55 drives the over-constrained link mechanism to perform flexible three-dimensional movement through two drivers, so that the flexible three-dimensional movement can be realized under the condition of avoiding adding drivers, and forward, transverse and turning movements can be performed, thereby being beneficial to the weight and cost of the robot. The existing over-constrained link mechanism only has one degree of freedom and is provided with a fixed base link.
Fig. 5 shows the motion of the underwater robot: in fig. 5- (a), the underwater robot walks along the seabed while the propeller does not work; in fig. 5- (b), the thrust of the propeller is in the direction of the dotted line to cross the seabed obstacle; in fig. 5- (c), the thrust of the propeller drives the underwater robot to float upwards along the direction of a dotted line; in fig. 5- (c), the underwater robot arranges the ocean monitoring equipment on the seabed with the thrust direction as shown by the dotted line to adjust the attitude of the underwater robot.
As shown in fig. 4 and 6, the front end of the body 52 may further be provided with a depth camera 54, an illumination lamp 79 and a detection sonar 80, the end of the over-constrained linkage 1 is provided with an extension rod 78, and the extension rod 78 of the front-side over-constrained linkage 1 is provided with a mechanical finger 72. The extension pole 78 provides increased space for movement, and in particular, the mechanical fingers 72 include flexible fingers mounted on the extension pole that form gripping jaws with the extension pole 78 for grasping an item. When the two feet stand, the front body of the robot is lifted and the front legs lift off the ground under the action of the underwater propeller and the rear legs, after the body is lifted to a certain degree, the underwater propeller provides proper thrust to keep the front and back balance of the body of the robot, and at the moment, the front legs can be used as arms and the mechanical fingers are used for operation.
In a specific implementation, two wings of the body 52 may be respectively provided with a propeller 74, and an output shaft of the driver 75 is provided with a connecting flange on which the propeller 74 is mounted. Wherein it may be mounted to the fuselage 52 by means of a hoop provided on the underside of the hoop 76.
In a specific embodiment, as shown in fig. 7 and 8, the coaxial driving device 12 further includes a mounting plate 4 and a supporting frame 9, the outer driver 5 and the inner driver 15 are mounted on the mounting plate 4, a base 10 is disposed on one side of the mounting plate 4, the outer output shaft 3 is rotatably mounted on the base 10, a first outer synchronous pulley 8 is mounted on the outer driver output shaft 6, the first outer synchronous pulley 8 is connected with a second outer synchronous pulley 13 mounted on the outer output shaft 3 through a synchronous belt 7, so as to realize transmission between the outer driver 5 and the outer output shaft 3; a first inner synchronous belt wheel 18 is installed on an output shaft 16 of the inner driver, and the first inner synchronous belt wheel 18 is connected with a second inner synchronous belt wheel 11 installed on the inner output shaft 2 through a synchronous belt 7 to realize the transmission of the inner driver 15 and the inner output shaft 2; one side of the first outer synchronous pulley 8 is provided with a support frame 9. Wherein, bearings 19 can be arranged between the base 10 and the outer output shaft 3, between the outer output shaft 3 and the inner output shaft 2, the mounting plate 4 is mounted on the machine body 52, and the outer driver 5 and the inner driver 15 are mounted on the same side of the mounting plate 4.
The support frame 9 is used for protecting the motor and the power transmission component. The mounting plate 4 and the connecting rod can be made of carbon fiber materials, the joint of the over-constraint connecting rod mechanism 1 can be made of aluminum alloy or stainless steel materials, the outer driver 5 and the inner driver 15 are arranged on the same side of the mounting plate 4, the drivers can be effectively protected, meanwhile, the drivers do not move along with the movement of the over-constraint connecting rod mechanism, and the rotational inertia of the robot unit is effectively reduced.
In specific tests, the present invention has tested the Bennett mechanism, Goldberg mechanism, Myard mechanism, Extended Myard mechanism and Double-Goldberg mechanism, and has tested and described the motion performance of each mechanism, but is not limited thereto, and the over-constrained linkage mechanism may be one of the following mechanisms: all over-constraining mechanisms such as Waldron's Hybrid mechanism, Yu & Baker's Syncopated mechanism, Mavroidis & Roth's 6R mechanism, Dietmaier's 6R mechanism, Bricard mechanism, Altmann's 6R mechanism, Wohlhart's Hybrid6R mechanism, etc.
As shown in fig. 9 and 10, in the kinetic analysis, the relationship of the outer drive, inner drive and foot end can be expressed as:
φi＝hi(θi)＝Hi(q1,q2) (1)
wherein phi isiExpressed as the equivalent open-link rotation angle of the joint i, thetaiExpressed as joint angle, q1Expressed as the outer drive speed, q2Expressed as inner drive speed, hi() Representing joint rotation angle and equivalent open-chain rotation angle function, HiExpressed as a function of the open link rotation angle and the drive rotation speed.
The equivalent open chain analysis considers the closed loop connecting rod in the over-constrained connecting rod mechanism as the open chain arranged in series, the motion on each joint is regarded as the virtual electric motion, and the equivalent joint angle phiiCan pass through the actual joint angle thetaiIs defined, in kinematic analysis, from the driver angle qiThe robot leg is subjected to joint angle transformation and then equivalent open-chain rotation angle transformation, and the kinematics and dynamics analysis can be performed on the robot leg by using a classical modeling method through a formula 7.
And the expression for the foot end moving speed is:
Figure BDA0002972676400000081
where V denotes a moving speed of the foot end, expressed as a Jacobian matrix (Jacobian), si denotes coordinates of a rotation axis of the joint i at an initial position, the initial position is a position when the links passing through the constraint mechanism are on the same plane, and j denotes a total number of joints between the foot end axis and the drive shaft.
As shown in fig. 11, the left graph is a schematic diagram of the dynamics analysis of the Bennett mechanism, and the right graph is a schematic diagram of the equivalent open chain analysis. The Bennett mechanism comprises four connecting rods and four joints, wherein two driving rods are respectively connected with two output shafts, a first joint 41 is formed at the hinged part of the driving rods, and the driving shaft of the first joint 41 is z1A second joint 42 and a third joint 43 are formed between the driving rod and the driven rod, and the first intermediate shaft of the second joint 42 is z2The second intermediate axis of the third joint 43 is z4A fourth joint 44 is formed at the junction of the two driven rods, and the end axis of the fourth joint is z3The expression for the Bennett mechanism is:
a12＝a34＝a,a23＝a41＝b,
α12＝α34＝α,α23＝α41＝β,
Figure BDA0002972676400000091
Ri＝0 (11)
wherein, aijDenoted as links between the i and j joints, alphaijDenotes aijA and b are the link lengths, alpha and beta are the twist angles, RiRepresents the joint offset, i represents the joint; for example, a12Shown as a link between a first joint and a second joint; a is34Shown as a link between the third joint and the fourth joint, a23Showing a link between the second joint and the third joint, a41Shown as a link between the fourth joint and the first joint, alpha12Denotes a12Angle of torsion of alpha34Denotes a34Angle of torsion of alpha23Denotes a23Angle of torsion of alpha41Denotes a41The first joint 41 is a driving joint, the fourth joint 44 is a tip, and the joint angles have the following relationship:
Figure BDA0002972676400000092
wherein, thetaiThe included angle of the two connecting rods on the joint is shown as the joint corner. When α ═ β ═ 0/pi, the four links form a planar parallelogram, as the initial position, where the bannit ratio is 0.
In FIG. 11, xsAnd zsExpressed as coordinate axes and sigma as the joint angle (z) of the first jointsAnd z1Angle of twist) of (c), σ is a constant, the Bennett mechanism has two degrees of freedom, where α β is 0/pi, and σ is 270 degrees, the Bennett mechanism has planar two-degree-of-freedom parallel legs. But not limited thereto, σ may also be a variable, in which case the Bennett mechanism has three degrees of freedom, i.e. increasing the degree of freedom of the hip joint in the coronal plane (first joint angle), σ may be driven by an inner and an outer driver.
The tip moving speed is expressed as:
Figure BDA0002972676400000093
the expression for the tip torque is:
τ＝JTFs (14)
wherein τ is the foot end torque, FsExpressed as joint moment, JTRepresented as a jacobian matrix.
Fig. 14 and 15 are test charts of the over-constrained motion device used as a mechanical leg, and indexes and workshops of the mechanical leg are evaluated. Fig. 14 shows a projection of the motion trajectory of the mechanical leg in the Y-Z plane. Fig. 15 shows the trajectories of three motion modes of the quadruped robot provided with the overconstrained motion device, which are respectively: the upper drawing is a plane projection drawing, and the lower drawing is a perspective drawing. The results show that the one-legged walking robot having the overconstrained movement means can walk forward. Even if each mechanical leg is provided with only two drivers, the quadruped robot can walk on one side, and the gait behavior is similar to that of a crab.
In addition, simulation results show that the quadruped robot can even turn on site, and the omnibearing capability can be realized without additional advanced control or additional driving. Fig. 16 shows the change of the height of the center of gravity of the quadruped robot in three movement modes, the height of the center of gravity fluctuates to some extent in both the front sprint and the lateral sprint, and is 9.2mm at the maximum and 10.3mm at the maximum as measured in the vertical direction, and is only 4mm in the turning.
The low-gravity-center robot motion device is suitable for walking of the multi-legged robot; the high gravity center over-constrained movement device is mainly used for people to walk and can be formed by installing an extension rod at the tail end of the low gravity center over-constrained movement device, so that the working space of the high gravity center over-constrained movement device is increased. As shown in fig. 20, a connecting piece 51 can be installed on a robot body 52, and an over-constrained movement device is installed on the connecting piece 51 through an installation plate 4 to form the robot, wherein the over-constrained movement device can be used as a mechanical leg, a mechanical arm or a mechanical finger to reconstruct a new type of robot.
In one particular design, as shown in fig. 7, 18 and 19, the connecting rod of the Bennett mechanism includes a first driving link 21, a second driving link 22, a first driven link 23 and a second driven link 24, and the first driving link 21, the second driving link 22, the first driven link 23 and the second driven link 24 are sequentially hinged to form a spatial single closed loop mechanism.
The connecting rod can adopt a modular assembly mode: constitute including registration arm 61 and articulated subassembly 62, articulated subassembly 62 is installed at registration arm 61 both ends, articulated subassembly 62 is including installation pole and articulated joint, through the angle of adjustment installation pole and registration arm, adjust articular initial angle, the articulated joint can set up according to the mounting means of connecting rod, for the mounting hole with output shaft matched with like the articulated joint of driving lever upper end, the articulated hole of its lower extreme articulated joint passes through screw cooperation with the articulated joint of first driven lever upper end, the realization is articulated, but not limited to this.
Fig. 18 is a schematic view showing a second over-constrained motion device, in which the design of the connecting rod is different, and in order to obtain a more flexible assembly structure, the connecting rod is designed into a first part 31 and a second part 32, the first part 31 and the second part 32 are respectively provided with a connecting ring 33, and one end of a connecting column 34 is mounted on the connecting ring 33 through a screw 35, so as to adjust the initial rotation angle of the joint. The driving rod and the driven rod are hinged through a hinge screw 36.
Fig. 19 is a structural view of a third over-constrained motion device, wherein the connecting rod is provided with a torsion angle, and the initial angle of the joint is adjusted by adjusting the torsion angle. A first joint 41 is formed at the upper ends of the first driving link 21 and the second driving link 22, a second joint 42 is formed between the first driving link 21 and the first driven link 23, a third joint 43 is formed between the second driving link 22 and the second driven link 24, a fourth joint 44 is formed at the hinged position of the first driven link 23 and the second driven link 24, and the lower end of the driven link serves as the distal end 25 of the over-constraint link mechanism 1. Wherein, one side of the synchronous belt 7 can be provided with a tension wheel 45, and the driver is fixed on the mounting plate 4 through a second fixing bracket 46.
The outer driver drives the outer output shaft in a quasi-direct-drive mode, and the reduction ratio of the outer driver to the outer output shaft is 1: 5-1: 10, preferably 1: 10; the inner driver drives the inner output shaft in a quasi-direct-drive mode, and the reduction ratio of the inner driver to the inner output shaft is 1: 5-1: 10, preferably 1: 10. through the quasi-direct drive mode, a lower reduction ratio is adopted, when the over-constrained link mechanism interferes or collides, the current of the driver is greatly changed, and the interference or collision condition is judged through the change of the current, so that the use of part of sensors, such as torsion sensing force, can be reduced.
In the Myard 5R mechanism, five rotational joints are provided, as shown in fig. 12, the left diagram is a kinetic analysis diagram, the right diagram is an equivalent open chain analysis diagram, wherein two crossed joints are provided at the foot end, and the expression of the Myard 5R mechanism is:
θ1+θ3+θ4＝2π，θ3+θ5＝2π，
and
Figure BDA0002972676400000111
Figure BDA0002972676400000112
Figure BDA0002972676400000113
angle of articulation theta on the outer output shaft1Expressed as:
θ1＝f(q1，q2)＝π-(q2-q1). (22)
the tip moving speed is expressed as:
Figure BDA0002972676400000114
although the 5R over-constraint mechanism has a relatively complex closed equation, the equivalent open-chain kinematics analysis approach significantly reduces the complexity of the kinematics derivation and derives the kinematics formula for the robot leg of the Myard 5R case.
In the Extended mylard mechanism, as shown in fig. 13, the left diagram is a schematic view of the dynamics analysis of the Extended mylard mechanism, the right diagram is a schematic view of the equivalent open chain analysis, in the Extended mylard 6R mechanism, six rotating joints and four connecting rods are provided, two symmetrically arranged joints are provided at the connection of the driving connecting rod and the driven connecting rod, and the expression is:
Figure BDA0002972676400000121
angle of articulation theta on the outer output shaft1Expressed as:
θ1＝f(q1,q2)＝π+q2-q1 (32)
the tip moving speed is expressed as:
Figure BDA0002972676400000122
however, the underwater robot to which embodiment 5 is applied is not limited to the quadruped robot shown in fig. 4. The final robot can be designed in various forms, as shown in fig. 17, such as an insect robot, a biped robot; and quadruped animals, crab-shaped robots, lobster robots and humanoid robots.
Wherein, the quadruped robot is provided with four over-constrained motion devices 55 symmetrically distributed on two sides of the body 52, as shown in fig. 20, wherein the body 52 can be formed by splicing a fixed plate 53, the body 52 is provided with a control box 57 and a mini computer, the mini computer is installed on an installation frame 56 on the upper side of the body, the front side of the body is provided with a depth camera 54, and the omnidirectional motion is realized through eight drivers.
The lobster robot is composed of four groups of low gravity center motion devices, one group is used as a manipulated mechanical arm, the three groups are used as manipulated mechanical legs to move, in addition, a power supply and a controller can be installed on the tail of the lobster robot, and the robot can keep stable operation. The humanoid robot is by a set of high focus mechanical arm and a set of high focus mechanical leg, and the outer end of arm can also be provided with mechanical finger. A group of high-gravity mechanical legs are arranged on the lower side of the robot body. The crab-shaped robot consists of six over-constrained motion devices which are symmetrically distributed on the left side and the right side of the machine body. Each motion device uses two drives for three-dimensional motion to reduce weight and cost.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An underwater outer limb is characterized by comprising a driver and a propeller, wherein the output end of the driver is connected with the outer side wall of the propeller.
2. The underwater appendage of claim 1 further comprising a coupling assembly, said coupling assembly including a positioning stem and a hoop,
the output end of the driver is connected with one end of the positioning rod, and the other end of the positioning rod is connected with the outer side wall of the propeller;
the staple bolt spare upside is equipped with the through-hole, the locating lever rotatably passes the through-hole.
3. The underwater appendage of claim 1 further comprising a coupling assembly, said coupling assembly including a positioning stem and a hoop,
the left end and the right end of the positioning rod are respectively provided with a hoop piece, one side of the hoop piece is provided with a driver, and the output end of the driver is connected with the outer side wall of the propeller through a second connecting piece.
4. Use of an underwater appendage according to any of claims 1 to 3 for driving a backpack in water,
the driver is arranged in the underwater driving backpack, the left side and the right side of the underwater driving backpack are respectively provided with a propeller,
the output end of the driver is connected with the outer side wall of the propeller.
5. Use of an underwater appendage according to any one of claims 1 to 3 for an underwater robot,
the driver is arranged on the body of the underwater robot, the left side and the right side of the body are respectively provided with a propeller,
the output end of the driver is connected with the outer side wall of the propeller.
6. The use according to claim 5, characterized in that one side of the body is provided with an over-constrained movement device, which comprises an over-constrained linkage mechanism and a coaxial drive device fixed on the body,
the coaxial driving device comprises an outer driver, an inner driver, an outer output shaft and an inner output shaft,
the outer driver drives the outer output shaft, the inner driver drives the inner output shaft,
the inner output shaft and the outer output shaft are coaxially arranged and extend outwards of the machine body;
the inner output shaft is connected with a first driving rod of the over-constraint connecting rod mechanism, and the outer output shaft is connected with a second driving rod of the over-constraint connecting rod mechanism.
7. The application of claim 6, wherein the coaxial driving device further comprises a mounting plate and a supporting frame, the outer driver and the inner driver are mounted on the mounting plate, a base is arranged on one side of the mounting plate, the outer output shaft is rotatably mounted on the base, a first outer synchronous pulley is mounted on an output shaft of the outer driver, and the first outer synchronous pulley is connected with a second outer synchronous pulley mounted on the outer output shaft through a synchronous belt;
a first inner synchronous belt wheel is mounted on an output shaft of the inner driver and connected with a second inner synchronous belt wheel mounted on the inner output shaft through a synchronous belt;
the mounting panel is installed on the fuselage, outer driver and interior driver are installed the homonymy of mounting panel.
8. The use of claim 6, wherein the over-constrained linkage comprises one of: bennett mechanism, Goldberg mechanism, Myard mechanism, Extended Myard mechanism, Double-Goldberg mechanism, Waldron's Hybrid mechanism, Yu & Baker's Syncopated mechanism, Mavroidis & Roth's 6R mechanism, Dietmaier's 6R mechanism, Bricard mechanism, Altmann's 6R mechanism, Wohlhart's Hybrid6R mechanism.
9. The use of claim 6, wherein the connecting rod of the Bennett mechanism further comprises a first driven rod and a second driven rod, the upper ends of the first driving rod and the second driving rod form a first joint, the first driving rod and the first driven rod form a second joint therebetween, the second driving rod and the second driven rod form a third joint therebetween, the joint of the first driven rod and the second driven rod forms a fourth joint,
the expression for the Bennett mechanism is:
a12＝a34＝a，a23＝a41＝b，
α12＝α34＝α，α23＝α41＝β，
Figure FDA0002972676390000021
Ri＝0 (11)
wherein, aijDenoted as links between the i and j joints, alphaijDenotes aijA and b are the link lengths, alpha and beta are the twist angles, RiRepresents the joint offset, i represents the joint;
the relationship of the joint angles is:
Figure FDA0002972676390000022
wherein, thetaiThe included angle of the two connecting rods on the joint is shown as the joint corner.
10. The application of claim 6, wherein the front end of the machine body is provided with a depth camera, the tail end of the over-constrained linkage mechanism is provided with an extension rod, and the extension rod of the front-side over-constrained linkage mechanism is provided with a mechanical finger.
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