CN209972749U - Annular single-drive underwater robot - Google Patents
Annular single-drive underwater robot Download PDFInfo
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- CN209972749U CN209972749U CN201920841094.3U CN201920841094U CN209972749U CN 209972749 U CN209972749 U CN 209972749U CN 201920841094 U CN201920841094 U CN 201920841094U CN 209972749 U CN209972749 U CN 209972749U
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- steering ring
- ring
- controller
- underwater robot
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Abstract
The utility model discloses an annular single-drive underwater robot, which is provided with a first steering ring, a second steering ring and a third steering ring in sequence from inside to outside; the first steering ring is connected with the second steering ring through a first rotating shaft and is driven to rotate through a first steering engine; the second steering ring is connected with the third steering ring through a second rotating shaft and is driven by a second steering engine to rotate; a driving paddle device is arranged in the first steering ring, and the driving direction of the driving paddle device in a three-dimensional space is adjusted through the mutual rotation among the first steering ring, the second steering ring and the third steering ring; the paddle device is characterized by further comprising a controller and a power supply, wherein the controller is connected with the first steering engine, the second steering engine and the driving paddle device. Has the advantages that: the robot can rotate mutually through the three steering rings which are connected with each other, and the driving paddle is arranged in the ring of the innermost steering ring, so that the single-paddle direction control and driving of the robot in water are realized, the operation is flexible, and the integral degree of freedom is high.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a single drive underwater robot of annular.
Background
Since the birth of mankind, the search for the ocean has never been stopped. The ocean area accounts for 71 percent of the global area, contains extremely large mineral resources, and is particularly important for exploration and exploitation of ocean resources at the present day when surface resources are in urgent need. However, the underwater environment is complex and changeable, and under the conditions of good environment and large space, people can use a manned submarine to detect; however, in some heavy, undercurrent waters, which may be at the expense of space or environmental conditions, manned submarines are not adequate for these detection operations. Therefore, underwater robots designed for various specific situations have been developed.
Underwater robots are classified into a cable type and a cable-free type, and the cable-free type underwater robot is widely applied in order to cope with deep sea detection and complex environments. However, for a common underwater robot, a plurality of motors are used for achieving the functions of driving and changing directions, so that the volume and the weight of the robot are greatly improved, and the used waterproof cabin is heavy and is difficult to disassemble. In addition, underwater robots can be divided into two types, open rack type and streamline type, according to the mechanical structure. The open-frame robot is suitable for shallow sea operation, the submergence speed is low, and the structure is stable. The streamlined submergence speed is fast, can reach the deep sea fast, is applicable to deep sea operation.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the not enough of background art, the utility model discloses an annular single drive underwater robot.
The technical scheme is as follows: annular single drive underwater robot, include: the first steering ring, the second steering ring and the third steering ring are sequentially arranged in a surrounding manner from inside to outside;
the first steering ring is connected with the second steering ring through a first rotating shaft and is driven to rotate through a first steering engine; the second steering ring is connected with the third steering ring through a second rotating shaft and is driven by a second steering engine to rotate; a driving paddle device is arranged in the first steering ring, and the driving direction of the driving paddle device in a three-dimensional space is adjusted through the mutual rotation among the first steering ring, the second steering ring and the third steering ring;
the paddle device is characterized by further comprising a controller and a power supply, wherein the controller is connected with the first steering engine, the second steering engine and the driving paddle device.
The first steering engine and the second steering engine are remotely controlled by the control terminal to operate, adjust and rotate to the direction opposite to the direction in which the paddle device is driven to advance towards the robot, and the navigation of the robot in water is realized.
Furthermore, the straight lines of the first rotating shaft and the second rotating shaft are perpendicular to each other, that is, the rotating direction of the first steering ring relative to the second steering ring is perpendicular to the rotating direction of the second steering ring relative to the third rotating direction.
Further, the drive paddle arrangement comprises: the device comprises a support frame arranged in a plane where the first steering ring is located, a blade motor arranged on the support frame and a blade. The navigation direction of the robot is adjusted by adjusting the orientation of the first steering ring.
The supporting frame is provided with a first sealed cabin, and a motor controller used for controlling the paddle motor is arranged in the first sealed cabin.
And a second sealed cabin is arranged on the second steering ring, and a first steering engine controller for controlling a first steering engine is arranged in the second sealed cabin.
And a third sealed cabin for placing the controller and the power supply is arranged on the third steering ring, and a second steering engine controller for controlling a second steering engine is arranged in the third sealed cabin.
Further, the controller comprises a main controller and an auxiliary controller, the main controller is flight control Pixhawk4 and comprises a gyroscope, an accelerometer, a magnetic sensor and a depth meter, and the rotation angle is calculated according to the current posture; the auxiliary controller is a raspberry development board, carries an Ethernet power carrier module and is used for data and signal transmission between the main controller and the control terminal.
Has the advantages that: compared with the prior art, the utility model has the advantages that: firstly, the robot is mutually connected through three steering rings and can rotate mutually, and the driving paddle is arranged in the ring of the innermost steering ring, so that the single-paddle direction control and driving of the robot in water are realized, the operation is flexible, and the integral degree of freedom is high; secondly, through the miniaturization design of the robot, the robot has better applicability to some regions which cannot be detected by a normal robot, such as pipelines, rock seams, gate detection and the like; and moreover, the main body frameworks of the robot are simple in mutual connection mode, easy to install and disassemble, and the navigation speed of the robot in water is improved due to the characteristics of miniaturization and light weight.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the combination of a first steering ring and a second steering ring of the present invention;
FIG. 3 is a schematic view of a second and third steering ring assembly according to the present invention;
fig. 4 is a schematic view of the communication structure of the present invention;
FIG. 5 is a flow chart of the system operation of the present invention;
fig. 6 is a schematic view of the present invention in a three-dimensional axis.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
The ring-shaped single-drive underwater robot shown in fig. 1, 2 and 3 includes: the steering mechanism comprises a first steering ring 1, a second steering ring 2 and a third steering ring 3 which are sequentially arranged in a surrounding manner from inside to outside; the diameters of the three steering rings are increased in sequence, the first steering ring 1 and the second steering ring 2 are made of light pressure-resistant and corrosion-resistant materials, and the third steering ring 3 is made of heavy pressure-resistant and corrosion-resistant materials.
The first steering ring 1 is connected with the second steering ring 2 through a first rotating shaft 101 and is driven by a first steering engine 102 to rotate, and the first rotating shaft 101 can be arranged at the top and the bottom of the first steering ring 1 and the second steering ring 2 respectively to realize rotating connection; the second steering ring 2 is connected with the third steering ring 3 through a second rotating shaft 201 and is driven by a second steering engine 202 to rotate, the connection mode is the same as that of the first steering ring, and in addition, the straight lines of the first rotating shaft 101 and the second rotating shaft 201 are mutually vertical, so that the rotating direction of the first steering ring relative to the second steering ring is mutually vertical to the rotating direction of the second steering ring relative to the third rotating direction; the driving paddle device is arranged in the first steering ring 1, and the driving direction of the driving paddle device in a three-dimensional space is adjusted through mutual rotation among the first steering ring 1, the second steering ring 2 and the third steering ring 3.
Wherein the drive paddle arrangement comprises: the steering mechanism comprises a support frame 103 arranged in a plane where the first steering ring 1 is located, a blade motor 104 arranged on the support frame 103 and a blade 105, wherein a first sealed cabin 106 is arranged on the support frame 103, and a motor controller used for controlling the blade motor 104 is arranged in the first sealed cabin 106. A second sealed cabin 203 is arranged at the position of the first steering engine 102 on the second steering ring 2, and a first steering engine controller for controlling the first steering engine 102 is arranged in the second sealed cabin 203. A third sealed cabin 301 is arranged at the position of the second steering engine 202 on the third steering ring 3, and a second steering engine controller for controlling the second steering engine 202 is arranged in the third sealed cabin 301.
The motor controller, the first steering engine controller and the second steering engine controller all adopt STM32 development boards.
A controller and a power supply which are connected with the first steering engine 102, the second steering engine 202 and the driving paddle device are arranged in a third sealed cabin 301 of the third steering ring 3, and the power supply supplies power to the whole device. The controller includes main control unit and auxiliary control ware, main control unit is for flying control Pixhawk4, includes gyroscope, accelerometer, magnetic force sensor, depth gauge, can settle out the rotation angle according to current gesture, and auxiliary control ware is raspberry group development board, carries on ethernet power carrier module for main control unit and control terminal carry out data and signal transmission.
As shown in fig. 4 and 5, the communication and work flow of the present invention is:
the control terminal sends an instruction to the auxiliary controller, the auxiliary controller transmits the instruction to the main controller, the main controller firstly controls the rotating speed of the paddle and then calculates the rotating speed, the angle of the paddle deflects according to the requirement, the angle is settled into the angle of circular motion in two directions, the steering engine selection angle is further calculated, the steering engine controller is controlled to adjust the angles of the first steering ring and the second steering ring, and when the steering is completed, a completion signal is sent to the control terminal, and the communication is completed.
As shown in FIG. 6, the robot of the present invention changes direction in the three-dimensional space of XYZ axes, and the robot in the initial state makes ascending movement, i.e. moves along the positive direction of Y axis, and now the robot is required to change direction to the negative direction of X axis.
Firstly, an operator sends a direction changing command to the X axis in the negative direction through a control terminal, and an auxiliary controller receives the command and transmits data to a main controller for resolving. Depending on this particular situation, the master controller will solve: the first steering ring should be rotated 90 ° counterclockwise around the X axis, and the second steering ring should be rotated 90 ° clockwise around the Y axis.
Therefore, the main controller sends an instruction to the first steering engine controller and the second steering engine controller, and according to the specific condition, the steering engine controller controls the first steering engine to rotate reversely for a quarter of a circle and the second steering engine to rotate positively for a quarter of a circle.
The rotation of the first steering engine and the second steering engine enables the rotating shafts connected with each other to rotate by the same angle, so that the first steering ring rotates 90 degrees around the X axis in the anticlockwise direction, the second steering ring rotates 90 degrees around the Y axis in the clockwise direction, and the steering is completed.
Claims (7)
1. An annular single drive underwater robot, comprising: the steering mechanism comprises a first steering ring (1), a second steering ring (2) and a third steering ring (3) which are sequentially arranged from inside to outside in a surrounding manner;
the first steering ring (1) is connected with the second steering ring (2) through a first rotating shaft (101) and is driven to rotate through a first steering engine (102); the second steering ring (2) is connected with the third steering ring (3) through a second rotating shaft (201) and is driven to rotate through a second steering engine (202); the driving paddle device is arranged in the first steering ring (1), and the driving direction of the driving paddle device in a three-dimensional space is adjusted through mutual rotation among the first steering ring (1), the second steering ring (2) and the third steering ring (3);
the paddle device is characterized by further comprising a controller and a power supply, wherein the controller and the power supply are connected with the first steering engine (102), the second steering engine (202) and the driving paddle device.
2. The endless single drive underwater robot of claim 1, wherein: the straight lines of the first rotating shaft (101) and the second rotating shaft (201) are perpendicular to each other.
3. The endless single drive underwater robot of claim 1, wherein: the drive paddle arrangement includes: the steering mechanism comprises a support frame (103) arranged in a plane where the first steering ring (1) is located, a blade motor (104) arranged on the support frame (103), and a blade (105).
4. The endless single drive underwater robot of claim 3, wherein: the supporting frame (103) is provided with a first sealed cabin (106), and a motor controller used for controlling the paddle motor (104) is arranged in the first sealed cabin (106).
5. The endless single drive underwater robot of claim 1, wherein: and a second sealed cabin (203) is arranged on the second steering ring (2), and a first steering engine controller for controlling the first steering engine (102) is arranged in the second sealed cabin (203).
6. The endless single drive underwater robot of claim 1, wherein: and a third sealed cabin (301) for placing a controller and a power supply is arranged on the third steering ring (3), and a second steering engine controller for controlling a second steering engine (202) is arranged in the third sealed cabin (301).
7. The endless single drive underwater robot of claim 1, wherein: the controller comprises a main controller and an auxiliary controller, wherein the main controller is flight control Pixhawk4 and comprises a gyroscope, an accelerometer, a magnetic sensor and a depth meter; the auxiliary controller is a raspberry development board and carries an Ethernet power carrier module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920841094.3U CN209972749U (en) | 2019-06-05 | 2019-06-05 | Annular single-drive underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920841094.3U CN209972749U (en) | 2019-06-05 | 2019-06-05 | Annular single-drive underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209972749U true CN209972749U (en) | 2020-01-21 |
Family
ID=69265411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920841094.3U Expired - Fee Related CN209972749U (en) | 2019-06-05 | 2019-06-05 | Annular single-drive underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209972749U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091974A (en) * | 2019-06-05 | 2019-08-06 | 南京信息工程大学 | A kind of single driving underwater robot of annular |
-
2019
- 2019-06-05 CN CN201920841094.3U patent/CN209972749U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091974A (en) * | 2019-06-05 | 2019-08-06 | 南京信息工程大学 | A kind of single driving underwater robot of annular |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200121 |