CN207649920U - A kind of underwater robot experiment porch - Google Patents
A kind of underwater robot experiment porch Download PDFInfo
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- CN207649920U CN207649920U CN201721916535.9U CN201721916535U CN207649920U CN 207649920 U CN207649920 U CN 207649920U CN 201721916535 U CN201721916535 U CN 201721916535U CN 207649920 U CN207649920 U CN 207649920U
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- fixed frame
- optical axis
- propeller
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- 238000005096 rolling process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000007257 malfunction Effects 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
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- 239000007787 solid Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
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Abstract
The utility model proposes a kind of underwater robot experiment porch, including：The experimental bench fixed frame of two square frame-shapeds arranged in parallel, two horizontal optical axises, a vertical optical axis and propeller fixed frame；The both ends of horizontal optical axis and vertical optical axis are respectively formed sliding block；A piece two experimental bench fixed frame top margin of horizon light axis connection, another two experimental bench fixed frame bottom edge of horizon light axis connection, and horizontal optical axis both ends are connected by sliding-rail sliding structure with corresponding experimental bench fixed frame respectively；Vertical optical axis both ends pass through sliding-rail sliding structure and two horizon light axis connections respectively；Propeller fixed frame is mounted on by a through-hole of center on vertical optical axis, and through-hole diameter is more than vertical optical axis diameter；The quadrangle of propeller fixed frame is equipped with horizontal propeller, sets that there are two about the symmetrical vertical pusher of propeller fixed frame central point on the central axes of propeller fixed frame.The experiment porch leads to device failure for hitting pool wall when preventing underwater robot from entering the malfunctions such as rolling effect.
Description
Technical field
The present invention relates to a kind of underwater robot experiment porch, belong to robot device's manufacturing technology field.
Background technology
With continually developing for marine resources, the market demand of underwater robot is being continuously increased.Underwater robot most core
The function of the heart is that dynamic posture equilibrium is moved with depthkeeping, and developer needs to control propeller by programming to realize these
Basic function needs to carry out a large amount of debugging efforts to underwater robot.It needs to ensure underwater robot while debugging
Safety, but at present there has been no a underwater robot experiment porch so that design and developer carry out safe debugging, so
Developing a underwater robot attitude angle and the underwater robot experiment porch of moving height of can limiting becomes urgently to be resolved hurrily
The problem of.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, it is flat that the present invention provides a kind of underwater robot experiment
Platform, the experiment porch lead to device failure for hitting pool wall when preventing underwater robot from entering the malfunctions such as rolling effect.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of underwater robot experiment porch, including：The experimental bench fixed frame 7 of two square frame-shapeds arranged in parallel,
Two horizontal optical axises, 5, vertical optical axis 4 and propeller fixed frame 6；The both ends of horizontal optical axis 5 and vertical optical axis 4 are respectively formed cunning
Block 3；Wherein, 5 both ends of horizontal optical axis connect the top margin of two experimental bench fixed frames 7 by sliding-rail sliding structure respectively, separately
Piece 5 both ends of horizontal optical axis connect the bottom edge of two experimental bench fixed frames 7 by sliding-rail sliding structure respectively；4 liang of vertical optical axis
End is connect by sliding-rail sliding structure with two horizontal optical axises 5 respectively；Two horizontal optical axises 5 and a vertical optical axis 4 are located always
In in same plane, and the plane is always perpendicular to 7 plane of experimental bench fixed frame；Propeller fixed frame 6 is that there are four hold angle for tool
Centrically symmetric shape plate, plate center be equipped with a through-hole, propeller fixed frame 6 by the through-hole be mounted on vertical optical axis 4 on, and
Through-hole diameter is more than vertical optical axis diameter；Four angles of propeller fixed frame 6 are equipped with horizontal propeller 2, propeller fixed frame 6
Central axes on set that there are two about the symmetrical vertical pusher of 6 central point of propeller fixed frame 1；Two vertical pushers 1
Direction of propulsion is parallel to 4 length direction of vertical optical axis, and the direction of propulsion of four horizontal propellers 2 is parallel to propeller fixed frame 6
Place plane, and adjacent 2 direction of propulsion of horizontal propeller is orthogonal.
Further, 7 bottom of experimental bench fixed frame is provided with pedestal 8.
Further, the height of the pedestal 8 is adjustable.
Advantageous effect：Compared with prior art, the present invention has the advantage that：
The present invention drives the movement of propeller fixed frame, in turn by the impetus of vertical pusher and horizontal propeller
Vertical optical axis and horizontal axis movement are driven, realizes the movement limitation of underwater robot；The configuration of the present invention is simple, be easily assembled to,
Dismounting, repair, easy to operation and control, and cost is relatively low, can realize protection when being run to small underwater robot, prevent
Pool wall is hit when underwater robot enters the malfunctions such as rolling effect leads to device failure.
Description of the drawings
Fig. 1 is the overall structure figure of the embodiment of the present invention；
Fig. 2 is the whole front view of the embodiment of the present invention；
Fig. 3 is the left view of the embodiment of the present invention；
Fig. 4 is the vertical view of the embodiment of the present invention；
Fig. 5 is propeller fixed frame and vertical optical axis junction sectional view in the embodiment of the present invention.
Figure includes：1, vertical pusher, 2, horizontal propeller, 3, sliding block, 4, vertical optical axis, 5, horizontal optical axis, 6, push away
Into device fixed frame, 7, experimental bench fixed frame, 8, pedestal.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
It is as shown in Figures 1 to 4 a kind of underwater robot experiment porch, includes the reality of two square frame-shapeds arranged in parallel
Test 5, one, the horizontal optical axis vertical optical axis 4 of platform fixed frame 7, two and propeller fixed frame 6；Horizontal optical axis 5 and vertical optical axis 4
Both ends are respectively formed sliding block 3；Wherein, 5 both ends of horizontal optical axis connect two experimental benches by sliding-rail sliding structure respectively and fix
The top margin of frame 7, another 5 both ends of horizontal optical axis connect the bottom edge of two experimental bench fixed frames 7 by sliding-rail sliding structure respectively；
4 both ends of vertical optical axis are connect by sliding-rail sliding structure with two horizontal optical axises 5 respectively；Propeller fixed frame 6 is there are four tools
The centrically symmetric shape plate at angle, plate center is held to be equipped with a through-hole, propeller fixed frame 6 is mounted on vertical optical axis 4 by the through-hole
On, and through-hole diameter is more than vertical optical axis diameter；Four angles of propeller fixed frame 6 are equipped with horizontal propeller 2, and propeller is solid
Determine to set that there are two about the symmetrical vertical pusher of 6 central point of propeller fixed frame 1 on the central axes of frame 6；Two vertical thrusts
The direction of propulsion of device 1 is parallel to 4 length direction of vertical optical axis, and the direction of propulsion of four horizontal propellers 2 is parallel to propeller and consolidates
Determine 6 place plane of frame, and adjacent 2 direction of propulsion of horizontal propeller is orthogonal.
In above-mentioned technical proposal, underwater robot control system is mounted on propeller fixed frame 6, is shown for convenience,
Propeller fixed frame 6 is only provided in Fig. 1 to 4.
In the present embodiment, it is provided with pedestal 8 on the bottom corners Liang Ge of experimental bench fixed frame 7, and the height of pedestal 8 can be with
It adjusts, pedestal 8 can make experimental bench fixed frame 7 be fixed on experiment pool bottom of pond, so that experimental bench is solid by the height of adjustment base 8
Determine 7 holding position of frame stabilization.
The present invention is realized and is controlled the height of propeller fixed frame 6 by the height of control vertical optical axis 4.Pass through control
The length of the length and experimental bench fixed frame 7 of horizontal optical axis 5 realizes the limitation to 6 space of propeller fixed frame.Pass through control
Propeller is fixed in magnitude relationship between the aperture and the outer diameter of vertical optical axis 4 of 6 center hole of propeller fixed frame processed, realization
The pitch angle of frame 6 and the angle of roll angle limit.
Propeller fixed frame is with vertical optical axis junction section as shown in figure 5, setting the hole of 6 center hole of propeller fixed frame
Diameter is D, and the outer diameter of vertical optical axis 4 is d, and 6 thickness of propeller fixed frame is L, and relationship is as follows between each parameter：
Dcos θ-Lsin θ=d (1)
In formula, θ indicates the allowable angle of inclination between propeller fixed frame 6 and vertical optical axis.
It can be acquired according to formula (1)：
In the present embodiment, it is 20mm to take the aperture D of 6 center hole of propeller fixed frame, and the outside diameter d of vertical optical axis 4 is
The thickness L of 10mm, propeller fixed frame 6 are 3mm, bring data into above formula, obtain：θ=51.834 °, the i.e. vertical optical axis 4
It it is 51.834 ° with 6 accessible allowable angle of inclination of propeller fixed frame.
The specific implementation mode of the present invention is as follows：
When the direction of propulsion of two vertical pushers 1 is identical, propeller fixed frame 6 is pushed to be slided along vertical optical axis 4, specifically
For：
When two vertical pushers 1 rotate forward, propeller fixed frame 6 is driven to be moved upwards along vertical optical axis 4, it is vertical touching
Behind 4 top of optical axis, it can not continue up；When two vertical pushers 1 invert, drive propeller fixed frame 6 along vertical
Optical axis 4 moves downward, and after touching 4 bottom of vertical optical axis, can not continue to move downward.
When the direction of propulsion of two vertical pushers 1 is opposite, push propeller fixed frame 6 that rolling occurs, specially：
When left vertical propeller 1 rotates forward, and Right vertical propeller 1 inverts, 6 rolling of propeller fixed frame can be controlled
Angle increases, and after vertical optical axis 4 reaches allowable angle of inclination with propeller fixed frame 6,6 roll angle of propeller fixed frame no longer increases
Greatly.When left vertical propeller 1 inverts, and Right vertical propeller 1 rotates forward, it is anti-that 6 roll angle of propeller fixed frame can be controlled
To increase, after vertical optical axis 4 reaches allowable angle of inclination with propeller fixed frame 6, the roll angle of propeller fixed frame 6 is no longer anti-
To increase.
Horizontal propeller 2 is used to control the yaw angle of propeller fixed frame 6, specially：
When horizontal propeller 2 rotates forward simultaneously, the increase of 6 yaw angle forward direction of propeller fixed frame can be controlled；When level pushes away
When being inverted simultaneously into device 2,6 yaw angle of propeller fixed frame can be controlled and inversely increased.When two, left side, horizontal propeller rotates forward,
The horizontal propeller reversion of two, right side, can control propeller fixed frame 6 and move downward, to drive vertical optical axis 4 along level
Optical axis 5 moves downward.After vertical optical axis 4 touches horizontal 5 left end of optical axis, propeller fixed frame 6 and vertical optical axis 4 no longer to
Left movement.When the horizontal propeller reversion of two, left side can control propeller fixed frame when two, right side horizontal propeller rotates forward
6 move right, to drive vertical optical axis 4 to be moved right along horizontal optical axis 5.When vertical optical axis 4 touches 5 right end of horizontal optical axis
Afterwards, propeller fixed frame 6 and vertical optical axis 4 no longer move right.
It is rotated forward by controlling two, front horizontal propeller 2, two, rear horizontal propeller 2 inverts, and can control propulsion
Device fixed frame 6 travels forward, to drive vertical optical axis 4 and horizontal optical axis 5 to travel forward along experimental bench fixed frame 7.Work as level
After optical axis 5 touches 7 front end of experimental bench fixed frame, propeller fixed frame 6, vertical optical axis 4 and horizontal optical axis 5 are not transported further along
It is dynamic.By controlling the horizontal propeller reversion of front two, two, rear portion horizontal propeller rotates forward, and can control propeller fixed frame
6 move backward, to drive vertical optical axis 4 and horizontal optical axis 5 to be moved backward along experimental bench fixed frame 7.When horizontal optical axis 5 touches
After 7 rearmost end of experimental bench fixed frame, propeller fixed frame 6, vertical optical axis 4 and horizontal optical axis 5 no longer move backward.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of underwater robot experiment porch, which is characterized in that including：The experimental bench of two square frame-shapeds arranged in parallel
Fixed frame (7), two horizontal optical axises (5), a vertical optical axis (4) and propeller fixed frame (6)；Horizontal optical axis (5) and vertical
The both ends of optical axis (4) are respectively formed sliding block (3)；Wherein, horizontal optical axis (5) both ends connect two by sliding-rail sliding structure respectively
The top margin of a experimental bench fixed frame (7), another horizontal optical axis (5) both ends connect two experiments by sliding-rail sliding structure respectively
The bottom edge of platform fixed frame (7)；Vertical optical axis (4) both ends are connect by sliding-rail sliding structure with two horizontal optical axises (5) respectively；It pushes away
It is that there are four the centrically symmetric shape plates at end angle for tool into device fixed frame (6), plate center is equipped with a through-hole, propeller fixed frame (6)
It is mounted on vertical optical axis (4) by the through-hole, and through-hole diameter is more than vertical optical axis diameter；The four of propeller fixed frame (6)
A angle is equipped with horizontal propeller (2), sets that there are two about propeller fixed frame (6) on the central axes of propeller fixed frame (6)
The symmetrical vertical pusher of central point (1)；The direction of propulsion of two vertical pushers (1) is parallel to vertical optical axis (4) length side
To；The direction of propulsion of four horizontal propellers (2) is generally aligned in the same plane and adjacent horizontal propeller (2) direction of propulsion hangs down mutually
Directly.
2. a kind of underwater robot experiment porch according to claim 1, which is characterized in that the experimental bench fixed frame
(7) bottom is provided with pedestal (8).
3. the height of a kind of underwater robot experiment porch according to claim 2, the pedestal (8) is adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721916535.9U CN207649920U (en) | 2017-12-31 | 2017-12-31 | A kind of underwater robot experiment porch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721916535.9U CN207649920U (en) | 2017-12-31 | 2017-12-31 | A kind of underwater robot experiment porch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207649920U true CN207649920U (en) | 2018-07-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721916535.9U Expired - Fee Related CN207649920U (en) | 2017-12-31 | 2017-12-31 | A kind of underwater robot experiment porch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207649920U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108152066A (en) * | 2017-12-31 | 2018-06-12 | 南京工程学院 | A kind of underwater robot experiment porch |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| CN110749417A (en) * | 2019-11-05 | 2020-02-04 | 房泽岩 | Ocean engineering underwater robot test equipment |
-
2017
- 2017-12-31 CN CN201721916535.9U patent/CN207649920U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108152066A (en) * | 2017-12-31 | 2018-06-12 | 南京工程学院 | A kind of underwater robot experiment porch |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| CN110749417A (en) * | 2019-11-05 | 2020-02-04 | 房泽岩 | Ocean engineering underwater robot test equipment |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 |