CN208979083U - A kind of deformable autonomous underwater robot - Google Patents
A kind of deformable autonomous underwater robot Download PDFInfo
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- CN208979083U CN208979083U CN201821816564.2U CN201821816564U CN208979083U CN 208979083 U CN208979083 U CN 208979083U CN 201821816564 U CN201821816564 U CN 201821816564U CN 208979083 U CN208979083 U CN 208979083U
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- stretching
- deformable
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Abstract
The utility model relates to underwater robot fields, specifically a kind of deformable autonomous underwater robot, including main body module, flank module, operation module, propulsion die and stretching, extension driving device, two flank module symmetries are set to main body module two sides, stretching, extension driving device is equipped in main body module two sides, and the flank module drives opening and closing by the stretching, extension driving device of respective side, is equipped with operation module in main body module front end, is equipped with propulsion die in main body module rear end；Stretching driving device includes driving motor, transmission shaft, bevel gear set, lead screw, screw sliding block and support rod, transmission shaft is driven by driving motor and is rotated, lead screw lower end passes through that bevel gear set is vertical with the transmission shaft to be connect, lead screw is equipped with screw sliding block, and support rod one end and the screw sliding block on corresponding lead screw are hinged, the other end and flank module-articulation.The utility model two sides flank module can be unfolded as needed or be accommodated streamlined, can be detached from lash ship and carry out a wide range of detect operation and the autonomous sampling operation of reconnaissance.
Description
Technical field
The utility model relates to underwater robot field, specifically a kind of deformable autonomous underwater robot.
Background technique
In recent years, autonomous underwater robot (autonomous underwater vehicle, hereinafter referred to as AUV) is always
It is the research hotspot in the field unmanned underwater robot (un-manned underwater vehicle, UUV), which represent futures
The developing direction of underwater robot.AUV is broadly divided into two class of detecting AUV and operation type AUV by purposes, develops both at home and abroad at present
AUV be all largely detecting AUV, operation type AUV research is relatively fewer.With the development of the social economy, the mankind are to ocean
The exploration and exploitation of resource gradually increase, and the underwater operation project for needing to carry out also is continuously increased, relative to the water for having cable to be remotely controlled
For lower robot (remotely operated vehicle, ROV), operation type AUV underwater operation range is bigger and operation is tieed up
Cost is relatively low for shield, and can be detached from lash ship and carry out AUTONOMOUS TASK, but the operation type AUV structure developed both at home and abroad at present mainly includes
The attached body structure of the additional operation of open frame structure, streamlined body and trimeric structure, the generally existing metancenter height of these structures compared with
Greatly, the problems such as mobility is not strong, ship resistance is big, job area is relatively limited, homework type is single, does not play completely
The due advantage of AUV.
Utility model content
The purpose of this utility model is to provide a kind of deformable autonomous underwater robot, two sides flank module can be according to need
It is unfolded or is accommodated streamlined, lash ship can be detached from and carry out a wide range of detect operation and the autonomous sampling operation of reconnaissance.
The purpose of this utility model is achieved through the following technical solutions:
A kind of deformable autonomous underwater robot, including main body module, flank module, operation module, propulsion die and stretch
Open up driving device, two flank module symmetries are set to main body module two sides and hinged with the main body module, in main body module
Two sides are equipped with stretching, extension driving device, and the flank module drives opening and closing by the stretching, extension driving device of respective side, described
Main body module front end is equipped with operation module, is equipped with propulsion die in the main body module rear end；The stretching, extension driving device includes
Driving motor, transmission shaft, bevel gear set, lead screw, screw sliding block and support rod, the transmission shaft are driven by the driving motor
Rotation, the lead screw lower end pass through that bevel gear set is vertical with the transmission shaft to be connect, and screw sliding block is equipped on the lead screw,
And described support rod one end and the screw sliding block on corresponding lead screw are hinged, the other end and the flank module-articulation.
The operation module includes manipulator, rotating driver, sampling basket fixed frame, sampling basket and electric pushrod, sampling
Basket fixed frame is fixedly arranged on main body module front end, and two rotating drivers are symmetrically fixedly arranged on sampling basket fixed frame, two manipulators
It is divided into sampling basket fixed frame two sides and respectively by the rotating driver driving rotation of respective side, the sampling basket two sides and institute
It states sampling basket fixed frame two sides inner wall to be slidably connected, electric pushrod is set in sampling basket fixed frame, and is sampled basket and passed through the electricity
Dynamic push rod driving movement.
When flank module is in closed state, in the gap between the manipulator income flank module and main body module,
The sampling basket retracts in main body module.
The main body module is equipped with main body frame, and stretching, extension driving device control cabinet, navigation are equipped in the main body frame
Control cabinet, detection control cabinet and battery pack, the main body frame downside are equipped with buoyancy regulating device.
Ultra-short baseline positioning device, acoustic communication energy converter, acoustic communication host, water surface positioning are equipped on the outside of the main body frame
With communication unit, underwater luminaire, Underwater Camera, anticollision sonar, thermohaline depth measuring instrument, depth calibrator, height-gauge,
Doppler log and inertial navigation unit.
Hanging hook has been equipped on the upside of the main body module.
The main body module is equipped with main body frame, and it is solid that the flank module is equipped with flank fixed frame, stretching, extension hinged shaft and flank
Determine block, each flank fixed block is installed on the main body frame, and the stretching, extension hinged shaft is supported by each flank fixed block, and
The stretching, extension hinged shaft and the flank fixed frame are connected.
Sonar control cabinet in the flank module equipped with detection depth side scan sonar and the control detection depth side scan sonar
(203), flank module front end is equipped with underwater luminaire and Underwater Camera.
The propulsion die includes the symmetrically arranged stabilizer in two sides, and the stabilizer is equipped with propeller.
Buoyancy material is equipped on the outside of the main body module, flank module and propulsion die, and when flank module closure,
The smooth linking of buoyancy material on the outside of the flank module and main body module forms a complete streamlined cambered surface.
The advantages of the utility model and good effect are as follows:
1, the utility model when carrying out long-distance navigation detection, pack up by two sides flank module, generally stand it is flat streamlined,
Have many advantages, such as that metancenter height is smaller, ship resistance is small, mobility strong, be conducive to navigation, the utility model is carrying out grab sampling work
When industry, the expansion of two sides flank module, and manipulator and sampling basket progress operation is unfolded, there is metancenter height is larger, stability is high etc.
Advantage, so that alloing the utility model to be detached from lash ship carries out a wide range of detect operation and the autonomous sampling operation of reconnaissance.
2, the utility model uses modularized design, module is conveniently replaceable, to realize different work, and compact-sized, cloth
It sets rationally.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of the utility model receiving state；
Fig. 2 is the schematic three dimensional views of the utility model extended state；
Fig. 3 is the schematic three dimensional views of the utility model fully unfolded position；
Fig. 4 is the three-dimensional exploded schematic diagram of the utility model extended state in Fig. 2；
Fig. 5 is to form plan view in Fig. 4 inside the utility model main body module；
Fig. 6 is that the utility model flank inside modules form plan view in Fig. 4；
Fig. 7 is the utility model operation module structure principle chart in Fig. 4；
Fig. 8 is to form plan view in Fig. 4 inside the utility model propulsion die；
Fig. 9 is that the utility model stretches driving device structure schematic diagram in Fig. 4.
Wherein, 1 is main module, and frame based on 101,102 be ultra-short baseline positioning device, and 103 be acoustic communication transducing
Device, 104 be acoustic communication host, and 105 be hanging hook, and 106 be water surface positioning and communication unit, and 107 be underwater luminaire, 108
It is anticollision sonar for Underwater Camera, 109,110 be thermohaline depth measuring instrument, and 111 be navigation control cabinet, and 112 be depth calibrator,
113 be height-gauge, and 114 be Doppler log, and 115 be inertial navigation unit, and 116 be buoyancy regulating device, and 117 be electricity
Pond group, 118 for detection control cabinet, 119 for stretching, extension driving device control cabinet, 2 be flank module, 201 be flank fixed frame, 202
It is sonar control cabinet for detection depth side scan sonar, 203,204 be flank fixed block, and 205 be stretching, extension hinged shaft, and 3 be buoyancy material, and 4 be to make
Industry module, 401 be manipulator, and 402 be rotating driver, and 403 be sampling basket, and 404 push away for sampling basket fixed frame, 405 to be electronic
Bar, 406 be sliding rail, and 5 be propulsion die, and 501 be propeller, and 502 be stabilizer, and 6 be stretching, extension driving device, and 601 be lead screw,
602 be screw sliding block, and 603 be support rod, and 604 be bevel gear set, and 605 be transmission shaft, and 606 be driving motor, and 607 be support rod
Hinged shaft.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in figure 1-9, the utility model includes main body module 1, flank module 2, operation module 4,5 and of propulsion die
Stretch driving device 6, two flank modules 2 are symmetrically set in 1 two sides of main body module and hinged with the main body module 1, in master
1 two sides of module are equipped with stretching, extension driving device 6, and the driving of stretching, extension driving device 6 that the flank module 2 passes through respective side
It closes, is equipped with operation module 4 in 1 front end of main body module, be equipped with propulsion die 5 in 1 rear end of main body module.
As shown in figure 5, the main body module 1 is equipped with main body frame 101, as shown in figure 9, the flank module 2 is equipped with side
Wing fixed frame 201, stretching, extension hinged shaft 205 and flank fixed block 204, each flank fixed block 204 are installed on the main body frame 101
On, the stretching, extension hinged shaft 205 is supported by each flank fixed block 204, and the stretching, extension hinged shaft 205 and the flank fixed frame
201 are connected, so that it is hinged with the main body frame 101 to realize the flank fixed frame 201 by the stretching, extension hinged shaft 205.
As shown in figures 4 and 9, the stretching, extension driving device 6 includes driving motor 606, transmission shaft 605, bevel gear set
604, lead screw 601, screw sliding block 602 and support rod 603, the driving motor 606 and transmission shaft 605 are all set in main body module
1 101 outside of main body frame, and the transmission shaft 605, by the driving motor 606 driving rotation, the lead screw 601 can turn
101 outside of the main body frame is set to dynamicly, and the lead screw 601 is perpendicular to the transmission shaft 605, in the lead screw 601
Both ends are equipped with bearing block, and bearing block is installed on main body frame 101, and 601 lower end of lead screw passes through a bevel gear set
604 are connected with the transmission shaft 605, wherein the drive bevel gear in the bevel gear set 604 is set on the transmission shaft 605,
Driven wheel of differential is set to 601 lower end of lead screw, transmits torque by each bevel gear set 604 when transmission shaft 605 rotates and drives
Each 601 synchronous rotary of lead screw is moved, screw sliding block 602 is equipped on the lead screw 601, the screw sliding block 602 passes through branch
Strut 603 is connected with the flank fixed frame 201 of the flank module 2, and 603 one end of the support rod passes through support rod hinged shaft
607 is hinged with corresponding screw sliding block 602, and the other end and the flank fixed frame 201 are hinged.When device works, the transmission
Axis 605 drives each lead screw 601 is synchronous to turn by the driving motor 606 driving rotation, and then by each bevel gear set 604
Dynamic, each rotation of lead screw 601 drives each 602 synchronization lifting of screw sliding block, and then drives each 603 synchronous hunting of support rod
And 201 opening and closing of flank fixed frame are driven, namely realize and drive 2 opening and closing of flank module.
As shown in figures 1-4, buoyancy material 3, and institute are equipped on the outside of the main body module 1, flank module 2 and propulsion die 5
When stating the closure of flank module 2, the smooth linking of buoyancy material 3 in 1 outside of the flank module 2 and main body module forms a complete stream
Line style cambered surface, as shown in figs. 4 and 7, the operation module 4 are equipped with swingable manipulator 401 and telescopic sampling basket
403, when the utility model is in closed state, the manipulator 401 takes in the gap between flank module 2 and main body module 1
In, the sampling basket 403 retracts in main body module 1, so that making the utility model integrally is in one complete streamlined, such as Fig. 3
Shown, when the flank module 2 of the utility model two sides is opened, the sampling basket 403 stretches out, while the manipulator 401 is put
It is dynamic to start operation.
As shown in fig. 7, the operation module 4 includes manipulator 401, rotating driver 402, sampling basket fixed frame 404, adopts
Sample basket 403 and electric pushrod 405, sampling basket fixed frame 404 are fixedly arranged on 101 front end of main body frame of main body module 1, two rotations
Driver 402 is symmetrically fixedly arranged on sampling 404 lower surface two sides of basket fixed frame, and two manipulators 401 are divided into sampling basket fixed frame
404 two sides and the driving rotation of rotating driver 402 for passing through respective side respectively can be achieved 360 ° and rotate, and described 403 liang of sampling basket
Side is slidably connected with the 404 two sides inner wall of sampling basket fixed frame, wherein sampling 403 two sides of basket are equipped with sliding rail 406, sampling basket is solid
To determine 404 inner wall of frame and is equipped with the sliding block cooperated with corresponding wood side-guide 406, electric pushrod 405 is set in sampling basket fixed frame 404,
And sampling basket 403 is flexible by the electric pushrod 405 driving.The rotating driver 402, manipulator 405 and electric pushrod
405 be commercial products.
As shown in figure 5, being equipped with stretching, extension driving device control cabinet 119, navigation in the main body frame 101 of the main body module 1
Control cabinet 111, detection control cabinet 118 and battery pack 117, the stretching, extension driving device 6 are controlled by the stretching, extension driving device
Control module control driving 2 opening and closing of flank module in cabin 119, the navigation control cabinet 111, which is equipped with, controls the propulsion die 5
Control module to guarantee that the utility model navigates by water, be equipped with multiple instruments in the buoyancy material 3 in 101 outside of the main body frame and fill
It sets for the purposes such as illuminating, detect, communicate, is equipped with the module for controlling each apparatus in the detection control cabinet 118, it is described
Battery pack 117 is that each system module of the utility model is powered, and is in addition equipped with buoyancy adjustment on the downside of the main body frame 101 and fills
Set 116, the buoyancy regulating device 116 is techniques well known, in the present embodiment, is set in the buoyancy regulating device 116
There is a moveable piston, discharging water operation is realized by the way that the piston is mobile, to realize buoyancy adjustment.
In the present embodiment, ultra-short baseline positioning device 102, acoustic communication are equipped in the buoyancy material 3 outside the main body frame 101
Energy converter 103, acoustic communication host 104, the water surface positioning with communication unit 106, underwater luminaire 107, Underwater Camera 108, keep away
Sonar 109, thermohaline depth measuring instrument 110, depth calibrator 112, height-gauge 113, Doppler log 114 and inertia is touched to lead
Navigate unit 115, and above-mentioned each apparatus and associated control module are techniques well known and are commercial products, on
Each apparatus is stated to control by the module in the detection control cabinet 118.In addition to the utility model is facilitated to lift by crane
Transfer, has been equipped with hanging hook 105 on the upside of the main body frame 101 and has extend out to outside buoyancy material 3.
As shown in fig. 6, being equipped with detection depth side scan sonar 202 in the flank module 2 and controlling the detection depth side scan sonar 202
Sonar control cabinet 203, and the module in the sonar control cabinet 203 by route and it is described detection control cabinet 118 in pair
Module is answered to be connected, in addition 2 front end of flank module also is provided with underwater luminaire 107 and Underwater Camera 108, the underwater photograph
Bright lamp 107 and Underwater Camera 108 are connected by route with the respective modules in the detection control cabinet 118, the depth measurement side
It sweeps sonar 202 and sonar control cabinet 203 is techniques well known and is commercial products.
As illustrated in figures 1 and 8, the propulsion die 5 includes the symmetrically arranged stabilizer 502 in two sides, the stabilizer 502
It is equipped with propeller 501, the propeller 501 is controlled by the navigation control cabinet 111, and the propeller 501 is ability
Domain well-known technique.
The working principle of the utility model are as follows:
1, the utility model is laid on lash ship and is lauched, and makes its Buoyance adjustment by adjusting buoyancy regulating device 116
For negative buoyancy force, the utility model is made to start unpowered dive；
2, after the depth of the utility model arrival term of reference, make its Buoyance adjustment by adjusting buoyancy regulating device 116
For positive buoyancy, and start to march to setting by mission planning path；
3, after the setting of the utility model arrival term of reference, two sides flank module 2 stretched approximate " T " shape before this,
Then buoyancy regulating device 116 makes its Buoyance adjustment negative buoyancy force, and sits bottom；
4, after the utility model sits bottom, operation module 4 stretches out manipulator 401 and sampling basket 403, starts to sample operation；
5, after completing entire task, the utility model two sides flank module 2 is withdrawn, while manipulator 401 and sampling basket 403
Also it retracts, whole store is made to set up flat streamlined, adjusting buoyancy regulating device 116 makes its Buoyance adjustment positive buoyancy, this is practical
It is novel to float up to sea and be recycled to lash ship.
Claims (10)
1. a kind of deformable autonomous underwater robot, it is characterised in that: including main body module (1), flank module (2), operation mould
Block (4), propulsion die (5) and stretching, extension driving device (6), two flank modules (2) be symmetrically set in main body module (1) two sides and
Hingedly with the main body module (1), stretching, extension driving device (6), and the flank module are equipped in main body module (1) two sides
(2) opening and closing are driven by the stretching, extension driving device (6) of respective side, are equipped with operation module (4) in the main body module (1) front end,
Propulsion die (5) are equipped in the main body module (1) rear end；The stretching, extension driving device (6) includes driving motor (606), passes
Moving axis (605), bevel gear set (604), lead screw (601), screw sliding block (602) and support rod (603), the transmission shaft (605)
It is driven and is rotated by the driving motor (606), lead screw (601) lower end passes through bevel gear set (604) and the transmission
Axis (605) vertically connects, and is equipped with screw sliding block (602) on the lead screw (601), and the support rod (603) one end with it is right
Answer screw sliding block (602) on lead screw (601) hingedly, the other end and the flank module (2) are hinged.
2. deformable autonomous underwater robot according to claim 1, it is characterised in that: the operation module (4) includes
Manipulator (401), rotating driver (402), sampling basket fixed frame (404), sampling basket (403) and electric pushrod (405), sampling
Basket fixed frame (404) is fixedly arranged on main body module (1) front end, and two rotating drivers (402) are symmetrically fixedly arranged on sampling basket fixed frame
(404) on, two manipulators (401) are divided into sampling basket fixed frame (404) two sides and are driven respectively by the rotation of respective side
Device (402) driving rotation, the sampling basket (403) two sides are slidably connected with sampling basket fixed frame (404) two sides inner wall, electricity
Dynamic push rod (405) are set in sampling basket fixed frame (404), and are sampled basket (403) and moved by the electric pushrod (405) driving
It is dynamic.
3. deformable autonomous underwater robot according to claim 2, it is characterised in that: when flank module (2) are in closure
When state, in the gap between manipulator (401) income flank module (2) and main body module (1), the sampling basket
(403) it retracts in main body module (1).
4. deformable autonomous underwater robot according to claim 1, it is characterised in that: the main body module (1) is equipped with
Main body frame (101), and stretching, extension driving device control cabinet (119), navigation control cabinet are equipped in the main body frame (101)
(111), control cabinet (118) and battery pack (117) are detected, is equipped with buoyancy regulating device on the downside of the main body frame (101)
(116)。
5. deformable autonomous underwater robot according to claim 4, it is characterised in that: the main body frame (101) is outside
Side is equipped with ultra-short baseline positioning device (102), acoustic communication energy converter (103), acoustic communication host (104), water surface positioning and communication
Unit (106), underwater luminaire (107), Underwater Camera (108), anticollision sonar (109), thermohaline depth measuring instrument (110), depth
Spend measuring instrument (112), height-gauge (113), Doppler log (114) and inertial navigation unit (115).
6. deformable autonomous underwater robot according to claim 4, it is characterised in that: on the upside of the main body module (1)
Equipped with hanging hook (105).
7. deformable autonomous underwater robot according to claim 1, it is characterised in that: the main body module (1) is equipped with
Main body frame (101), the flank module (2) are equipped with flank fixed frame (201), stretching, extension hinged shaft (205) and flank fixed block
(204), each flank fixed block (204) is installed on the main body frame (101), and the stretching, extension hinged shaft (205) passes through each
Flank fixed block (204) support, and the stretching, extension hinged shaft (205) and the flank fixed frame (201) are connected.
8. deformable autonomous underwater robot according to claim 1, it is characterised in that: set in the flank module (2)
There are the sonar control cabinet (203) of detection depth side scan sonar (202) and the control detection depth side scan sonar (202), the flank module
(2) front end is equipped with underwater luminaire (107) and Underwater Camera (108).
9. deformable autonomous underwater robot according to claim 1, it is characterised in that: the propulsion die (5) includes
The symmetrically arranged stabilizer in two sides (502), the stabilizer (502) are equipped with propeller (501).
10. deformable autonomous underwater robot according to claim 1, it is characterised in that: the main body module (1), side
It is equipped with buoyancy material (3) on the outside of wing module (2) and propulsion die (5), and when the flank module (2) closure, the flank mould
The smooth linking of buoyancy material (3) on the outside of block (2) and main body module (1) forms a complete streamlined cambered surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821816564.2U CN208979083U (en) | 2018-11-06 | 2018-11-06 | A kind of deformable autonomous underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821816564.2U CN208979083U (en) | 2018-11-06 | 2018-11-06 | A kind of deformable autonomous underwater robot |
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| Publication Number | Publication Date |
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| CN208979083U true CN208979083U (en) | 2019-06-14 |
Family
ID=66790344
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821816564.2U Active CN208979083U (en) | 2018-11-06 | 2018-11-06 | A kind of deformable autonomous underwater robot |
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| Country | Link |
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| CN (1) | CN208979083U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021208409A1 (en) * | 2020-04-15 | 2021-10-21 | 浙江大学 | Modular reconfigurable underwater robot |
-
2018
- 2018-11-06 CN CN201821816564.2U patent/CN208979083U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021208409A1 (en) * | 2020-04-15 | 2021-10-21 | 浙江大学 | Modular reconfigurable underwater robot |
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