CN211252962U

CN211252962U - Underwater robot

Info

Publication number: CN211252962U
Application number: CN201922201815.7U
Authority: CN
Inventors: 仇伟晗; 李文华; 韩凤翚; 赵思广; 李云龙; 李阳; 张庆九; 林珊颖; 周性坤; 赵博扬
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-08-14
Anticipated expiration: 2029-12-10

Abstract

The utility model provides an underwater robot, the robot includes: the robot comprises a robot body, a robot body and a robot body, wherein the robot body comprises elliptical spherical shells at two ends and a middle cylindrical shell which is smoothly connected with the elliptical spherical shells; the power devices are symmetrically arranged in the two elliptical spherical shells and are in power connection with the driving device connected to the elliptical spherical shells, each power device comprises a power module, a power supply conditioning module and a motor module, and the power modules supply energy to the motor modules through the power supply conditioning modules; and a function extension module arranged on the robot body. The utility model discloses have a plurality of degrees of freedom that remove, be convenient for install, dismantle and maintain, and stable in structure, anti impact is strong, the underwater work of being convenient for, change work module according to the user demand and can adapt to different work needs and application scene.

Description

Underwater robot

Technical Field

The utility model relates to an underwater working robot technical field particularly, especially relates to an underwater robot.

Background

With the continuous dragging of people to the ocean cognitive boundary, the limitation of human physical conditions can not meet the requirements of underwater working time, working efficiency and working strength. The emergence of underwater robots as assistants for human development and exploration and ocean utilization plays an increasingly important role in aquaculture, underwater observation, submarine operation and the like. How to utilize the underwater robot to effectively develop and utilize marine biological energy, water resources and metal resources becomes an important problem in front of people.

The existing products can be divided into manned underwater robots, cabled underwater Robots (ROVs) and untethered underwater robots (AUVs) according to the using mode; the weight-based size is divided into: large-scale underwater robots, medium-scale underwater robots, small-scale underwater robots, and subminiature underwater robots. However, large, medium and small underwater robots are often required to be operated by several persons in cooperation and to be used with a ship-based high-power generator due to their large size, complex operation and high cost, and their applications are limited. Most underwater works such as hydraulic structure inspection and fishing behavior observation, sea farming net cage inspection, aquaculture, fishery, offshore oil platforms, nuclear power station tidal power station offshore wind power plant, commercial diving underwater operation support, toxic liquid, shallow water field inspection, crime scene search, underwater search and rescue and scientific research and education, scientific research, underwater archaeology, underwater biological observation and the like basically occur in deep water environments of less than 200 meters, so that the underwater robot applied to shallow water has a very wide prospect.

The traditional propeller propulsion system is not suitable for the underwater robot at the present stage, the propeller propulsion comprehensive efficiency is low, the propeller propulsion system has serious hysteresis in instantaneous response, the motion flexibility is poor, and the underwater work is difficult to unfold.

Disclosure of Invention

According to the technical problems that the traditional propeller propulsion system is low in comprehensive efficiency, has severe hysteresis and poor in motion flexibility, the traditional propeller propulsion system is provided. The utility model discloses mainly utilize novel drive arrangement self rotary motion and the ability of loading the modularization instrument, novel drive underwater robot work is realized to application multi-joint robotic arm's reverse control ability, has the high efficiency, is applicable to advantages such as multiple operating mode.

The utility model discloses a technical means as follows:

an underwater robot comprising:

the robot comprises a robot body, a robot body and a control system, wherein the robot body comprises oval spherical shells at two ends and a middle cylindrical shell which is smoothly connected with the oval spherical shells through a transition connecting part;

the power devices are symmetrically arranged in the two elliptical spherical shells and are in power connection with the driving device connected to the elliptical spherical shells, each power device comprises a power module, a power supply conditioning module and a motor module, and the power modules supply energy to the motor modules through the power supply conditioning modules;

and a function extension module arranged on the robot body.

Furthermore, the device also comprises closed cabins which are symmetrically arranged at the upper side and the lower side of the power device.

Further, at least one set of helical blades is attached to the outer surface of the driving device.

Further, the function expansion module is a drill connected to the end of the robot body.

Furthermore, the function extension module is a mechanical arm connected to the side of the robot body, and the end of the mechanical arm is connected with a mechanical arm.

Further, the mechanical arm has at least two movable joints.

Compared with the prior art, the utility model has the advantages of it is following:

1. the utility model discloses a screw rod propulsion means and focus are adjusted and are turned to the mode, compare with traditional screw advancing device, have reduced the electric quantity loss greatly, have prolonged underwater robot's operating time, can load different modules, undertake multiple operating mode work.

2. The utility model discloses a novel drive underwater working robot has efficient underwater operation ability, and application robotic arm reverse control underwater robot mode carries out underwater operation, can carry out small operation. The transmission mechanism has the characteristics of accurate transmission, high efficiency, compact structure, reliable work, long service life and the like.

3. Novel drive underwater work robot take streamlined design to reduce the resistance greatly, make underwater work robot is longer time under water.

Based on the reason, the utility model discloses can extensively promote in the underwater engineering field.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is the structure schematic diagram of the underwater robot of the present invention.

Fig. 2 is the internal structure schematic diagram of the underwater robot of the present invention.

Fig. 3 is the structure schematic diagram of the underwater robot driving device of the present invention.

In the figure: 1. a robot body; 2. a drive device; 3. a helical blade; 4. a drill bit; 5. a mechanical arm; 6. a manipulator; 7. a power plant; 8. sealing the cabin; 9. a transition connection.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1-3, the utility model provides an underwater robot, include: the robot comprises a robot body, a robot body and a control system, wherein the robot body comprises oval spherical shells at two ends and a middle cylindrical shell which is smoothly connected with the oval spherical shells through a transition connecting part; the power devices are symmetrically arranged in the two elliptical spherical shells and are in power connection with the driving device connected to the elliptical spherical shells, each power device comprises a power module, a power supply conditioning module and a motor module, and the power modules supply energy to the motor modules through the power supply conditioning modules; and a function extension module arranged on the robot body. The upper side and the lower side of the power device are symmetrically provided with closed cabins. At least one set of helical blades is attached to the outer surface of the driving device.

The technical solution of the present invention is further explained by the following specific examples.

Example 1:

fig. 1-3 show a schematic structural diagram of an embodiment of the robot of the present invention, which includes a robot body 1, which is a combined structure of an ellipsoid shell and a longer middle cylindrical shell; two novel drive arrangement 2 of ellipsoid shell external connection and four airtight water tanks 8, novel drive arrangement 2 symmetry sets up in standby robot both sides, airtight water tank 8 also symmetry sets up in the drive arrangement both sides, articulated arm 5 sets up the lower part on the right side at the robot body. The novel driving device 2 is used for providing power for the underwater robot, and the four closed water cabins are used for adjusting the gravity center of the underwater robot. When the two novel driving devices 2 rotate in the same direction at the same rotating speed, the underwater robot can advance or retreat along the X axis; when the two novel driving devices 2 rotate in different directions at the same rotating speed and control the closed water tank to adjust the gravity center, the underwater robot can realize in-situ rotation; when the two novel driving devices 2 rotate in the same direction at the same rotating speed and control the closed water tank to adjust the gravity center, the underwater robot can turn at any radius; when the rotating speed of the two novel driving devices 2 is 0 and water is injected into the four closed water cabins, the underwater robot can float up or submerge along the Z axis; when the multi-joint machine 5 is provided with other fixed functional modules such as a mechanical arm 6 and the like, the underwater robot can finish any action through the reverse control of the multi-joint mechanical arm 6, so that the multi-station work can be realized.

In summary, the two novel driving devices 2, the four closed water cabins 8 and the multi-joint mechanical arm 5 are respectively and symmetrically arranged on two sides of the robot body, so that on one hand, the two novel driving devices 2 are utilized for propulsion, the energy consumption is low, and the noise is low; on the other hand, the acting force and the acting direction of the novel driving devices 2 on the two sides are different through control, and the four closed water cabins 8 are controlled to adjust the gravity center or control the multi-joint mechanical arm 5 to move, so that the underwater robot can complete four actions of advancing and retreating, floating and submerging, inclining/inclining left and right and turning left and right, and has four degrees of freedom of translation along an X axis, translation along a Z axis, rotation along the X axis and rotation (X, Z, a) along the Z axis, and the underwater robot has higher flexibility during underwater operation.

Fig. 3 shows a schematic structural diagram of an embodiment of the novel driving device 2 in the novel driving underwater robot, which comprises a helical blade 3, a transition connection part 9 and an ellipsoid shell, wherein the transition connection part 9 is a short pipeline. The novel driving device 2 is internally connected with a motor shaft, the short pipeline is smoothly connected with the ellipsoidal shell, and the outer surface of a combination body of the short pipeline and the ellipsoidal shell is attached with a helical blade 3. Of course, the number of the helical blades, 3, may be increased or decreased according to the actual application requirement, which is not limited in this embodiment.

Compared with the traditional underwater robot, the novel driving device structure is convenient to install, disassemble and maintain, stable in structure, strong in collision resistance and low in energy consumption. The ellipsoidal shell adopts a streamline structure, so that underwater resistance is greatly reduced, and the cruising ability of the ellipsoidal shell is enhanced.

When installing novel drive arrangement 2, at first connect power device 7's motor module input and power supply conditioning module's output, power supply conditioning module's input is connected with power module's output, then embolias novel drive arrangement 2 at the motor shaft, then fixes it with holding screw. The motor of the power device 7 is connected with the inner sides of the two ends of the to-be-pushed device, and the top of the motor is bonded on the inner sides of the two ends of the to-be-pushed device to prevent water leakage.

As a further preferred embodiment, in order to achieve a more comprehensive function of the underwater robot, various types of electronic components may be provided on the basis of the above-described underwater robot structure.

For example, electromagnets are installed on multi-joint mechanical arms of the underwater robot, and can be adsorbed and fixed on a metal surface, and the underwater robot is reversely controlled to move to carry out series of work, for example, drilling work can be carried out underwater by installing a drill bit module on a novel driving device in the prior art.

As another example, a direction sensor is provided: and the electronic compass can obtain the underwater direction information of the underwater robot.

For another example, a depth sensor, a temperature sensor and a water leakage detection circuit module are provided for acquiring the depth and the water leakage condition of the underwater robot and monitoring the water temperature.

The utility model discloses the working process is as follows:

when the two driving devices rotate in the same direction at the same rotating speed and are matched with the closed water tank to adjust the gravity center, the underwater robot moves forwards or backwards along the X axis;

when the two driving devices rotate in opposite directions at the same rotating speed and are matched with the closed water tank to adjust the gravity center, the underwater robot can turn at any radius;

when the rotating speeds of the two driving devices are 0 and the four closed water cabins are matched for water injection and drainage, the underwater robot floats upwards or submerges along the Z axis.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robot, comprising:

and a function extension module arranged on the robot body.

2. The underwater robot of claim 1, further comprising enclosed compartments symmetrically disposed on upper and lower sides of the power unit.

3. An underwater robot as claimed in claim 1 or 2, wherein at least one set of helical blades is attached to the outer surface of the driving means.

4. The underwater robot of claim 1, wherein the function expanding module is a drill bit attached to an end of the robot body.

5. The underwater robot of claim 1 or 4, wherein the function expansion module is a mechanical arm connected to the side of the robot body, and a mechanical arm is connected to an end of the mechanical arm.

6. An underwater robot as in claim 5 wherein the robotic arm has at least two movable joints.