CN116062130A - A Shallow Water Underwater Robot Based on Full Degrees of Freedom - Google Patents

Abstract

The invention discloses a shallow water underwater robot based on full degrees of freedom, which comprises a main body frame, a base, an upper shell, a power drive system, a cloud platform, an observation and lighting system, and a mechanical arm; the base is fixedly connected to the lower end of the main frame, and the upper shell Fixedly connected to the upper end of the main frame; the pan-tilt is fixedly connected to the inside of the main frame through the installation groove plate; the observation and lighting system is fixedly connected to the upper end of one side of the main frame through the mounting plate; the mechanical arm is fixedly connected to the lower end of the main frame through the connecting plate and is located at The observation and lighting system is arranged below; the power drive system includes a first thruster and a second thruster. The invention realizes the full-degree-of-freedom movement of the underwater robot, and can ensure that the robot can realize movement modes such as rising, sinking, moving forward, retreating, laterally moving, rolling, pitching, and yawing, ensuring overall stability and convenience, and efficiently improving efficiency of underwater operations.

Description

A Shallow Water Underwater Robot Based on Full Degrees of Freedom

technical field

The invention relates to the technical field of diving water detection equipment, and more specifically relates to a shallow water underwater robot based on full degrees of freedom.

Background technique

Nowadays, with the progress of society and the development of economy, the equipment for underwater operations has also reached a certain height. At present, a full-degree-of-freedom underwater robot has appeared in underwater operations. This robot is a shallow water robot based on the ROV system. The so-called ROV is an unmanned underwater vehicle that is remotely operated by cables. The system It is mainly composed of deck unit, winch retractable system and ROV body. The command is transmitted to the robot body through the cable, and the body responds to the command, and then the motion parameters are fed back to the operator by various sensors. An underwater robot based on full degrees of freedom can perform any movement mode conversion in the water space according to instructions.

However, at present, there is no good solution for the pitching and rolling motions to be realized by the underwater robot with full degrees of freedom, and there is a lack of a way to realize the control system of the pitching and rolling motions.

Therefore, how to provide a full-degree-of-freedom-based shallow-water underwater robot that can not only enable the underwater robot to achieve pitch and roll motion control, but also effectively improve the workload efficiency is one of the technical problems that need to be solved urgently in this field. .

Contents of the invention

In view of this, the present invention provides a shallow water underwater robot based on full degrees of freedom. The purpose is provided in order to solve the above-mentioned deficiencies.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

Analyze the functions to be realized by this shallow water robot, carry out step-by-step block design, establish kinematics formulas, analyze the thrust and moment of the power device, and propose the arrangement of propeller propellers. The design of the platform fully takes into account the requirements of underwater robots In order to realize the two motion modes of pitch and roll, a gimbal design method with a horizontal T-shaped structure with pitch axes and roll axes perpendicular to each other is proposed. Then gradually solve the shortcomings of the current shallow water underwater robot design and put forward targeted improvement methods. It mainly includes design of control system, design of power drive system, design of mechanical structure, selection of floating body material, and final modeling and simulation, which proves that the robot can realize the required functions. Specifically include: choose the underwater robot with ROV system as the design model.

Specifically, a shallow-water underwater robot based on full degrees of freedom includes a main frame, a base, an upper shell, a power drive system, a cloud platform, an observation and lighting system, and a mechanical arm; the base is fixedly connected to the lower end of the main frame , the upper shell is fixedly connected to the upper end of the main frame; the pan-tilt is fixedly connected to the inside of the main frame through a mounting groove plate; the observation and lighting system is fixedly connected to the upper end of one side of the main frame through a mounting plate ; The mechanical arm is fixedly connected to the lower end of the main body frame through a connecting plate and is located below the observation and lighting system;

The power drive system includes a first propeller and a second propeller; the first propeller is fixedly arranged in the upper shell, and the second propeller is fixedly connected below the upper end of the main body frame.

Preferably, the first propeller is a propeller propeller with four directions of movement parallel to each other arranged in a double-thrust parallel arrangement.

Preferably, the second propeller adopts four propeller propellers arranged in a circular arrangement, and the four propeller propellers can rotate angles; each propeller propeller is fixedly connected below the upper end of the main frame through a connecting piece .

The beneficial effect of this scheme is: the designed rotatable propeller propeller can allow the underwater robot to control the angle change of the propeller propeller when the underwater robot is tilting, so that the underwater robot can return to the normal underwater movement mode .

Preferably, the platform adopts a ground-level T-shaped design structure; the platform includes a micromechanical gyroscope fixing plate, a pitch axis and a roll axis; the roll axis is fixedly connected to the installation groove plate The upper end of the pitch axis is connected to the roll axis, and the lower end is movably connected to the fixed plate of the micro-mechanical gyroscope; the fixed plate of the micro-mechanical gyroscope is provided with a micro-mechanical gyroscope for sensing the position of the robot body and the change of its angle, and transmit the position change generating signal to the drive circuit board of the power drive system to change the corresponding orientation. At this time, the entire control system will regard the deflected state of the micromechanical gyroscope as parallel to the ground, while the orientation of the underwater robot body is inclined to the ground. In order to readjust to the parallel state, the drive circuit board will drive the underwater robot. The center left and center right propellers operate, so that the whole underwater robot body does a rolling motion to the right, and then realizes the rolling motion of the robot.

Preferably, the roll axis and the pitch axis are arranged vertically.

The beneficial effect of the above technical solution is: the rotation of the roll axis or the pitch axis can be realized by using the position offset of the micromechanical gyroscope and the control of the drive circuit board to the propeller, so as to control the underwater robot body to make a pitch or Roll is a two-degree-of-freedom motion.

Preferably, an ultra-short base line is also included, and the ultra-short base line is arranged in the middle of the upper shell.

Preferably, the mechanical arm includes a shoulder, a large arm, a small arm, a wrist and a gripper; one end of the shoulder is fixedly connected to the connecting plate, and the other end is pivotally connected to one end of the large arm; The other end of the big arm is pivotally connected to one end of the small arm; the other end of the small arm is pivotally connected to the wrist; and the claw is movably connected to the front end of the wrist.

Preferably, the gripper includes a screw rod, a wrist, 2 finger links, a moving nut, 2 finger rods and 2 translation fingers; one end of the screw rod is fixedly connected to the wrist, and the other end passes through the The wrist is also connected by the moving nut; the periphery of the wrist is slidably connected to the wrist by a light guide rod; one end of the two finger pull rods is respectively pivotally connected to the two ends of the moving nut; 2 One end of each of the finger links is pivotally connected to the two ends of the wrist, the middle part is respectively hinged to the other end of the corresponding one of the finger links, and the other ends of the two finger links are respectively fixedly connected to one The translation finger.

Preferably, the main body frame is made of titanium alloy material. The main frame requirements can meet the needs of underwater robots to carry various instruments and equipment, and at the same time can minimize the overall weight of underwater robots, so comprehensive comparative analysis, by comparing the elasticity of aluminum alloy, steel, titanium alloy and other materials Modulus, mass density, yield force and other parameters, taking into account the strength and stiffness of the material and the influence of material quality on the overall stability of the underwater robot, titanium alloy was selected as the main frame of the robot. After the selection of materials, it is necessary to further analyze whether the selected materials can meet the requirements of underwater working strength. Through SolidWorks simulation, it is proved that the stability of the underwater robot is well guaranteed.

Preferably, for the control communication system, cable transmission is used to realize human-machine interaction, and operators on the shore transmit various instructions to the robot body through cables, so that the underwater robot can make corresponding actions; In this case, through the camera components, the video image signal is returned to the main console through the cable; the cable builds a communication bridge between the operator and the underwater body.

Compared with the prior art, the present invention has achieved the following technical effects:

The present invention can realize the power driving mode of the underwater robot with full degrees of freedom, and can ensure that the robot can realize the movement modes such as rising, sinking, advancing, retreating, swaying, rolling, pitching, and yawing. The design model of the robot ensures the stability and convenience of the structure and control system design. At the same time, the titanium alloy material used in the body can not only greatly reduce the gravity of the underwater robot itself, but also meet its own mechanical strength. The use of the robotic arm can replace manual operations such as grasping and salvage in the water, which greatly improves the safety and reliability of underwater operations. The camera placed on the pan/tilt can send back the underwater situation to the operator in real time, so that the operator can give the next step instructions. The use of the above-mentioned shallow water area robot can improve the efficiency of underwater operations.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a shallow water underwater robot based on full degrees of freedom of the present invention;

2 and 3 are schematic diagrams of the internal structure of a shallow water underwater robot based on full degrees of freedom of the present invention;

Fig. 4 is the design diagram of the ground-level T-shaped structure cloud platform of the present invention;

Fig. 5 is the overall structure schematic diagram of ground type T-shaped structure cloud platform of the present invention;

Fig. 6 is a propeller distribution diagram in the power drive system of the present invention;

Fig. 7 is a schematic diagram of the overall structure of the mechanical arm of the present invention;

Fig. 8 is a schematic diagram of the overall structure of the gripper of the present invention.

In the figure: 1, the main frame; 11, the installation groove plate; 12, the connecting plate; 2, the base; 3, the upper shell; 4, the ultra-short baseline; 5, the first propeller; Connector; 7. Cloud platform; 71. Micromechanical gyroscope fixing plate; 72. Pitch axis; 73. Roll axis; 8. Observation and lighting system; 9. Mechanical arm; 91. Shoulder; 92. Big arm; 93, forearm; 94, wrist; 95, claw; 951, leading screw; 952, wrist; 953, finger connecting rod; 954, moving nut; 955, finger pull bar; 956, translation finger.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Referring to Figure 1-8, a shallow-water underwater robot based on full degrees of freedom includes a main frame 1, a base 2, an upper shell 3, an ultra-short baseline 4, a power drive system, a cloud platform 7, an observation and lighting system 8 and The mechanical arm 9; the base 2 is fixedly connected to the lower end of the main frame 1, and the upper shell 3 is fixedly connected to the upper end of the main frame 1; the cloud platform 7 is fixedly connected to the inside of the main frame 1 through the installation groove plate 11; the observation and lighting system 8 is fixed through the mounting plate Connected to the upper end of one side of the main frame 1; the mechanical arm 9 is fixedly connected to the lower end of the main frame 1 through the connecting plate 12 and is located below the observation and lighting system 8; the ultra-short baseline 4 is set in the middle of the upper shell 3; the power drive system includes The first propeller 5 and the second propeller 6 ; the first propeller 5 is fixedly arranged in the upper shell 3 , and the second propeller 6 is fixedly connected below the upper end of the main body frame 1 . The first propeller 5 is a propeller propeller with four directions of motion parallel to each other arranged in a double-push parallel arrangement. The second propeller 6 adopts four propeller propellers arranged in a circular arrangement, and the four propeller propellers can rotate angles; each propeller propeller is fixedly connected below the upper end of the main frame 1 through a connecting piece 61 .

As a preferred or optional mode of this embodiment, what the cloud platform 7 adopts is a ground-level T-shaped design structure; the cloud platform 7 includes a micromachined gyroscope fixing plate 71, a pitch axis 72, and a roll axis 73; the roll axis 73 is fixed Connected to the mounting groove plate 11; the upper end of the pitch axis 72 is connected to the roll axis 73, and its lower end is movably connected to the micromechanical gyroscope fixing plate 71; the micromechanical gyroscope fixing plate 71 is provided with a micromechanical gyroscope for sensing The position and angle of the robot body change, and the signal generated by the position change is transmitted to the drive circuit board of the power drive system to change the corresponding orientation.

As a preferred or optional manner of this embodiment, the roll axis 73 and the pitch axis 72 are arranged vertically.

As a preferred or optional mode of this embodiment, the mechanical arm 9 includes a shoulder 91, a big arm 92, a small arm 93, a wrist 94 and a claw 95; one end of the shoulder 91 is fixedly connected with the connecting plate 12, and the other end is connected with the large One end of the arm 92 is pivotally connected; the other end of the big arm 92 is pivotally connected to one end of the small arm 93 ; the other end of the small arm 93 is pivotally connected to the wrist 94 ; the claw 95 is movably connected to the front end of the wrist 94 . The claw 95 includes a screw rod 951, a wrist 952, two finger links 953, a moving nut 954, two finger pull rods 955 and two translation fingers 956; one end of the screw rod 951 is fixedly connected with the wrist 94, and the other end passes through The wrist 952 is also connected by a moving nut 954; the periphery of the wrist 952 is slidingly connected with the wrist 94 through a light guide rod; one end of the two finger rods 955 is respectively pivotally connected to the two ends of the moving nut 954; the two finger connecting rods 953 One end is pivotally connected to both ends of the wrist 952, the middle part is hinged to the other end of a corresponding finger rod 955, and the other ends of the two finger rods 953 are fixedly connected to a translation finger 956 respectively.

As a preferred or optional mode of this embodiment, the main body frame 1 is made of titanium alloy. The main frame 1 is required to be able to meet the needs of the underwater robot to carry various instruments and equipment, and at the same time to reduce the overall weight of the underwater robot to the greatest extent. Elastic modulus, mass density, yield force and other parameters, taking into account the strength and stiffness of the material and the influence of material quality on the overall stability of the underwater robot, titanium alloy was selected as the main frame 1 material of the robot. After the selection of materials, it is necessary to further analyze whether the selected materials can meet the requirements of underwater working strength. Through SolidWorks simulation, it is proved that the stability of the underwater robot is well guaranteed.

As a preferred or optional mode of this embodiment, for the control communication system, the way of cable transmission is adopted to realize human-machine interaction, and the operator on the shore transmits various instructions to the robot body through the cable, so that the underwater robot can make Corresponding actions; Various underwater situations pass through the camera components, and the video image signal is returned to the main console through the cable; the cable builds a communication bridge between the operator and the underwater body.

Example 2

The improvement of the power drive system is the main innovation point of the present invention. First, four propeller propellers adopting a circular arrangement and four propeller propellers whose directions of motion are parallel to each other are adopted in a parallel arrangement of double propellers. The propeller propellers arranged in a ring can achieve a certain angle of offset, that is to say, the four propeller propellers are not fixed on the main frame 1, but can be rotated by the motor, which can also change the water flow. How the robot moves. Since this robot is to achieve full-degree-of-freedom underwater movement, the technology for the robot to achieve forward, backward, lateral movement, yaw, ascent, and dive movements is relatively mature. There is really no good solution, so it is proposed to use the PTZ 7 control system to realize these two motion modes. The gimbal 7 is a device for placing a fixed camera. The gimbal 7 is designed as a horizontal T-shaped structure, and a roll axis 73 and a pitch axis 72 that are perpendicular to each other are designed to generate two motion modes of pitch and roll. A micromechanical gyroscope and a corresponding attitude sensor that can sense orientation changes are placed on the gimbal 7. The controller on the gimbal 7 needs to change the relevant parameters of the attitude sensor to control the movement of the gimbal 7 so that the micromechanical gyroscope can perceive the change in orientation. , to realize the pitching and rolling motion of the underwater robot. For example, when the underwater robot needs to roll forward at a certain angle, it is necessary to change the parameters of the attitude sensor in advance, and transmit an electric signal to the motor of the gimbal 7, so that the pitch axis 72 of the gimbal 7 rotates a certain angle toward the forward direction of the robot. At this time, the micromechanical gyroscope perceives the change of its own orientation, and transmits the electrical signal to the drive circuit board, thereby controlling the operation of the middle front thruster and the middle rear thruster of the underwater robot, so that the roll axis 73 of the gimbal 7 Roll to the right by a certain angle, and the micro-mechanical gyroscope will deflect to the right by a certain angle. The current deflected state of the micromechanical gyroscope is considered to be parallel to the ground, while the orientation of the underwater robot body is inclined to the ground. In order to readjust to the parallel state, the driving circuit board will drive the middle left and middle right of the underwater robot The device runs to make the whole underwater robot body do a rolling motion to the right, and then realize the rolling motion of the robot. In the same way, the robot can also make a pitching motion. The deflectable propeller propeller can sense the change of the robot's orientation through the attitude sensor, and then control the motor of the propeller propeller to change the angle deflection of the propeller, and can also change the movement mode of the underwater robot. The propeller layout of the entire power propulsion device is shown in Figure 6.

Example 3

Observation and illumination system 8 is to utilize video camera and LED light to realize, by the rotation of cloud platform 7, can realize the visual angle of video camera and LED light underwater.

Example 4

For the mechanical arm 9, the designed mechanical arm 9 is connected with the robot body and installed outside the robot body, and the mechanical arm 9 and the robot body together form the shallow water underwater robot. Corrosion resistance is a factor that must be considered for the robotic arm 9. Materials with strong corrosion resistance can effectively resist damage to the robotic arm 9 in the underwater environment and ensure the normal operation of the robotic arm 9. After various comparisons and demonstrations, 6061 was finally selected. Aluminum alloy is used as the main body material of the mechanical arm 9 . The mechanical arm 9 needs to have the characteristics of compact structure, small space occupation, high maneuverability, strong ability to avoid obstacles, and large working range. Considering the above requirements, the structural form of the manipulator 9 designed in this paper is selected as the joint-type coordinate manipulator 9, as shown in Fig. It has the advantages of wide application in the world and mature and perfect driving technology.

Example 5

For the sensor system, an attitude sensor is needed. It is installed on the gimbal and is mainly used to sense the change of the robot's orientation and send a signal to the drive system to control the work of the propeller. There is also a pressure sensor, which is used to sense the change of water pressure when working underwater. Through it, the operator can know the current position of the robot underwater, so as to give instructions for the next step. It is mainly related to whether the robot is going up and down. About diving. The settings of temperature sensor, altimeter and ultra-short baseline 4 are mainly used to help the robot determine its own position and the surrounding environment, and then more accurately control the underwater robot to complete specific tasks.

The new type of power drive mode proposed by the present invention can realize the full degree of freedom of the underwater robot, and can ensure that the robot can realize the movement modes such as rising, sinking, advancing, retreating, lateral movement, rolling, pitching, and yawing. The design model of the shallow-water underwater robot of the ROV system ensures the stability and convenience of the structure and control system design. At the same time, the titanium alloy material used in the body can not only greatly reduce the gravity of the underwater robot itself, but also meet its own mechanical strength. The use of the robotic arm can replace manual operations such as grasping and salvage in the water, which greatly improves the safety and reliability of underwater operations. The camera placed on the pan/tilt can send back the underwater situation to the operator in real time, so that the operator can give the next step instructions. The use of the above-mentioned shallow water area robot can improve the efficiency of underwater operations.

The above are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention in any way, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to within the scope of the technical solutions of the present invention.

Claims (8)

1. The shallow water underwater robot based on the full degree of freedom is characterized by comprising a main body frame (1), a base (2), an upper shell (3), a power driving system, a cradle head (7), an observation and illumination system (8) and a mechanical arm (9); the base (2) is fixedly connected to the lower end of the main body frame (1), and the upper shell (3) is fixedly connected to the upper end of the main body frame (1); the cradle head (7) is fixedly connected to the inside of the main body frame (1) through a mounting groove plate (11); the observation and illumination system (8) is fixedly connected to the upper end of one side of the main body frame (1) through a mounting plate; the mechanical arm (9) is fixedly connected to the lower end of the main body frame (1) through a connecting plate (12) and is arranged below the observing and illuminating system (8);

the power drive system comprises a first propeller (5) and a second propeller (6); the first propeller (5) is fixedly arranged in the upper shell (3), and the second propeller (6) is fixedly connected below the upper end of the main body frame (1).

2. A shallow water underwater robot based on full freedom according to claim 1, characterized in that the first propeller (5) is a propeller with four directions of motion arranged parallel to each other in a double push parallel arrangement.

3. A shallow water underwater robot based on full freedom according to claim 1, characterized in that the second propeller (6) is four propeller propellers arranged in a ring arrangement, and the four propeller propellers are rotatable by an angle; each propeller is fixedly connected to the lower part of the upper end of the main body frame (1) through a connecting piece (61).

4. The shallow water underwater robot based on the full degree of freedom according to claim 1, characterized in that the cradle head (7) adopts a horizontal T-shaped design structure; the cradle head (7) comprises a micro-mechanical gyroscope fixing plate (71), a pitching shaft (72) and a rolling shaft (73); the roll shaft (73) is fixedly connected to the mounting groove plate (11); the upper end of the pitching shaft (72) is connected with the rolling shaft (73), and the lower end of the pitching shaft is movably connected with the micro-mechanical gyroscope fixing plate (71); the micro-mechanical gyroscope fixing plate (71) is provided with a micro-mechanical gyroscope and is used for sensing the position and angle change of the robot body and transmitting a position change generating signal to a driving circuit board of the power driving system so as to change the corresponding direction.

5. A shallow water underwater robot based on full freedom according to claim 4, characterized in that the roll axis (73) and the pitch axis (72) are arranged vertically.

6. The shallow water underwater robot based on the full degree of freedom according to claim 1, further comprising an ultra-short base line (4), wherein the ultra-short base line (4) is disposed in the middle of the upper case (3).

7. A shallow water underwater robot based on full freedom according to claim 1, characterized in that the mechanical arm (9) comprises a shoulder (91), a big arm (92), a small arm (93), a wrist (94) and a paw (95); one end of the shoulder part (91) is fixedly connected with the connecting plate (12), and the other end of the shoulder part is connected with one end of the big arm (92) in a shaft connection way; the other end of the large arm (92) is connected with one end of the small arm (93) in a shaft connection way; the other end of the forearm (93) is connected with the wrist (94) in a shaft way; the paw (95) is movably connected to the front end of the wrist (94).

8. The full degree of freedom based shallow water underwater robot of claim 7 wherein the hand grip (95) includes a screw (951), a wrist (952), 2 finger links (953), a traveling nut (954), 2 finger ties (955) and 2 translational fingers (956); one end of the screw rod (951) is fixedly connected with the wrist (94), and the other end of the screw rod passes through the wrist (952) and is connected with the wrist through the movable nut (954); the periphery of the wrist (952) is in sliding connection with the wrist (94) through a guide polish rod; one end of each of the 2 finger pull rods (955) is respectively connected with two end sides of the movable nut (954) in an axial manner; one end of each of the 2 finger connecting rods (953) is respectively and axially connected to two ends of the wrist (952), the middle of each finger connecting rod is respectively hinged with the other end of the corresponding 1 finger pull rod (955), and the other ends of the 2 finger connecting rods (953) are respectively and fixedly connected with 1 translational finger (956).

Images