CN113788132A - Vector-propelled hybrid drive underwater robot - Google Patents
Vector-propelled hybrid drive underwater robot Download PDFInfo
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- CN113788132A CN113788132A CN202111197167.8A CN202111197167A CN113788132A CN 113788132 A CN113788132 A CN 113788132A CN 202111197167 A CN202111197167 A CN 202111197167A CN 113788132 A CN113788132 A CN 113788132A
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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
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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Abstract
The invention belongs to the technical field of wading robots, in particular to a vector-propelled hybrid-drive underwater robot which solves the technical problems in the background technology and comprises a robot main body, a rotatable camera, a gliding wing, a plurality of lateral propelling devices, a horizontal propelling device, a plurality of tail stabilizing wings, a gravity center adjusting mechanism, a control box, a power supply, a horizontal foot rest and a buoyancy adjusting mechanism. When the underwater robot sails, the underwater navigation can be realized by adjusting the position of the gravity center and the size of the buoyancy and by means of the gliding wing and the tail stabilizing wing, and the underwater robot has the characteristics of low energy consumption, low noise, large moving range, high concealment and the like; the foot stool of the underwater robot can realize underwater landing in complicated submarine topography due to the telescopic function, thus being beneficial to underwater operation; when the underwater robot performs high-precision operation, local propulsion can be realized through the side propulsion device and the tail propulsion device; if an emergency situation occurs, the quick transfer can be realized.
Description
Technical Field
The invention belongs to the technical field of wading robots, and particularly relates to a vector-propelled hybrid-drive underwater robot.
Background
With the development of society, countries have recognized the role that oceans play in international competition. 32000km coastline and 300 x 10 owned by China4km2The blue national soil is about one third of the land national soil area of China, and contains extremely rich resources which are the material basis for survival and development of Chinese nations in the future. The underwater robot can be used for underwater searching, monitoring, investigation, communication, resource exploitation and the like, so that the development of the underwater robot plays a great role in understanding the ocean, developing the ocean, maintaining the ocean safety and the like.
Underwater robots are mainly divided into two main categories: one is a cabled underwater robot and the other is a cableless underwater robot. Untethered underwater robots are also known as autonomous underwater vehicles. The autonomous underwater vehicle can carry energy and carry out underwater operation through a preset program. The underwater robot has the advantages of large moving range, good maneuverability, safety, concealment and the like, and becomes an important tool for completing various underwater tasks.
Almost all underwater robots are completely driven by propellers and other propelling devices to perform underwater activities, so that the consumed energy is large, and the underwater working time is short. Meanwhile, the concealment of the robot is influenced by the operation of the propeller.
A small-size underwater robot of application number 201521125265.0 includes cabin body, vertical propeller, horizontal propeller, support frame, counter weight storehouse, air supporting cabin. The engine room body comprises a middle engine room body and two end engine room bodies, the middle engine room body is of a circular pipe body structure, through holes are formed in the upper part and the lower part of the pipe wall of the middle engine room body, flanges are arranged at two ends of the middle engine room body and connected with the two end engine room bodies, and sealing plates are arranged on the connecting surfaces of the two end engine room bodies and connected with the flange nuts; the vertical propeller is arranged in the middle engine room body, two sides of the outer wall of the middle engine room body are provided with side wings, the side wings are connected with an installation frame, and the rear end of the installation frame is provided with a horizontal propeller; the cabin body below sets up the support frame, and support frame lower extreme both sides are provided with the counter weight cabin, and counter weight cabin top sets up the air supporting cabin. The underwater robot realizes advancing, retreating or turning by the vertical propeller and the horizontal propellers on the left side and the right side. The underwater operation of the underwater robot is completely completed by the propelling device, so that the energy consumption is high, and meanwhile, the concealment is poor, so that the underwater operation time of the robot is shortened.
Disclosure of Invention
The invention aims to solve the technical problem that the existing underwater robot has short underwater operation time due to high energy consumption and poor concealment, and provides a vector-propelled hybrid-driven underwater robot, which can complete the gliding of the underwater robot in the ocean by adjusting the gravity center position and the buoyancy and can navigate through a propelling device at necessary moment.
The technical means for solving the technical problems of the invention is as follows: a vector-propelled hybrid drive underwater robot comprises a robot main body, wherein a rotatable camera is arranged at the front end of the robot main body through a transparent sealing cover, gliding wings and a plurality of lateral propelling devices are symmetrically arranged on the left side and the right side of the robot main body respectively, a horizontal propelling device and a plurality of tail stabilizing wings are arranged on a tail cone of the robot main body, a gravity center adjusting mechanism, a control box and a power supply for supplying power are arranged in the robot main body, two hollow cylindrical horizontal foot rests with openings at two ends are further arranged at the bottom of the robot main body, a buoyancy adjusting mechanism is arranged in each horizontal foot rest and comprises two first stepping motors arranged back to back, the driving ends of the first stepping motors are respectively connected with a first lead screw, a sleeve capable of moving along the axis of the first lead screw is arranged at the free end of the first lead screw, and a piston hermetically matched with the inner wall of each horizontal foot rest is fixedly connected at the free end of the sleeve, a closed space is formed between the inner ends of the two pistons, and water bins are formed between the outer ends of the two pistons and openings at the two ends of the horizontal foot rest respectively; the operation of the rotatable camera, the gravity center adjusting mechanism, the lateral propelling device, the horizontal propelling device and the first stepping motor is controlled by the control box. Two first step motors set up back to back, and two step motor's drive shaft orientation opposite direction all connects a first lead screw on every first step motor, and when first step motor drove first lead screw and rotates, the sleeve can make a round trip the displacement along first lead screw axial, and the sleeve drives the piston and can realize making a round trip the displacement and then make the volume in sump change, realizes controlling horizontal foot rest and intakes or the drainage. The camera of the underwater robot is used for observing underwater conditions, so that the robot can conveniently identify targets to make corresponding instructions, and then the underwater conditions can be recorded, and information is transmitted to operating personnel when the robot is recovered. The horizontal foot rest is arranged, so that the robot main body can be prevented from directly colliding with hard objects on the seabed, damage is avoided, implantation can be carried out in complex seabed terrain, and the adaptability of the underwater robot is improved. The gliding wing of underwater robot can provide lift for the organism when moving under water to realize gliding. The tail stabilizing wing can keep the robot in a stable posture in the moving process, and influence caused by underwater disturbance is reduced.
When the underwater robot is used, the gravity center adjusting mechanism enables the gravity center of the underwater robot to move backwards, meanwhile, the pistons arranged at the rear sides in the two horizontal foot frames move forwards, the pistons at the front sides move forwards, the rear half parts of the horizontal foot frames are filled with water, the front half parts of the horizontal foot frames discharge water, the head of the underwater robot lifts upwards, and the underwater robot is matched with the glide wings to climb upwards. When the underwater robot needs to dive, the gravity center adjusting mechanism enables the gravity center of the underwater robot to move forwards, meanwhile, the piston arranged on the front side in the two horizontal foot frames moves backwards, the piston on the rear side moves backwards, the front half part of each horizontal foot frame is filled with water, the rear half part of each horizontal foot frame discharges the water, the head of the underwater robot faces towards the front lower part, and the underwater robot is matched with the glide wings to complete dive under the action of gravity. When the front piston and the rear piston in the horizontal foot rest move towards the middle simultaneously and the gravity center adjusting mechanism enables the gravity center to be in the middle position, the underwater robot automatically dives; when the front piston and the rear piston in the horizontal foot rest move towards two sides simultaneously and the gravity center adjusting mechanism enables the gravity center to be in the middle position, the underwater robot automatically floats upwards.
At present, an underwater robot can automatically plan a path, the underwater operation path does not need to be controlled in real time, and the underwater operation path can be automatically realized by a control system of the robot. When the robot judges that the electric quantity is insufficient, the robot automatically returns to the designated area and floats upwards, and position information is sent to water surface workers. Thereby realizing the recovery of the robot. The motion track of the underwater robot in water is an image of a 'sin function', when the underwater robot is at the highest point of the track, the robot can dive with the aid of gravity and the gliding wing by adjusting the positions of the gravity center and the piston, and when the underwater robot is at the lowest point, the robot can climb with the aid of inertia and the gliding wing by adjusting the positions of the gravity center and the piston; and the underwater robot completes the underwater movement by repeating the movement. When yawing is needed, danger is met or movement to a precise position is needed, the control box can control the side propelling device or the tail propelling device to complete the movement direction adjustment of the underwater robot. The underwater robot all utilizes gravity adjustment structure and buoyancy adjustment mechanism to adjust when cruising, relies on the coupling of gravity and buoyancy to cooperate the hang glider simultaneously and carry out the glide under water, consequently this kind of motion can the energy saving, improves underwater robot's home range, prolongs underwater robot's activity time, simultaneously, because first lead screw transmission small in noise, can improve underwater robot's disguise nature under water.
Preferably, focus adjustment mechanism includes the slip table and is connected to two ring carrier at slip table both ends respectively, and ring carrier is used for fixing the slip table to the robot main part inside, is provided with sliding fit's slider and second lead screw on the slip table, and the axis of second lead screw is parallel with the axis of robot main part, has linked firmly the lead block that is used for adjusting centrobaric on the slip table, and second lead screw is connected with second step motor, and second step motor is controlled by the control box. The second step motor drive second lead screw rotates, and then the slider slides on the slip table along the second lead screw under the second lead screw drives, it is the weight in order to increase the slider to link firmly the lead block on the slider, in order to realize focus regulation, along with slider forward motion when the lead block, underwater robot's focus also forward, underwater robot dives downwards this moment, along with slider rearward motion when the lead block, underwater robot's focus also backward moves, underwater robot upwards climbs this moment, the second step motor passes through control box control, and then control second lead screw corotation or reversal, make the slider realize sliding.
Preferably, the lateral propelling device is connected with the robot main body through the supporting arms, a third stepping motor for driving the supporting arms to rotate is arranged in each supporting arm, and the lateral propelling device and the third stepping motor are controlled through the control box. The supporting arm can drive the lateral propelling devices to rotate under the driving of the third step motor, all the lateral propelling devices can rotate around the axis of the supporting arm, and when the lateral propelling devices are upwards at the same time, the underwater robot floats upwards; meanwhile, when the underwater robot faces backwards, the underwater robot is propelled forwards; meanwhile, when the underwater robot moves downwards, the underwater robot moves downwards; meanwhile, when the underwater robot moves forwards, the underwater robot moves backwards; when the directions of the lateral propelling devices on the two sides are opposite, the underwater robot can rotate, so that vector propulsion is realized.
Preferably, the number of the side propelling devices is four or six, and the side propelling devices are divided into two groups and are symmetrically arranged on two sides of the robot main body respectively. The lateral propelling devices on each side of the robot main body are symmetrically and equivalently arranged, so that the robot main body is stable during propelling.
Preferably, each horizontal foot rest is fixedly connected with the robot main body through at least two electric push rods, and the electric push rods are controlled through the control box. When underwater landing is needed, the telescopic frame 6 on the foot rest 7 of the underwater robot can be extended, so that the underwater robot body is prevented from being damaged due to touching the submarine topography, and the adaptability of the underwater robot is improved.
Preferably, three electric push rods are connected between each horizontal foot stand and the robot main body, the electric push rods on the same side of the robot main body stretch out and draw back simultaneously under the control of the control box, the electric push rods on different sides of the robot main body can stretch out and draw back simultaneously or respectively under the control of the control box, and implantation of complex submarine topography can be achieved.
Preferably, the cross section of the glider is of a NACA airfoil structure. The wing-shaped structure has a higher maximum lift coefficient and a lower drag coefficient.
Preferably, the number of the tail stabilizing wings is four, and the tail stabilizing wings are arranged in a shape of a plus sign. The installation mode can reduce the influence caused by underwater disturbance as much as possible and keep the body of the underwater robot stable.
Preferably, be located and be provided with the head-light on the robot main part of transparent sealed cowling both sides, quantity is two and symmetric distribution, and the head-light source adopts blue and green white three kinds of colours to compound and forms. Two headlamps are arranged, so that the irradiation field of vision is wider, and the shooting is clearer; the headlamp light source is formed by compounding blue, green and white colors, and the seawater has extremely low absorption loss to visible light of blue and green wave bands, so that a better visual field can be provided for an underwater camera system.
Preferably, the transparent sealing cover is covered on the front part of the robot main body to form the bow part of the robot main body, and is in sealing connection with the robot main body through a sealing gasket and nuts, and the number of the nuts is eight and is uniformly distributed along the circumferential direction. The transparent sealing cover can protect the rotatable camera from being soaked, the definition of a shot picture cannot be influenced, and observation service can be provided for the underwater robot. The nuts are uniformly distributed along the circumferential direction, so that the stability of the connecting structure is guaranteed, the sealing gasket is further waterproof, and the tightness of the bow of the robot main body is guaranteed.
The invention has the beneficial effects that: 1. When the underwater robot sails, the underwater robot can realize underwater sailing with low energy consumption by adjusting the position of the gravity center and the size of buoyancy and by means of the gliding wing and the tail stabilizing wing, the energy consumption is low, the noise is low, the moving range is increased, and meanwhile, the concealment can be improved; 2. the foot stool of the underwater robot can be stretched and retracted, so that underwater landing can be realized in complicated submarine topography, and underwater operation is facilitated; 3. when the underwater robot performs high-precision operation, the underwater robot can be realized through the side propelling device and the tail propelling device, and meanwhile, if an emergency situation occurs, the underwater robot can realize quick transfer through the side propelling device, the tail propelling device, the gravity center adjusting mechanism and the buoyancy adjusting mechanism, and meanwhile, the reliability of the underwater robot is also improved.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic front structural view of a vector propulsion hybrid underwater robot.
Fig. 2 is a schematic side view of a vector-propelled hybrid underwater robot according to the present invention.
Fig. 3 is a schematic top view of a vector propulsion hybrid underwater robot according to the present invention.
Fig. 4 is a schematic structural diagram of the gravity center adjusting mechanism according to the present invention.
Fig. 5 is a schematic structural diagram of the buoyancy regulating mechanism according to the present invention.
Fig. 6 is an isometric view (overall) of a vector-propelled hybrid drive underwater robot of the present invention.
In the figure: 1. a robot main body; 2. a transparent sealing cover; 3. a rotatable camera; 4. a glider wing; 5. a lateral propulsion device; 6. a horizontal propulsion device; 7. a tail stabilizer wing; 8. a horizontal foot rest; 9. a first stepper motor; 10. a first lead screw; 11. a sleeve; 12. a piston; 13. a sliding table; 14. an annular support; 15. a slider; 16. a second lead screw; 17. lead blocks; 18. a support arm; 19. an electric push rod; 20. a headlamp; 21. a nut; 22. a coupling; 23. a second stepping motor; 24. a third step motor; 25. a fixing frame.
Detailed Description
The technical solution of the present invention, which is a vector propulsion hybrid underwater robot, will be described clearly and completely with reference to fig. 1 to 6 of the drawings, and it should be understood that the described embodiments are a part of the embodiments of the present invention, but not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A vector-propelled hybrid drive underwater robot comprises a robot main body 1, wherein a rotatable camera 3 is arranged at the front end of the robot main body 1 in a covering mode through a transparent sealing cover 2, a gliding wing 4 and a plurality of lateral propelling devices 5 are symmetrically arranged on the left side and the right side of the robot main body 1 respectively, the section of the gliding wing 4 is of an NACA wing type structure, the lateral propelling devices 5 are connected with the robot main body 1 through supporting arms 18, a third stepping motor 24 used for driving the supporting arms 18 to rotate is arranged in each supporting arm 18, the third stepping motor 24 is connected with the supporting arms 18 through a coupler 22, the number of the lateral propelling devices 5 is four or six, and the four or six lateral propelling devices are divided into two groups and are symmetrically arranged on the two sides of the robot main body 1 respectively; a horizontal propelling device 6 and a plurality of tail stabilizing wings 7 are arranged on the tail cone of the robot main body 1, the number of the tail stabilizing wings 7 is four, the tail stabilizing wings are arranged in a shape of a plus, a gravity center adjusting mechanism is arranged in the robot main body 1, the power supply is a lithium ion battery, the gravity center adjusting mechanism comprises a sliding table 13 and two annular supports 14 which are respectively connected to two ends of the sliding table 13, the annular supports 14 are used for fixing the sliding table 13 to the interior of the robot main body 1, a sliding block 15 and a second lead screw 16 which are in sliding fit are arranged on the sliding table 13, the axis of the second lead screw 16 is parallel to the axis of the robot main body 1, a lead block 17 used for adjusting the gravity center is fixedly connected to the sliding table 13, the second lead screw 16 is connected with a second stepping motor 23 through a coupler 22, the second stepping motor 23 is controlled by the control box, and the lateral propelling device 5 and a third stepping motor 24 are controlled by the control box; the bottom of the robot main body 1 is also provided with two hollow cylindrical horizontal foot rests 8 with openings at two ends; each horizontal foot rest 8 is fixedly connected with the robot main body 1 through at least two electric push rods 19, three electric push rods 19 are connected between each horizontal foot rest 8 and the robot main body 1, the electric push rods 19 on the same side of the robot main body 1 can simultaneously extend and retract under the control of the control box, and the electric push rods 19 on different sides of the robot main body 1 can simultaneously extend and retract or respectively extend and retract under the control of the control box; the electric push rod 19 is controlled by the control box; a buoyancy adjusting mechanism is installed in the horizontal foot rest 8 and comprises two first stepping motors 9 which are installed back to back, the driving ends of the first stepping motors 9 are connected with first lead screws 10 through couplers 22 respectively, the free ends of the first lead screws 10 are provided with sleeves 11 which can move along the axes of the first lead screws 10, the free ends of the sleeves 11 are fixedly connected with pistons 12 which are in sealing fit with the inner wall of the horizontal foot rest 8, a closed space is formed between the inner ends of the two pistons 12, and water bins are formed between the outer ends of the two pistons 12 and openings at two ends of the horizontal foot rest 8 respectively; the operation of the rotatable camera 3, the gravity center adjusting mechanism, the lateral propelling device 5, the horizontal propelling device 6 and the first stepping motor 9 is controlled by a control box; the robot main body 1 positioned on two sides of the transparent sealing cover 2 is fixedly connected with two headlamps 20 through a fixing frame 25, the quantity of the headlamps 20 is two and is symmetrically distributed, light sources of the headlamps 20 are formed by compounding blue, green and white three colors, the transparent sealing cover 2 is covered on the front part of the robot main body 1 to form a bow part of the robot main body 1 and is hermetically connected with the robot main body 1 through a sealing gasket and nuts 21, and the number of the nuts 21 is eight and is uniformly and circumferentially and uniformly distributed.
Two first step motor 9 set up back to back, and two step motor's drive shaft orientation opposite direction, all connect a first lead screw 10 on every first step motor 9, when first step motor 9 drove first lead screw 10 and rotates, sleeve 11 can make a round trip along first lead screw 10 axial displacement, and sleeve 11 drives piston 12 and can realize making a round trip the displacement and then the volume in sump changes thereupon, realizes that control horizontal foot rest 8 is intake or the drainage. The camera of the underwater robot is used for observing underwater conditions, so that the robot can conveniently identify targets to make corresponding instructions, and then the underwater conditions can be recorded, and information is transmitted to operating personnel when the robot is recovered. The horizontal foot rest 8 is arranged, so that the robot main body 1 can be prevented from directly colliding with hard objects at the seabed, damage is avoided, and the adaptability of the underwater robot is improved. The second stepping motor 23 drives the second lead screw 16 to rotate, the sliding block 15 slides on the sliding table 13 along the second lead screw 16 under the driving of the second lead screw 16, and the lead block 17 is fixedly connected to the sliding block 15 to increase the weight of the sliding block 15, so that the center of gravity is adjusted. When the lead block 17 moves forwards along with the sliding block 15, the gravity center of the underwater robot also moves forwards, the underwater robot dives downwards at the moment, when the lead block 17 moves backwards along with the sliding block 15, the gravity center of the underwater robot also moves backwards, and the underwater robot climbs upwards at the moment. The second stepping motor 23 is controlled by the control box, and further controls the second lead screw 16 to rotate forwards or backwards, so that the sliding block 15 slides. The supporting arm 18 can drive the lateral propelling devices 5 to rotate under the driving of the third stepping motor 24, all the lateral propelling devices 5 can rotate around the axis of the supporting arm 18, and when the lateral propelling devices are upwards at the same time, the underwater robot floats upwards; meanwhile, when the underwater robot faces backwards, the underwater robot is propelled forwards; meanwhile, when the underwater robot moves downwards, the underwater robot moves downwards; meanwhile, when the underwater robot moves forwards, the underwater robot moves backwards; when the directions of the lateral propelling devices 5 on the two sides are opposite, the underwater robot can rotate, so that vector propulsion is realized. The side propelling devices 5 on each side of the robot main body 1 are symmetrically and equivalently arranged, so that the robot main body 1 is stable during propelling. When underwater landing is needed, the telescopic frame 6 on the foot rest 7 of the underwater robot can be extended, the underwater robot main body 1 is prevented from being damaged due to touching the submarine topography, and the adaptability of the underwater robot is improved. The two headlamps 20 are arranged to have wider irradiation field of view and clearer shooting; the headlamp 20 is formed by compounding blue, green and white light sources, and can provide a better visual field for an underwater camera system because the absorption loss of seawater to visible light in a blue-green wave band is extremely low. The transparent sealing cover 2 can protect the rotatable camera 3 from being soaked, the definition of a shot picture cannot be influenced, and observation service can be provided for the underwater robot. The nuts 21 are uniformly distributed along the circumferential direction, so that the stability of the connecting structure is ensured, the sealing gasket is further waterproof, and the tightness of the bow part of the robot main body 1 is ensured.
During the use, focus adjustment mechanism makes underwater robot's focus move backward, and simultaneously, the piston 12 of installing the back in two horizontal foot rests 8 moves forward, and preceding piston 12 moves forward, makes horizontal foot rest 8 latter half fill with water, and the first half discharge water, and underwater robot's head rises forward, and cooperation glider 4 makes underwater robot climb up. When the underwater robot needs diving, the gravity center adjusting mechanism enables the gravity center of the underwater robot to move forwards, meanwhile, the piston 12 arranged on the front side in the two horizontal foot frames 8 moves backwards, the piston 12 on the rear side moves backwards, the front half part of each horizontal foot frame 8 is filled with water, the rear half part of each horizontal foot frame 8 discharges water, the head of the underwater robot faces towards the front lower part, and the underwater robot is matched with the glide wing 4 under the action of gravity to finish diving. When the front piston 12 and the rear piston 12 in the horizontal foot rest 8 move towards the middle simultaneously and the center of gravity is positioned at the middle position by the center of gravity adjusting mechanism, the underwater robot automatically dives; when the front and the rear pistons 12 in the horizontal foot rest 8 move towards two sides simultaneously and the gravity center adjusting mechanism enables the gravity center to be in the middle position, the underwater robot automatically floats upwards.
At present, an underwater robot can automatically plan a path, the underwater operation path does not need to be controlled in real time, and the underwater operation path can be automatically realized by a control system of the robot. When the robot judges that the electric quantity is insufficient, the robot automatically returns to the designated area and floats upwards, and position information is sent to water surface workers. Thereby realizing the recovery of the robot. The motion track of the underwater robot in water is an image of a 'sin function', when the underwater robot is at the highest point of the track, the robot can dive with the glider 4 by means of gravity by adjusting the position of the gravity center and the piston 12, and when the underwater robot is at the lowest point, the robot can climb with the glider 4 by means of inertia by adjusting the position of the gravity center and the piston 12; and the underwater robot completes the underwater movement by repeating the movement. When yawing is needed, danger is met or movement to a precise position is needed, the control box can control the side propulsion device 5 or the tail propulsion device to complete the movement direction adjustment of the underwater robot. The underwater robot all utilizes gravity adjustment structure and buoyancy adjustment mechanism to adjust when cruising, leans on the coupling of gravity and buoyancy to cooperate the hang glider simultaneously and carry out the glide under water, consequently this kind of motion can energy saving, improves underwater robot's home range, prolongs underwater robot's activity time, simultaneously, because first lead screw 10 transmission small in noise, can improve underwater robot's disguise nature under water.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vector-propelled hybrid drive underwater robot is characterized by comprising a robot main body (1), wherein the front end of the robot main body (1) is covered and installed with a rotatable camera (3) through a transparent sealing cover (2), the left side and the right side of the robot main body (1) are respectively and symmetrically provided with a gliding wing (4) and a plurality of lateral propelling devices (5), a horizontal propelling device (6) and a plurality of tail stabilizing wings (7) are arranged on the tail cone of the robot main body (1), a gravity center adjusting mechanism, a control box and a power supply for supplying power are arranged in the robot main body (1), two hollow cylindrical horizontal foot stands (8) with openings at two ends are further arranged at the bottom of the robot main body (1), a buoyancy adjusting mechanism is arranged in each horizontal foot stand (8), and each buoyancy adjusting mechanism comprises two first stepping motors (9) which are arranged back to back, the driving end of the first stepping motor (9) is respectively connected with a first lead screw (10), the free end of the first lead screw (10) is provided with a sleeve (11) which can move along the axis of the first lead screw (10), the free end of the sleeve (11) is fixedly connected with pistons (12) which are hermetically matched with the inner wall of the horizontal foot rest (8), a closed space is formed between the inner ends of the two pistons (12), and the outer ends of the two pistons (12) respectively form a water sump with two ports of the horizontal foot rest (8); the operation of the rotatable camera (3), the gravity center adjusting mechanism, the lateral propelling device (5), the horizontal propelling device (6) and the first stepping motor (9) is controlled by the control box.
2. The vector-propelled hybrid underwater robot according to claim 1, wherein the center-of-gravity adjusting mechanism comprises a sliding table (13) and two annular supports (14) connected to two ends of the sliding table (13) respectively, the annular supports (14) are used for fixing the sliding table (13) to the inside of the robot main body (1), a sliding block (15) and a second lead screw (16) which are in sliding fit are arranged on the sliding table (13), the axis of the second lead screw (16) is parallel to the axis of the robot main body (1), a lead block (17) for adjusting the center of gravity is fixedly connected to the sliding table (13), the second lead screw (16) is connected with a second stepping motor (23), and the second stepping motor (23) is controlled by a control box.
3. A vector propulsion hybrid underwater robot according to claim 2, characterised in that the lateral propulsion devices (5) are connected to the robot body (1) by means of support arms (18), each support arm (18) being provided with a third stepper motor (24) for driving the support arm (18) in rotation, the lateral propulsion devices (5) and the third stepper motors (24) being controlled by means of a control box.
4. A vector propulsion hybrid underwater robot as claimed in any of claims 1 to 3, characterized in that the number of the side propulsion devices (5) is four or six, and two sets of them are symmetrically mounted on both sides of the robot body (1).
5. A vector-propelled hybrid underwater robot as claimed in claim 4, characterized in that each horizontal leg (8) is fixedly connected to the robot body (1) by at least two electric push rods (19), the electric push rods (19) being controlled by a control box.
6. The vector-propelled hybrid underwater robot as claimed in claim 5, wherein three electric push rods (19) are connected between each horizontal foot stand (8) and the robot main body (1), the electric push rods (19) on the same side of the robot main body (1) can be simultaneously extended and retracted under the control of the control box, and the electric push rods (19) on different sides of the robot main body (1) can be simultaneously extended and retracted or respectively extended and retracted under the control of the control box.
7. The vector-propelled hybrid underwater robot of claim 6, characterized in that the section of the glider (4) is of NACA airfoil configuration.
8. A vector propulsion hybrid underwater robot as claimed in claim 7, characterized in that the number of tail fins (7) is four, mounted in a "+" -shape.
9. The vector-propelled hybrid underwater robot as claimed in claim 5, wherein the robot body (1) on both sides of the transparent sealing cover (2) is provided with two headlamps (20) which are symmetrically distributed, and the light sources of the headlamps (20) are compounded by three colors of blue, green and white.
10. The vector-propelled hybrid underwater robot according to claim 5, wherein a transparent sealing cover (2) is arranged at the front part of the robot main body (1) to form the bow part of the robot main body (1) and is in sealing connection with the robot main body (1) through a sealing gasket and nuts (21), and the number of the nuts (21) is eight and is uniformly distributed along the circumferential direction.
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| CN202111197167.8A CN113788132A (en) | 2021-10-14 | 2021-10-14 | Vector-propelled hybrid drive underwater robot |
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Application publication date: 20211214 |