CN115367085A - Multi-module underwater whirling dragon type robot - Google Patents
Multi-module underwater whirling dragon type robot Download PDFInfo
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- CN115367085A CN115367085A CN202211232985.1A CN202211232985A CN115367085A CN 115367085 A CN115367085 A CN 115367085A CN 202211232985 A CN202211232985 A CN 202211232985A CN 115367085 A CN115367085 A CN 115367085A
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Abstract
The invention provides a multi-module underwater vortex dragon-shaped robot, and belongs to the field of marine equipment and underwater robots. The problem that a small underwater robot cannot carry various underwater detection and operation devices is solved; the working environment of the large underwater robot is limited, and the detection and operation can not be carried out. The robot comprises at least two driving modules and at least one carrying module, wherein one carrying module is arranged at the head of the dragon-shaped robot, the driving modules and the carrying modules are arranged in series, two adjacent modules are connected through a roll-pitch joint, and a load is arranged on the carrying module; the driving module comprises a trunk structure, two multidirectional underwater propellers and two lateral propellers, the roll-pitch joint comprises a single-output-shaft steering engine and a double-output-shaft steering engine, an output shaft of the single-output-shaft steering engine and an output shaft of the double-output-shaft steering engine are vertically arranged in space, and the dragon-shaped robot is further provided with a control system for controlling the single steering engine, the roll-pitch joint and the propellers. The invention is suitable for the detection of underwater equipment, in particular underwater pipelines.
Description
Technical Field
The invention belongs to the field of marine equipment and underwater robots, and particularly relates to a multi-module underwater vortex dragon-mediating robot.
Background
In the 21 st century, humans entered the period of large-scale development and utilization of the ocean. The ocean plays a more important role in the national economic development pattern and the open to the outside, has a more prominent role in maintaining the national ownership, safety and development benefits, has a more obvious role in the national ecological civilization construction, and has a significantly raised strategic position in international political, economic, military and scientific and technological competition.
The ocean is different from the land, the natural conditions are very harsh, except for changing terror waves on the sea surface, the seawater pressure is increased with the increase of the depth, and the water pressure is increased by 1atm (1 atm =1.01325 × 106 Pa) for every 10m increase of the water depth. When the water depth reaches 1000m, the seawater can compress the volume of the wood to half of the original volume; when the water depth reaches 7000m, the air is compressed to be as dense as seawater; when the water depth exceeds 100mm, the marine environment will be dark and not bright. Because of the severe conditions and physiological conditions of human, the diving depth of human is generally not more than 20m, and can only reach 60 to 70m even if wearing diving suit or wearing diving outfit. Without relying on equipment, it is difficult for humans to conquer and utilize the ocean. Therefore, the underwater robot which can replace human beings to the deep sea bottom to perform tasks such as observation, exploration, underwater equipment detection maintenance and construction operation becomes an indispensable important equipment for deep sea resource exploration, development and utilization, and becomes a hot spot direction of competitive research of various marine countries.
An underwater robot is an electromechanical device that can move underwater, has a vision and perception system, and uses other tools such as manipulators to replace or assist humans in completing underwater work tasks. Since the beginning of the second half of the 20 th century, underwater robots have gone through the course of development from birth to gradual application, and underwater robot technology, as an important means for human beings to explore the ocean, plays an important role in the most realistic developable space in the future, and is generally concerned. It is not exaggeration that the 21 st century will be the century of human march into the ocean. With the progress of mankind in understanding the ocean, developing and utilizing ocean resources and protecting the ocean, the high and new technology of underwater robots will be further developed and more improved, and the 21 st century will be the century for the wide application of underwater robots.
With the rapid development of ocean development industry, underwater construction and construction projects are more and more. The underwater robot can perform observation, photographing, measurement, fishing and construction operations underwater, and thus is widely applied to ocean development. The application fields of the underwater robot can be roughly classified into underwater engineering, marine science investigation, salvage and lifesaving, marine aquaculture, marine military and the like.
With the development of deep sea science and technology and marine equipment, the industry gradually develops to the construction of deep sea space stations, and various scientific research institutes and colleges are designing underwater robots capable of residing on the seabed and with multiple functions. The main purpose of the resident underwater robot is to reduce the time and energy loss of the robot in multiple floating and sinking. Therefore, the resident underwater robot needs to be provided with various sensors and operating equipment, can flexibly adjust the posture underwater to adapt to the complicated underwater working environment, and finally needs to perform cruising operation such as recovery, storage, energy charging and the like in a deep sea space station.
At present, most AUVs and ROVs can only carry a small number of sensors and operating equipment and undertake single or small number of tasks. And the structure is fixed and difficult to change. If the underwater robot carries various sensors and operation equipment, the whole body of the robot is enlarged, underwater resistance is increased, and propeller efficiency is reduced. Meanwhile, the underwater robot is easily influenced by ocean currents on the seabed, so that the underwater robot deviates from a station to influence underwater operation.
The working environment of a multitasking large underwater robot is limited. The device can not pass through the underwater narrow space, underwater pipelines and other environments, and can not be used for detection and operation under the working conditions.
The AUV mainly undertakes the detection task underwater, and the ROV mainly undertakes the operation task. There is a lack in the field of underwater robots of a new type of robot that is able to integrate the functions of two types of underwater robots. Structurally, the AUV basically presents the shapes of torpedoes and submarines, and the ROV is basically an open-shelf structure. The structure of the two robots is difficult to change during underwater operation, and the movement posture is also difficult to adjust. Especially, in the underwater docking process, the structure or the posture can be rigidly collided with other equipment when being not adjusted timely.
Disclosure of Invention
In view of the above, the present invention provides a multi-module underwater vortex dragon-shaped robot, so as to solve the problem that a small underwater robot cannot carry various underwater detection and operation devices; the working environment of the large underwater robot is limited and the large underwater robot cannot perform detection and operation.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a multi-module underwater vortex dragon-shaped robot comprises at least two driving modules and at least one carrying module, wherein one carrying module is arranged at the head of the robot, the driving modules and the carrying module are arranged in series, two adjacent modules are connected through a roll-pitch joint, and a load is carried on the carrying module;
the driving module comprises a trunk structure, two multidirectional underwater propellers and two lateral propellers, the two lateral propellers are symmetrically arranged on the upper side and the lower side of the trunk structure, and the two multidirectional underwater propellers are symmetrically arranged on the left side and the right side of the trunk structure; the multidirectional underwater propeller comprises a propeller body, a connecting structure and a single-shaft steering engine, wherein the single-shaft steering engine is arranged inside the trunk structure, an output shaft of the single-shaft steering engine is connected with the propeller body through the connecting structure, and the propeller body is arranged outside the trunk structure;
the rolling-pitching joint comprises a single-output-shaft steering engine and a double-output-shaft steering engine, an output shaft of the single-output-shaft steering engine and an output shaft of the double-output-shaft steering engine are vertically arranged in space, the double-output-shaft steering engine is installed on an output shaft of the single-output-shaft steering engine, the single-output-shaft steering engine is installed in the rear module of the two adjacent modules, and the two output shafts of the double-output-shaft steering engine are connected with the front module of the two adjacent modules through a module connecting mechanism.
Furthermore, when the propulsion directions of the two lateral thrusters are the same, the dragon-shaped robot moves laterally, and when the propulsion directions of the two lateral thrusters are opposite, the dragon-shaped robot rolls; the propeller body is driven to change the angle and the direction by the rotation of the output shaft of the single-shaft steering engine, so that the motion pose of the dragon-shaped robot is changed; the posture of the module is changed by rotating the single-output-shaft steering engine and rotating the double-output-shaft steering engine.
Furthermore, the truck structure comprises an open frame structure with openings and two driving end plates, the two driving end plates are arranged at two ends of the open frame structure, the upper side and the lower side of the open frame structure are symmetrically provided with large openings for installing lateral thrusters, and the left side and the right side of the open frame structure are symmetrically provided with small openings for installing output shafts of single-shaft steering engines.
Furthermore, the carrying module comprises a cylindrical body and two carrying end plates, the two carrying end plates are installed at two ends of the cylindrical body, a load is installed inside the cylindrical body, and a working hole is formed in the cylindrical body.
Furthermore, the connecting structure is a connecting frame, an output shaft of the single-shaft steering engine extends out of the body structure to be connected with the connecting frame, and the connecting frame is connected with the propeller body.
Furthermore, the module connecting mechanism is a U-shaped frame, the open end of the U-shaped frame is connected with the two output shafts of the double-output-shaft steering engine, and the closed end of the U-shaped frame is connected with the adjacent module.
Furthermore, an output shaft of the single-output-shaft steering engine is connected with a shell of the double-output-shaft steering engine through a connecting piece.
Further, when at least two embarkation modules are provided, the embarkation modules and the driving modules are arranged in a crossed way.
Furthermore, the load carried by the carrying module is a camera or a mechanical arm.
Furthermore, a head camera is mounted on the mounting module of the head of the dragon-shaped robot, and 360-degree lateral cameras are mounted on the mounting modules at the other positions.
Compared with the prior art, the multi-module underwater vortex dragon type robot has the beneficial effects that:
(1) The invention creates a multi-module underwater vortex dragon-shaped robot which is a modular and flexible robot and can swim like a snake or be pushed by a traditional propeller. The system can be resident underwater, and can carry out work such as inspection, maintenance and maintenance to other underwater equipment.
(2) The multi-module underwater vortex dragon-shaped robot has a modular design, and can carry various detection and operation devices according to different requirements. The combination of different modules can present different structures and different movement postures.
(3) The small underwater robot cannot carry various underwater detection and operation devices; the large underwater robot has the advantages of large volume, large underwater resistance, low propelling efficiency and easy influence of ocean currents. The water-dragon-type robot simulates the slim body of a snake, and has the advantages of small volume, small resistance, high efficiency and small influence of ocean currents. The multi-module underwater vortex dragon-shaped robot is modularly designed and can carry various kinds of operation equipment and extend the length of the operation equipment. It has a slender body and can overcome the influence of ocean currents. Meanwhile, the device can move in a narrow and limited space, and is particularly suitable for the working condition of a submarine pipeline. Can shuttle among the pipeline, can twine outside the pipeline and fixed position detects and the operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:
fig. 1 is a schematic structural view of a three-stage underwater vortex dragon-shaped robot according to the embodiment of the present invention;
fig. 2 is a front view of a driving module according to an embodiment of the present invention;
fig. 3 is a cross-sectional view of a driving module according to an embodiment of the present invention;
fig. 4 is a schematic layout of two multi-directional underwater propellers according to the inventive embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pitch-roll joint according to an embodiment of the present invention;
fig. 6 is a schematic perspective view of a torso structure according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a driving end plate according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a carrying module of a head of an underwater vortex dragon type robot according to the inventive embodiment of the present invention;
fig. 9 is a schematic structural diagram of a multidirectional driver according to an embodiment of the present invention;
fig. 10 is a schematic view of pitch-roll motion between two adjacent modules according to the inventive embodiment;
FIG. 11 is a schematic diagram of the lateral propulsion of the underwater vortex dragon type robot according to the inventive embodiment of the present invention;
FIG. 12 is a rotation diagram of a multi-directional underwater propeller of the underwater vortex dragon type robot according to the embodiment of the invention;
FIG. 13 is a schematic structural view of a four-stage underwater vortex dragon type robot according to the inventive embodiment of the present invention;
FIG. 14 is a schematic view of the detection in a four-stage underwater vortex dragon type robot pipeline according to the inventive embodiment of the present invention;
FIG. 15 is a cross-sectional view of a four-stage underwater swirling dragon type robot pipe internal injury test according to the inventive embodiment of the present invention;
FIG. 16 is a schematic view of a four-stage underwater vortex dragon type robot pipeline injury according to the embodiment of the present invention.
Description of reference numerals:
1. a drive module; 2. carrying a module; 3. roll-pitch joints; 4. a torso structure; 5. a multi-directional underwater propeller; 6. a lateral thruster; 7. a propeller body; 8. a connecting structure; 9. a single-shaft steering engine; 10. a single output shaft steering engine; 11. a double-output-shaft steering engine; 12. a head camera; 13. a module connecting mechanism; 14. a drive end plate; 15. a connecting member; 16. a 360-degree lateral camera; 17. an open frame structure.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and to simplify the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; 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 meaning of the above terms in the creation of the present invention can be understood in specific cases by those of ordinary skill in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-12, a multi-module underwater vortex dragon-type robot comprises at least two driving modules 1 and at least one carrying module 2, wherein one carrying module 2 is arranged at the head of the dragon-type robot, the driving modules 1 and the carrying module 2 are arranged in series, two adjacent modules are connected through a roll-pitch joint 3, and a load is carried on the carrying module 2;
the driving module 1 comprises a trunk structure 4, two multidirectional underwater propellers 5 and two lateral propellers 6, wherein the two lateral propellers 6 are symmetrically arranged on the upper side and the lower side of the trunk structure 4, and the two multidirectional underwater propellers 5 are symmetrically arranged on the left side and the right side of the trunk structure 4; the multidirectional underwater propeller 5 comprises a propeller body 7, a connecting structure 8 and a single-shaft steering engine 9, the single-shaft steering engine 9 is installed inside the trunk structure 4, an output shaft of the single-shaft steering engine 9 is connected with the propeller body 7 through the connecting structure 8, and the propeller body 7 is arranged outside the trunk structure 4;
the roll-pitch joint 3 comprises a single-output-shaft steering engine 10 and a double-output-shaft steering engine 11, an output shaft of the single-output-shaft steering engine 10 and an output shaft of the double-output-shaft steering engine 11 are vertically arranged in space, namely two rotating axes are vertical in space position; a double-output-shaft steering engine 11 is arranged on an output shaft of the single-output-shaft steering engine 10; the single-output-shaft steering engine 10 is installed in the rear module of the two adjacent modules, and two output shafts of the double-output-shaft steering engine 11 are connected with the front module of the two adjacent modules through the module connecting mechanism 13; namely, except for the carrying module of the head, single-output-shaft steering engines are required to be installed in all the other modules;
the dragon-shaped robot is also provided with an upper computer test and control system which can control a single steering engine, the roll-pitch joint 3 and the propeller, the upper computer test and control system is an existing control system, and specific composition and working principle are not repeated;
when the propulsion directions of the two lateral thrusters 6 are the same, the dragon-shaped robot moves laterally, and when the propulsion directions of the two lateral thrusters 6 are opposite, the dragon-shaped robot rolls; the propeller body 7 is driven to change the angle and direction by the rotation of the output shaft of the single-shaft steering engine 9, so that the motion pose of the dragon-shaped robot is changed; the posture of the module is changed by the rotation of the single-output-shaft steering engine 10 and the rotation of the double-output-shaft steering engine 11.
The truck structure 4 comprises an open frame structure 17 with openings and two driving end plates 14, the two driving end plates 14 are arranged at two ends of the open frame structure 17, the upper side and the lower side of the open frame structure 17 are symmetrically provided with large openings for mounting the lateral thrusters 6, and the left side and the right side of the open frame structure 17 are symmetrically provided with small openings for mounting an output shaft of the single-shaft steering engine 9. The water-dragon-shaped underwater robot is provided with the propeller in a plurality of directions, and meanwhile, the propeller can be provided by the combination of a plurality of modules, so that 6-degree-of-freedom propulsion can be easily realized.
The carrying module 2 comprises a cylindrical body and two carrying end plates, the two carrying end plates are installed at two ends of the cylindrical body, a load is installed inside the cylindrical body, and a working hole is formed in the cylindrical body.
The connecting structure 8 is a connecting frame, an output shaft of the single-shaft steering engine 9 extends out of the trunk structure 4 to be connected with the connecting frame, and the connecting frame is connected with the propeller body 7.
The module connecting mechanism 13 is a U-shaped frame, the open end of the U-shaped frame is connected with the two output shafts of the double-output-shaft steering engine 11, and the closed end of the U-shaped frame is connected with the adjacent module.
The output shaft of the single-output-shaft steering engine 10 is connected with the shell of the double-output-shaft steering engine 11 through a connecting piece 15, and the connecting piece 15 is a connecting seat.
When the number of the carrying modules 2 is at least two, the carrying modules 2 and the driving modules 1 are arranged in a crossing manner. The load carried on the carrying module 2 is a camera or a mechanical arm. A head camera 12 is mounted on a mounting module 2 of the head of the dragon robot, and a 360 DEG side camera 16 is mounted on the mounting modules 2 at the other positions.
The dragon-shaped robot has flexibility in water, has multiple degrees of freedom and multiple postures, and needs different combinations of a propeller and a steering engine for realizing the degrees of freedom and the postures. The single module of this application possesses 6 degrees of freedom, and the motion of joint makes the whole multi freedom that possesses of dragon robot and can present different gestures in the different combination of module reassortment.
Structurally, the robot needs to keep slim and slim body and be as small as possible in size, but still needs to carry working equipment, a plurality of steering engines, a plurality of propellers, attitude sensors, a controller, buoyancy materials, ballast materials and the like, and structural optimization design and compact structural design are adopted during design. The positions of all parts are reasonably distributed by adopting an intelligent decision method in arrangement, and the shell structure is designed by using a bionic method, so that the influence of underwater resistance and ocean current is reduced.
In the dragon-type robot, joints between modules need to perform pitching and rolling motions, so that two rotational degrees of freedom are realized, and two rotating shafts are perpendicular to each other; a combination of two steering engines is used in the drive to drive the joint to assume a given angular rotation. The joints are connected in an orthogonal mode, and the orthogonal connection means that the unit modules forming the dragon-shaped robot are connected through rotating pairs, but the axes of the adjacent rotating pairs are perpendicular to each other and perpendicular to the longitudinal axis of the dragon body. The drive is directly driven by a steering engine; the driving mode is that the motor is arranged at the joint between the two units, the shell and the rotor are respectively connected to different joints, and when the motor shaft rotates, the adjacent joints can rotate relatively.
The underwater steering engine adopts an all-metal large-torque underwater steering engine. Has the remarkable advantages of large torque, small volume, light weight and the like. The use process is maintenance-free, and the underwater use depth can reach 300m. The steering wheel adopts the totally enclosed design, and the shell is the aluminum alloy material, and the output shaft adopts high accuracy 316 stainless steel material, and the transmission precision is high, and corrosion resistance is strong, and is sealed reliable, applicable in all kinds of waters. Pressure oil is filled inside the radiator, and the radiator has good heat dissipation performance. The steering engine is controlled by a PWM signal, the rated voltage is 12V, and the peak torque can be 3 N.m. The steering engine adopts an all-steel gear for transmission, so that the bearing capacity is strong, and teeth are not easy to break. The transmission shaft is internally provided with ceramic pressure-bearing balls, so that a large axial load can be borne. The steering engine shell has a plurality of threaded hole sites for installation, and can meet the requirement of efficient and convenient installation of various positions of the steering engine. The product can be provided with a virtual axis, and the use scene is more various. The virtual shaft is convenient to mount/dismount, and the virtual shaft transmission adopts a ball bearing, so that the transmission is smooth.
The underwater propeller is a small propeller suitable for underwater robots, unmanned ships and other underwater equipment. Has the characteristic of screw-free quick assembly and disassembly, and can be selected with a waterproof grass net cover. The paddle and the mesh enclosure can be replaced without disassembling the propeller mounting seat. The propeller is driven by an open type dynamic sealing waterproof motor, and the material selection is suitable for the marine environment. The propeller is low cost while allowing direct quick replacement without maintenance. The speed and thrust of the propeller are controlled by using built-in electric regulation and PWM.
The underwater dragon-shaped robot is provided with an upper computer testing and controlling system, can control a single steering engine, a joint and a propeller, and can also control the integral motion, posture and working mode. The Modbus communication protocol can support more types of electrical interfaces, the Modbus communication protocol adopts a mode that a master station queries slave stations, physical interfaces can be Rs232, rs485, rs422 and Rj45, and the Modbus communication protocol can also be transmitted on various media, such as twisted-pair optical fibers, radio frequency and the like.
The multi-module underwater vortex dragon-shaped robot is a novel underwater robot. It is a modular, flexible robot that can swim like a snake or be propelled by conventional propellers. The system can be resident under water, can carry out work such as inspection, maintenance and maintenance to other underwater equipment.
The multi-module underwater cyclone robot has a modular design and can carry various detection and operation devices according to different requirements. The combination of different modules can present different structures and different movement postures.
The dragon-shaped robot has a slender body and can overcome the influence of ocean currents. Meanwhile, the device can move in a narrow and limited space, and is particularly suitable for the working condition of a submarine pipeline. Can shuttle among the pipeline, can twine outside the pipeline and fixed position detects and the operation.
Specific examples are given below:
example one: as shown in fig. 1, a three-section type water-tap robot, the structure of which is the simplest form of the present invention, is based on a modular design, and different modules can be arranged and combined to form water-tap robots with different lengths, structures and functions;
the three-section underwater vortex dragon type robot comprises a carrying module 2 and two driving modules 1, two adjacent modules are connected through a transverse rolling-pitching joint 3 with two rotating shafts vertically crossed, the carrying module 2 can carry operating equipment such as a camera or a mechanical arm, a single-shaft steering engine drives a propeller to rotate to form a multidirectional underwater propeller, the multidirectional underwater propeller 5 and the single-shaft steering engine are connected through a connecting mechanism, the multidirectional underwater propeller 5 is rigidly connected with the connecting mechanism, the connecting mechanism is rigidly connected with an extending shaft of the single-shaft steering engine, and the multidirectional underwater propeller 5 is driven to change directions when the single-shaft steering engine rotates; the direction of the propeller can be adjusted around a shaft in a rotating way, and the propeller can move in any direction on an XOY plane; when the two lateral thrusters are in the same direction, the water faucet robot can move laterally, and when the two lateral thrusters are in opposite directions, the water faucet robot can realize rolling motion; the propellers are matched to realize six-degree-of-freedom propulsion of the underwater vortex dragon type robot;
the single-output-shaft steering engine can rotate 360 degrees to realize roll motion, and the double-output-shaft steering engine 11 can rotate 180 degrees to realize pitch motion; the rotating shafts of the two steering engines are vertically distributed, the single-output-shaft steering engines are embedded into one module, and the shafts of the single-output-shaft steering engines are rigidly connected with the double-output-shaft steering engines 11 through a connecting mechanism; the double-output-shaft steering engine 11 is connected with a second module through a module connecting mechanism, and the second module is driven to move when the double-output-shaft steering engine 11 swings at an angle; the posture of the module is changed through the roll-pitch joint 3, so that the posture of the robot is changed; the dragon-shaped robot is also provided with an upper computer test and control system which can control a single steering engine, a roll-pitch joint 3 and a propeller and can also control the overall motion, posture and working mode.
Example two: as shown in fig. 13, a four-section type water-faucet robot includes two carrying modules 2 and two driving modules, the carrying modules 2 and the driving modules are arranged in a cross manner, and the four modules are connected in series through roll-pitch joints 3; the robot is a four-section robot with head and side camera detection, is loaded with a head camera 12 and a 360-degree side camera 16, and can perform optical video detection in the front and side directions;
the underwater robot can operate in an underwater limited space and can perform detection and operation inside and outside an underwater pipeline;
the four-section type water-tap robot works in postures and moves: tap pipeline trauma can be performed as shown in fig. 16;
the position and posture of the water faucet are changed, so that the outer surface of the pipeline can be shot and tested at multiple angles; the water faucet shoots the outer surface of the pipeline in a curved pose;
flexible butt joint can be carried out when entering the pipeline:
when the water-tap robot moves to a position close to the inlet of the pipeline but is not perfectly centered; the angle is adjusted through the multi-joint and multi-degree-of-freedom motion of the water-jet robot, and the water-jet robot enters a pipeline; the work in the pipeline can be carried out by passing through the pipeline, particularly the right-angle pipeline, as shown in fig. 14 and 15.
The embodiments of the invention disclosed above are intended only to help illustrate the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and with the various embodiments.
Claims (10)
1. The utility model provides a many modules are whirlwind dragon type robot under water which characterized in that: the robot comprises at least two driving modules (1) and at least one carrying module (2), wherein the carrying module (2) is arranged at the head of the dragon-shaped robot, the driving modules (1) and the carrying module (2) are arranged in series, two adjacent modules are connected through a roll-pitch joint (3), and a load is carried on the carrying module (2);
the driving module (1) comprises a trunk structure (4), two multidirectional underwater propellers (5) and two lateral propellers (6), wherein the two lateral propellers (6) are symmetrically arranged on the upper side and the lower side of the trunk structure (4), and the two multidirectional underwater propellers are symmetrically arranged on the left side and the right side of the trunk structure (4); the multidirectional underwater propeller (5) comprises a propeller body (7), a connecting structure (8) and a single-shaft steering engine (9), wherein the single-shaft steering engine (9) is installed inside the trunk structure (4), an output shaft of the single-shaft steering engine (9) is connected with the propeller body (7) through the connecting structure (8), and the propeller body (7) is arranged outside the trunk structure (4);
the roll-pitch joint (3) comprises a single-output-shaft steering engine (10) and double-output-shaft steering engines (11), output shafts of the single-output-shaft steering engines (10) and output shafts of the double-output-shaft steering engines (11) are vertically arranged in space, the double-output-shaft steering engines (11) are installed on the output shafts of the single-output-shaft steering engines (10), the single-output-shaft steering engines (10) are installed in a rear module of two adjacent modules, and two output shafts of the double-output-shaft steering engines (11) are connected with a front module of the two adjacent modules through a module connecting mechanism (13).
2. The multi-module underwater vortex dragon-shaped robot as claimed in claim 1, wherein: when the propulsion directions of the two lateral thrusters (6) are the same, the dragon-shaped robot moves laterally, and when the propulsion directions of the two lateral thrusters (6) are opposite, the dragon-shaped robot rolls; the propeller body (7) is driven to change the angle and direction by the rotation of the output shaft of the single-shaft steering engine (9) so as to change the motion pose of the dragon-shaped robot; the attitude of the module is changed by the rotation of the single-output-shaft steering engine (10) and the rotation of the double-output-shaft steering engine (11).
3. The multi-module underwater swirling dragon type robot of claim 1, wherein: the truck structure (4) comprises an opening frame structure (17) with openings and two driving end plates (14), the two driving end plates (14) are installed at two ends of the opening frame structure (17), large openings for installing lateral thrusters (6) are symmetrically formed in the upper side and the lower side of the opening frame structure (17), and small openings for installing output shafts of single-shaft steering engines (9) are symmetrically formed in the left side and the right side of the opening frame structure (17).
4. The multi-module underwater swirling dragon type robot of claim 1, wherein: the carrying module (2) comprises a cylindrical body and two carrying end plates, the two carrying end plates are installed at two ends of the cylindrical body, a load is installed inside the cylindrical body, and a working hole is formed in the cylindrical body.
5. The multi-module underwater swirling dragon type robot of claim 1, wherein: the connecting structure (8) is a connecting frame, an output shaft of the single-shaft steering engine (9) extends out of the trunk structure (4) and is connected with the connecting frame, and the connecting frame is connected with the propeller body (7).
6. The multi-module underwater swirling dragon type robot of claim 1, wherein: the module connecting mechanism (13) is a U-shaped frame, the open end of the U-shaped frame is connected with two output shafts of the double-output-shaft steering engine (11), and the closed end of the U-shaped frame is connected with an adjacent module.
7. The multi-module underwater swirling dragon type robot of claim 1, wherein: the output shaft of the single-output-shaft steering engine (10) is connected with the shell of the double-output-shaft steering engine (11) through a connecting piece (15).
8. The multi-module underwater swirling robot of any one of claims 1-7, wherein: when the number of the carrying modules (2) is at least two, the carrying modules (2) and the driving modules (1) are arranged in a crossed manner.
9. The multi-module underwater swirling dragon type robot of claim 8, wherein: the load carried on the carrying module (2) is a camera or a mechanical arm.
10. The multi-module underwater swirling dragon type robot of claim 9, wherein: a head camera (12) is mounted on a mounting module (2) on the head of the dragon-shaped robot, and a 360-degree lateral camera (16) is mounted on the mounting modules (2) at the other positions.
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| CN202211232985.1A CN115367085A (en) | 2022-10-10 | 2022-10-10 | Multi-module underwater whirling dragon type robot |
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| CN202211232985.1A CN115367085A (en) | 2022-10-10 | 2022-10-10 | Multi-module underwater whirling dragon type robot |
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Cited By (1)
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| CN118124765A (en) * | 2024-03-25 | 2024-06-04 | 上海理工大学 | Multi-joint flexible underwater detection mechanical arm and underwater robot thereof |
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