CN214583951U - Experimental device for simulating UVMS motion control and underwater operation - Google Patents
Experimental device for simulating UVMS motion control and underwater operation Download PDFInfo
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- CN214583951U CN214583951U CN202120970270.0U CN202120970270U CN214583951U CN 214583951 U CN214583951 U CN 214583951U CN 202120970270 U CN202120970270 U CN 202120970270U CN 214583951 U CN214583951 U CN 214583951U
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Abstract
The utility model discloses an experimental apparatus of simulation UVMS motion control and underwater operation, the device part includes: a water tank; the wave generating component is used for exciting the water body in the water tank to generate waves; the device comprises a three-coordinate motion mechanism and an outer base for supporting the three-coordinate motion mechanism, wherein the three-coordinate motion mechanism is used for driving the whole UVMS to move in XYZ three directions; and a servo drive motor is arranged on the Z-direction lifting seat to drive the UVMS system to integrally rotate so as to simulate yawing motion. When the device is used, a wave generating step, a manipulator movement step and an experiment execution step are executed, the UVMS system is driven to integrally generate linear movement in XYZ three directions and/or self-rotation movement around a Z axis through the displacement driving action of the three-coordinate movement mechanism and/or the rotation action of the rotary seat driven by the servo driving motor, a specific movement control strategy is designed, a specific underwater operation task is set, the UVMS system is enabled to correspondingly move in the water tank, and an underwater operation simulation experiment is completed.
Description
Technical Field
The utility model relates to a UVMS technical field particularly, is an experimental apparatus of simulation underwater robot-manipulator system motion control and underwater operation.
Background
The underwater robot-manipulator system mainly comprises an underwater motion boat body and an operation manipulator, is intelligent equipment for human beings to explore and develop marine environment, and is widely applied to the fields of deep sea scientific exploration, submarine resource exploration, underwater operation and the like. Due to the complex environmental factors and the characteristics of the underwater robot, it is very difficult to perform the actual experiments of the motion control and underwater operation of the underwater robot-manipulator system, and the underwater robot-manipulator system which is just developed may also generate a great risk if the experiments are directly performed in the sea.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simulation UVMS motion control and underwater operation's experimental apparatus to the operational aspect of simulation UVMS system in the environment under water.
The purpose of the utility model is realized like this: an experimental device for simulating UVMS motion control and underwater operation comprises:
the upper part of the water tank is of an open structure, and water is contained in the water tank;
the wave generating component is fixed on the water tank and used for outputting reciprocating motion at a preset frequency to excite the water body in the water tank to generate waves;
the device comprises a UVMS system, a control system and a control system, wherein the UVMS system consists of a rotary seat and an underwater manipulator, the rotary seat is used for simulating an underwater boat body, the underwater manipulator is connected with the rotary seat, and the rotary seat and the underwater manipulator are both positioned in a water body of a water tank during an experiment;
the device comprises a three-coordinate motion mechanism and an outer base supporting the three-coordinate motion mechanism, wherein the three-coordinate motion mechanism is used for driving the whole UVMS to move in XYZ three directions.
The two outer bases are respectively opposite to the two long sides of the water tank;
the X-direction part of the three-coordinate movement mechanism is provided with two X-direction parts which respectively correspond to the two outer bases, each X-direction part comprises an X-direction guide rail seat, an X-direction driving motor and an X-direction screw rod, the X-direction guide rail seats are horizontally erected on the outer bases and are parallel to the long side of the water tank, the X-direction driving motors are installed on the X-direction guide rail seats, the X-direction screw rods are parallel to the X-direction guide rail seats, one ends of the X-direction screw rods are coaxially connected with output shafts of the X-direction driving motors in a transmission mode, and the other ends of the X-direction screw rods are rotatably connected with the X-direction guide rail seats;
the Y-direction part of the three-coordinate movement mechanism comprises a Y-direction guide rail seat, a Y-direction driving motor and a Y-direction screw rod, wherein two ends of the Y-direction guide rail seat are respectively connected with two X-direction guide rail seats in a sliding mode, the Y-direction guide rail seat horizontally extends and is perpendicular to the long side of the water tank, the Y-direction driving motor is installed on the Y-direction guide rail seat, the Y-direction screw rod is parallel to the Y-direction guide rail seat, one end of the Y-direction screw rod is coaxially connected with an output shaft of the Y-direction driving motor in a transmission mode, and the other end of the Y-direction screw rod is rotatably connected with the Y-direction guide rail seat;
the Z-direction part of the three-coordinate movement mechanism comprises a Z-direction guide rail seat, a Z-direction driving motor, a Z-direction lead screw and a Z-direction lifting seat, the Z-direction guide rail seat vertically extends and is positioned in the water tank, the Z-direction guide rail seat is sleeved with the Y-direction lead screw and is in transmission fit with the Y-direction lead screw, the Z-direction driving motor is installed at the upper end of the Z-direction guide rail seat, the Z-direction lead screw vertically extends, the upper end of the Z-direction lead screw is coaxially connected with an output shaft of the Z-direction driving motor in a transmission mode, the lower end of the Z-direction lead screw is rotatably connected with the Z-direction guide rail seat, and the Z-direction lifting seat is sleeved with the Z-direction lead screw and is connected with the Z-direction guide rail seat in a sliding mode;
the Z-direction lifting seat is characterized in that a servo driving motor controlled by a control system is installed at the top of the Z-direction lifting seat, the bottom of the Z-direction lifting seat is rotatably connected with a rotating seat, a rotating shaft of the rotating seat is in coaxial transmission connection with an output shaft of the servo driving motor, and the rotating seat and the underwater manipulator integrally rotate horizontally under the driving of the servo driving motor.
The beneficial effects of the utility model reside in that:
1. the device can be used for an underwater robot-manipulator system (UVMS) to perform an early-stage underwater simulation experiment, and reduces corresponding loss and risk brought by a real underwater environment experiment;
2. the wave generating component can generate water flow and waves in the water tank, and the underwater real environment of the UVMS system in underwater operation is simulated to a certain extent;
3. under the driving of a three-coordinate movement mechanism, the whole UVMS system can linearly move in the XYZ directions, and due to the fact that the servo driving motor is arranged, the yaw movement of the UVMS system can be simulated, and the setting of the overall deflection freedom degree of the UVMS system can meet the real use working condition.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the wave generating member.
Fig. 3 is a schematic view of an installation structure of the UVMS system.
Detailed Description
The invention will be further described with reference to the accompanying figures 1-3 and the specific embodiments.
As shown in fig. 1 to 3, an experimental apparatus for simulating UVMS motion control and underwater operation is provided, including:
the water tank 6 is of an open structure at the upper part, water is contained in the water tank, a water outlet which can be opened and closed and is used for draining water is arranged at the bottom of the water tank, the whole water tank 6 is of a cuboid frame structure, a plurality of rectangular windows are formed in the side wall of the water tank, each rectangular window in the side wall of the water tank 6 is made of transparent tempered glass 6a which is convenient for observing the experimental conditions in the water tank 6 from the outside of the water tank 6, and in the experimental process, scientific researchers can observe the experimental conditions in the water tank 6 from the outside through the tempered glass 6a so as to observe and judge;
a wave generating member fixed to the water tank 6 for outputting a reciprocating motion at a predetermined frequency to excite the water in the water tank 6 to generate waves;
the UVMS system is composed of a rotary seat 19 and underwater manipulators 20, wherein the rotary seat 19 is used for simulating an underwater boat body, the underwater manipulators 20 are connected with the rotary seat 19, the rotary seat 19 and the underwater manipulators 20 are both positioned in a water body of the water tank 6 during an experiment, and in the embodiment, two underwater manipulators 20 are provided;
the device comprises a three-coordinate motion mechanism and an outer base 7 supporting the three-coordinate motion mechanism, wherein the three-coordinate motion mechanism is used for driving the whole UVMS to move in XYZ three directions.
Wherein, wave making part includes:
a base 4, a fixed frame is arranged on the short side of the water tank 6;
the wave generating driving motor 1 is arranged on the base 4;
the length direction of the transverse screw rod 2 is parallel to the long side of the water tank 6, one end of the transverse screw rod 2 is in coaxial transmission butt joint with an output shaft of the wave generating driving motor 1, and the other end of the transverse screw rod 2 is rotatably connected with the base 4;
the moving platform 3 is connected with the base 4 in a sliding mode, and the moving platform 3 is sleeved with the transverse screw rod 2 and moves linearly along the length direction of the transverse screw rod 2 when the transverse screw rod 2 rotates;
the wave-making push plate 5 is fixedly connected with the moving platform 3 and is vertically inserted into the water body of the water tank 6, and the plate surface of the wave-making push plate 5 is vertical to the moving direction of the moving platform.
Wherein, the above-mentioned wave making parts are equipped with a pair ofly to arrange side by side, have the same specification and step and transfer unanimously when controlling, the mobile station 3 of two wave making parts simultaneously fixed connection wave making push pedal 5 along the long avris horizontal migration of basin 6 to order about wave making push pedal 5 to carry out reciprocating motion according to the frequency of predetermineeing in the water of basin 6.
The upper edges of the two long sides of the inner wall of the water tank 6 are both provided with guide rails 6b, the guide rails 6b horizontally extend along the direction of the long sides of the water tank 6, and the two ends of the upper side of the wave generating push plate 5 are respectively in sliding fit with the guide rails 6b on the two sides.
The outer bases 7 are fixedly arranged independently of the water tank 6 and are provided with two outer bases 7 which are respectively opposite to two long sides of the water tank 6.
The X-direction parts of the three-coordinate movement mechanism are two and respectively correspond to two outer bases 7, each X-direction part comprises an X-direction guide rail seat 8, an X-direction driving motor 9 and an X-direction screw rod 10, the X-direction guide rail seats 8 are horizontally erected on the outer bases 7 and are parallel to the long side of the water tank 6, the X-direction driving motors 9 are installed on the X-direction guide rail seats 8, the X-direction screw rods 10 are parallel to the X-direction guide rail seats 8, one ends of the X-direction screw rods 10 are coaxially connected with the output shafts of the X-direction driving motors 9 in a transmission mode, and the other ends of the X-direction screw rods 10 are rotatably connected with the X-direction guide rail seats 8.
The Y-direction part of the three-coordinate movement mechanism comprises a Y-direction guide rail seat 11, a Y-direction driving motor 12 and a Y-direction screw rod 13, wherein two ends of the Y-direction guide rail seat 11 are respectively connected with two X-direction guide rail seats 8 in a sliding mode, the Y-direction guide rail seat 11 extends horizontally and is perpendicular to the long side of the water tank 6, the Y-direction driving motor 12 is installed on the Y-direction guide rail seat 11, the Y-direction screw rod 13 is parallel to the Y-direction guide rail seat 11, one end of the Y-direction screw rod 13 is coaxially connected with an output shaft of the Y-direction driving motor 12 in a transmission mode, and the other end of the Y-direction screw rod 13 is rotatably connected with the Y-direction guide rail seat 11.
The Z-direction part of the three-coordinate movement mechanism comprises a Z-direction guide rail seat 14, a Z-direction driving motor 15, a Z-direction screw rod 16 and a Z-direction lifting seat 17, wherein the Z-direction guide rail seat 14 vertically extends and is positioned in the water tank 6, the Z-direction guide rail seat 14 is sleeved with the Y-direction screw rod 13 and is in transmission fit with the Y-direction screw rod 13, the Z-direction driving motor 15 is installed at the upper end of the Z-direction guide rail seat 14, the Z-direction screw rod 16 vertically extends, the upper end of the Z-direction driving motor is coaxially connected with an output shaft of the Z-direction driving motor 15 in a transmission mode, the lower end of the Z-direction driving motor is rotatably connected with the Z-direction guide rail seat 14, and the Z-direction lifting seat 17 is sleeved with the Z-direction screw rod 16 and is connected with the Z-direction guide rail seat 14 in a sliding mode.
The top of the Z-direction lifting seat 17 is provided with a servo driving motor 18 controlled by a control system, the bottom of the Z-direction lifting seat 17 is rotatably connected with a rotating seat 19, a rotating shaft of the rotating seat 19 is coaxially connected with an output shaft of the servo driving motor 18 in a transmission way, and the rotating seat 19 and the underwater manipulator 20 rotate horizontally on the whole under the driving of the servo driving motor 18 so as to simulate the yaw motion of the UVMS in water.
The X-direction driving motor 9, the Y-direction driving motor 12, and the Z-direction driving motor 15 are all servo motors controlled by a control system.
The utility model discloses the guide rail seat and lead screw complex mode that mentions can be screw-thread fit, also can be at the built-in screw of guide rail seat, through screw and lead screw cooperation, and this is the general knowledge, does not do the perusal here.
The embodiment provides an experimental method for simulating UVMS motion control and underwater operation, which comprises the following steps:
wave making: sea water with a certain depth is stored in the water tank 6, and the wave-making push plate 5 in the water tank 6 is driven to do periodic reciprocating motion along the guide rail 6b at the edge of the water tank 6 by controlling the motion of the wave-making driving motor 1 in the wave-making part so as to excite the water body to generate waves, so that the underwater real environment with water flow and waves is simulated;
a mechanical arm moving step: the control system is preset, a three-coordinate motion mechanism for driving the whole UVMS system to move in the XYZ three directions is installed above the water tank 6, an underwater robot is installed on a Z-direction lifting seat 17 on the output side of the three-coordinate motion mechanism, a servo driving motor 18 is installed on the Z-direction lifting seat 17, the UVMS system is provided with a rotating seat 19 and two underwater manipulators 20 installed on the rotating seat 19, the rotating seat 19 is used for simulating an underwater boat body, and the whole UVMS system is driven to generate linear movement in the XYZ three directions and/or spinning movement around a Z axis through the displacement driving action of the three-coordinate motion mechanism and/or the rotating action of the rotating seat 19 driven by the servo driving motor 18;
the experiment execution steps are as follows: designing a specific motion control strategy and setting a specific underwater operation task, so that the UVMS system performs corresponding motion in the water tank 6 to complete an underwater operation simulation experiment.
In the wave making step, two wave making driving motors 1 which have the same specification and are set as servo motors are used as a power part of a wave making component, a screw rod transmission mode is used for driving a wave making push plate 5 to reciprocate in a water body of a water tank 6 according to a preset frequency, the movement speed and the maximum stroke of the wave making push plate 5 are changed by changing the rotating speed and the number of turns of the wave making driving motors 1, and finally, quasi-sine waves with different wave heights and periods are generated to achieve the purpose of wave making.
In the manipulator movement step, the control system gives a corresponding pulse signal to a driving part of the three-coordinate movement mechanism according to a preset movement control strategy, and controls the displacement and the speed of the UVMS system in three directions.
In the manipulator movement step, the servo drive motor 18 drives the rotary base 19 to rotate, and the yaw movement of the UVMS system is simulated.
The above are preferred embodiments of the present invention, and those skilled in the art can make various changes or improvements on the above embodiments without departing from the general concept of the present invention, and such changes or improvements should fall within the protection scope of the present invention.
Claims (6)
1. An experimental device for simulating UVMS motion control and underwater operation is characterized by comprising:
the upper part of the water tank (6) is of an open structure, and water is contained in the water tank;
the wave generating component is fixed on the water tank (6) and used for outputting reciprocating motion at a preset frequency to excite the water body in the water tank (6) to generate waves;
the UVMS system is composed of a rotary seat (19) and an underwater manipulator (20), the rotary seat (19) is used for simulating an underwater boat body, the underwater manipulator (20) is connected with the rotary seat (19), and the rotary seat (19) and the underwater manipulator (20) are both positioned in a water body of the water tank (6) during an experiment;
the device comprises a three-coordinate motion mechanism and an outer base (7) supporting the three-coordinate motion mechanism, wherein the three-coordinate motion mechanism is used for driving the whole UVMS to move in XYZ three directions.
2. An experimental apparatus for simulating UVMS motion control and underwater operation according to claim 1, wherein: basin (6) are whole to be established as cuboid frame construction and form a plurality of rectangle windows at its lateral wall, each rectangle window of basin (6) lateral wall all establishes to transparent, and is convenient for observe toughened glass (6a) of the interior experiment condition of basin (6) in basin (6) outward appearance.
3. An experimental apparatus for simulating UVMS motion control and underwater operation according to claim 2, wherein:
the wave generating component comprises:
a base (4) which is arranged on the short side of the water tank (6);
the wave-making driving motor (1) is arranged on the base (4);
the length direction of the transverse screw rod (2) is parallel to the long side of the water tank (6), one end of the transverse screw rod (2) is in coaxial transmission butt joint with an output shaft of the wave generating drive motor (1), and the other end of the transverse screw rod (2) is rotatably connected with the base (4);
the moving platform (3) is connected with the base (4) in a sliding mode, the moving platform (3) is sleeved on the transverse screw rod (2) and moves linearly along the length direction of the transverse screw rod (2) when the transverse screw rod (2) rotates;
the wave generating push plate (5), the wave generating push plate (5) is fixedly connected with the moving platform (3) and is vertically inserted into the water body of the water tank (6), and the plate surface of the wave generating push plate is vertical to the moving direction of the moving platform;
wherein, above-mentioned wave making parts are equipped with a pair ofly to arrange side by side, have the same specification and step and transfer unanimously when controlling, the mobile station (3) of two wave making parts fixed connection simultaneously make ripples push pedal (5) along the long avris horizontal migration of basin (6), and drive and make ripples push pedal (5) according to presetting the frequency and carry out reciprocating motion in the water of basin (6).
4. An experimental apparatus for simulating UVMS motion control and underwater operation according to claim 3, wherein: the water tank is characterized in that guide rails (6b) are arranged on two long side edges of the inner wall of the water tank (6) along the upper edges, the guide rails (6b) horizontally extend along the direction of the long side edges of the water tank (6), and two ends of the upper side of the wave-making push plate (5) are respectively in sliding fit with the guide rails (6b) on two sides.
5. An experimental apparatus for simulating UVMS motion control and underwater operation according to claim 2, wherein:
the two outer bases (7) are fixedly arranged independently of the water tank (6) and are provided with two sides, and the two outer bases (7) are respectively opposite to the two long sides of the water tank (6);
the X-direction parts of the three-coordinate movement mechanism are two and respectively correspond to two outer bases (7), each X-direction part comprises an X-direction guide rail seat (8), an X-direction driving motor (9) and an X-direction lead screw (10), the X-direction guide rail seats (8) are horizontally erected on the outer bases (7) and are parallel to the long side of the water tank (6), the X-direction driving motors (9) are installed on the X-direction guide rail seats (8), the X-direction lead screws (10) are parallel to the X-direction guide rail seats (8), one end of each X-direction lead screw (10) is coaxially connected with an output shaft of the X-direction driving motor (9) in a transmission mode, and the other end of each X-direction lead screw (10) is rotatably connected with the X-direction guide rail seats (8);
the Y-direction part of the three-coordinate movement mechanism comprises a Y-direction guide rail seat (11), a Y-direction driving motor (12) and a Y-direction screw rod (13), wherein two ends of the Y-direction guide rail seat (11) are respectively connected with two X-direction guide rail seats (8) in a sliding mode, the Y-direction guide rail seat (11) horizontally extends and is perpendicular to the long side of the water tank (6), the Y-direction driving motor (12) is installed on the Y-direction guide rail seat (11), the Y-direction screw rod (13) is parallel to the Y-direction guide rail seat (11), one end of the Y-direction screw rod (13) is coaxially connected with an output shaft of the Y-direction driving motor (12) in a transmission mode, and the other end of the Y-direction screw rod (13) is rotatably connected with the Y-direction guide rail seat (11);
the Z-direction part of the three-coordinate movement mechanism comprises a Z-direction guide rail seat (14), a Z-direction driving motor (15), a Z-direction screw rod (16) and a Z-direction lifting seat (17), wherein the Z-direction guide rail seat (14) vertically extends and is positioned in the water tank (6), the Z-direction guide rail seat (14) is sleeved with the Y-direction screw rod (13) and is in transmission fit with the Y-direction screw rod (13), the Z-direction driving motor (15) is installed at the upper end of the Z-direction guide rail seat (14), the Z-direction screw rod (16) vertically extends, the upper end of the Z-direction driving motor (15) is coaxially in transmission connection with an output shaft of the Z-direction driving motor (15), the lower end of the Z-direction driving motor is rotationally connected with the Z-direction guide rail seat (14), and the Z-direction lifting seat (17) is sleeved with the Z-direction screw rod (16) and is in sliding connection with the Z-direction guide rail seat (14);
a servo driving motor (18) controlled by a control system is installed at the top of the Z-direction lifting seat (17), the Z-direction lifting seat (17) is connected with a rotating seat (19) in a rotating mode at the bottom, a rotating shaft of the rotating seat (19) is in coaxial transmission connection with an output shaft of the servo driving motor (18), and the rotating seat (19) and the underwater manipulator (20) are driven by the servo driving motor (18) to rotate horizontally on the whole.
6. An experimental device for simulating UVMS motion control and underwater operation according to claim 5, characterized in that: the X-direction driving motor (9), the Y-direction driving motor (12) and the Z-direction driving motor (15) are all servo motors controlled by a control system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235337A (en) * | 2021-12-14 | 2022-03-25 | 长安大学 | Wave pushing plate type wave making machine and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114235337A (en) * | 2021-12-14 | 2022-03-25 | 长安大学 | Wave pushing plate type wave making machine and working method thereof |
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