CN216684811U

CN216684811U - Chain type multi-body autonomous underwater robot

Info

Publication number: CN216684811U
Application number: CN202123366033.2U
Authority: CN
Inventors: 康帅; 杨庆; 张进; 俞建成; 陈阔; 崔立
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2022-06-07
Anticipated expiration: 2031-12-29

Abstract

The utility model belongs to the technical field of underwater robots, and particularly relates to a chain type multi-body autonomous underwater robot. Comprises a plurality of monomer AUVs hinged end to end in sequence; the single AUV comprises a bow expansion cabin section, a midship sampling cabin section, a midship lobe cabin section, a midship control cabin section and a stern expansion cabin section which are sequentially connected, wherein the midship sampling cabin section is used for sampling; the midship cabin section is used for providing thrust moving in the vertical direction; the stern expansion cabin section is used for providing power for fore-and-aft movement and pitching movement. The utility model has the characteristic of power distribution, has the advantages of high efficiency and high maneuvering navigation, can meet the requirements of underwater complex environment tasks, and can provide potential solutions for executing deep and offshore tasks and complex environment operations such as underwater archaeology, pipeline operation and maintenance and the like.

Description

Chain type multi-body autonomous underwater robot

Technical Field

The utility model belongs to the technical field of underwater robots, and particularly relates to a chain type multi-body autonomous underwater robot.

Background

The land occupation area of the ocean is 70.8 percent, and abundant marine biological resources, mineral resources and energy sources are stored. Underwater robots, which can replace or partially replace humans to understand, observe and survey the ocean, have been developed for the purpose of developing, utilizing and protecting the ocean. Underwater robots can be generally classified into: autonomous underwater robots (AUVs), cabled remote underwater Robots (ROVs) and autonomous/remote underwater robots (ARVs). The AUV can autonomously perform analysis, decision and cooperation by utilizing self-carried energy and by means of a mounted sensor and an execution mechanism, and has the advantages of high intelligent degree, high navigation speed, wide detection range and the like, so that the AUV is widely applied to underwater detection tasks.

Due to the fact that the operation capacity of the single underwater robot is limited, a novel cluster intelligent operation mode emerges. However, the underwater robot has limited energy carrying capacity, and a large amount of energy is consumed to overcome the resistance when each single AUV independently navigates. In addition, each single AUV uses a sensor to sense environmental information, so that the energy is greatly consumed when information interaction between groups is carried out. The large consumption of energy limits the working time of each single AUV, and causes difficulty in performing deep open sea tasks. Moreover, the single AUV has insufficient maneuverability when facing complex underwater structure environments such as pipelines, sunken ships and the like, and the maneuverability is difficult to meet the task requirement.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a chain type multi-body autonomous underwater robot which has the characteristic of power distribution, has the advantages of high efficiency and high maneuvering navigation, can meet the requirements of underwater complex environment tasks, and can provide a potential solution for executing deep and distant sea tasks and complex environment operations such as underwater archaeology, pipeline operation and maintenance.

The purpose of the utility model is realized by the following technical scheme:

a chain type multi-body autonomous underwater robot comprises a plurality of single AUVs hinged end to end in sequence; the single AUV comprises a bow expansion cabin section, a midship sampling cabin section, a midship vertical push cabin section, a midship control cabin section and a stern expansion cabin section which are sequentially connected, wherein the midship sampling cabin section is used for sampling; the middle hip vertical push cabin section is used for providing pushing force moving in the vertical direction; the stern expansion cabin section is used for providing power for fore-and-aft movement and pitching movement.

Two adjacent cabin sections of monomer AUV all connect through flange, all are equipped with the threading screw on each flange, and the threading screw is used for walking of signal cable line.

And connecting pull rods are connected between the front end of the midship vertical thrust cabin section and the rear end of the bow expansion cabin section and between the rear end of the midship vertical thrust cabin section and the front end of the stern expansion cabin section.

The bow expansion cabin comprises a bow air guide sleeve and a bow end cover, wherein one side of the bow end cover is connected with the connecting flange at one end of the midship sampling cabin through a connecting ring, and the bow air guide sleeve is arranged on the outer side of the bow end cover and is connected with the bow end cover through a bow connecting stud.

The midship sampling cabin section comprises a midship sampling cabin shell, and a peristaltic pump and a water storage bag which are arranged in the midship sampling cabin shell, wherein a peristaltic pump supporting plate is arranged in the midship sampling cabin shell, the peristaltic pump is arranged on the peristaltic pump supporting plate, and the peristaltic pump is connected with the water storage bag through a one-way sampling pipeline.

The middle hip vertical push cabin section comprises a vertical push fixed cabin body, a vertical driving motor support, a vertical driving motor and a vertical push propeller, wherein the vertical driving motor support is arranged in the vertical push fixed cabin body, the vertical driving motor is arranged on the vertical driving motor support, an output shaft is connected with the vertical push propeller, and the vertical driving motor drives the vertical push propeller to rotate around a vertical shaft.

The midship control cabin section comprises a midship control cabin shell, an electric control element fixing plate, a GPS (global positioning system) radio Bluetooth integrated module, a power supply supporting plate and a power supply, wherein the electric control element fixing plate is arranged in the midship control cabin shell, is arranged on the power supply supporting plate and is positioned at the front end of the midship control cabin shell; the power supply is arranged on the power supply supporting plate.

The stern expansion cabin section comprises a stern fairing, a horizontal propulsion mechanism and a horizontal paddle rear rudder mechanism, wherein the stern fairing is arranged at the rear end of the midship control cabin section, and the top of the stern fairing is provided with an integrated antenna; horizontal propulsion mechanisms are arranged on the left side and the right side of the front end of the stern fairing, and a horizontal paddle rear steering mechanism is arranged at the rear end of the stern fairing.

The horizontal propulsion mechanism comprises a longitudinal driving motor support, a longitudinal driving motor and a driving propeller, wherein the longitudinal driving motor support is arranged on the outer side of the stern part air guide sleeve, the longitudinal driving motor is arranged on the longitudinal driving motor support, and an output shaft is connected with the driving propeller; the longitudinal driving motor drives the driving propeller to rotate, and the rotating axis of the driving propeller is parallel to the central axis of the single AUV.

The horizontal paddle rear steering mechanism comprises a paddle rear rudder, a single-shaft steering engine support and a single-shaft steering engine, wherein the single-shaft steering engine support is connected with the stern part air guide sleeve through a stern part connecting stud; the single-shaft steering engine is arranged on the single-shaft steering engine support, the output end of the single-shaft steering engine is connected with the rear rudder of the paddle, and the single-shaft steering engine drives the rear rudder of the paddle to overturn so as to provide power for pitching motion of the robot.

The utility model has the following beneficial effects and advantages:

1. the utility model has the characteristic of power distribution by the combined operation of the longitudinal propellers distributed at both sides of each monomer, the vertical driving motor of the midship of the monomer and the horizontal paddle rear rudder of the stern of the monomer, and can realize high maneuvering operation.

2. The utility model is composed of three isomorphic single AUVs, the single AUVs are connected through a plane hinge, the connection form has simple and reliable structure and convenient disassembly, and is extremely friendly to cluster chain operation and dispersed single operation.

3. The single AUV adopts a pitching driving structure of the rear rudder of the horizontal paddle, and compared with the traditional front rudder of the paddle, the structure has higher rudder efficiency and is beneficial to realizing high maneuvering operation.

4. The single AUV adopts a modular design, and the functional modules can be reasonably configured according to task requirements.

5. The utility model has compact structure and light weight, and is very convenient for the operations of laying and recovering on the sea and the lake.

Drawings

FIG. 1 is an isometric view of a chain multi-body autonomous underwater robot of the present invention;

FIG. 2 is an isometric view of a unitary AUV of the present invention;

FIG. 3 is a top view of a monolithic AUV of the present invention;

FIG. 4 is a schematic diagram of the internal structure of the single AUV of the present invention;

wherein: 100 is a front monomer AUV, 200 is a middle monomer AUV, 300 is a rear monomer AUV, the three monomers AUVs are isomorphic platforms, the front monomer AUV100 is taken as an example, 101-140 are parts of the monomer AUV, and the concrete steps are as follows: 101 is a bow expansion cabin section, 102 is a midship sampling cabin section, 103 is a midship vertical push cabin section, 104 is a midship control cabin section, 105 is a stern expansion cabin section, 106 is a hinged support, 107 is a bow dome, 108 is a bow end cover, 109 is a connecting ring, 110 is a connecting pull rod, 111 is a midship sampling cabin shell, 112 is a vertical push fixed cabin body, 113 is a vertical driving support, 114 is a vertical driving motor, 115 is a vertical push screw propeller, 116 is a midship control cabin shell, 117 is a longitudinal driving motor support, 118 is a longitudinal driving motor, 119 is a stern dome, 120 is a paddle rear rudder, 121 is a seated bearing, 122 is a bow connecting stud, 123 is a threading nut, 124 is a threading screw, 125 is a connecting flange, 126 is a peristaltic pump, 127 is a peristaltic pump, 128 is a water storage bag, 129 is a counterweight block, 130 is an electric control support plate fixing plate, 131 is a GPS radio integrated module, 132 is the power backup pad, 133 is the power, 134 is power fastening stud, 135 is the drive screw, 136 is stern portion connecting stud, 137 is integrated antenna, 138 is unipolar steering wheel support, 139 is unipolar steering wheel, 140 is unipolar steering wheel adaptor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the chain type multi-body autonomous underwater robot provided by the utility model comprises a plurality of single-body AUVs hinged end to end in sequence; the single AUV comprises a bow expansion cabin section 101, a midship sampling cabin section 102, a midship vertical push cabin section 103, a midship control cabin section 104 and a stern expansion cabin section 105 which are connected in sequence, wherein the midship sampling cabin section 102 is used for sampling; the midship vertical thrust cabin section 103 is used for providing thrust moving in the vertical direction; the stern flare 105 is used to provide power for fore and aft movement and pitch movement.

As shown in fig. 2, in the embodiment of the present invention, the front end of each single AUV is provided with a hinge bracket 106, the rear end of each single AUV is provided with a bearing with a seat 121, and the hinge brackets 106 and the bearings with seats 121 on two adjacent single AUVs are connected by a stud to realize multi-AUV chain connection. As shown in fig. 4, two adjacent cabin sections of the single AUV are connected by a connecting flange 125, each connecting flange 125 is provided with a threading screw 124, the threading screw 124 is locked by a threading nut 123, and the threading screw 124 is used for routing a signal cable. The threading screw 124 can ensure not only the sealing effect between the cabin sections but also the signal transmission between the cabin sections. The space between the connecting flange 125 and each cabin shell and the space between the connecting flange 125 and the threading nut 123 are sealed by O-rings, so that an inner closed space is formed.

Further, as shown in fig. 2, connecting tie rods 110 are connected between the front end of the midship lobe section 103 and the rear end of the bow expansion lobe section 101, and between the rear end of the midship lobe section 103 and the front end of the stern expansion lobe section 105.

In an embodiment of the utility model, as shown in fig. 3-4, the bow expansion trunk 101 comprises a bow dome 107 and a bow end cap 108, wherein one side of the bow end cap 108 is connected with a connecting flange 125 at one end of the midship sampling trunk 102 through a connecting ring 109, and the bow dome 107 is arranged outside the bow end cap 108 and is connected with the bow end cap 108 through a bow connecting stud 122.

In the embodiment of the utility model, the midship sampling cabin 102 comprises a midship sampling cabin shell 111, and a peristaltic pump 127 and a water storage bag 128 which are arranged in the midship sampling cabin shell 111, wherein a peristaltic pump support plate 126 is arranged in the midship sampling cabin shell 111, the peristaltic pump 127 is arranged on the peristaltic pump support plate 126, and the peristaltic pump 127 is connected with the water storage bag 128 through a one-way sampling pipeline. The water storage water bag 128 is provided with a counterweight lead block 129.

In the embodiment of the utility model, the midship vertical-push cabin section 103 comprises a vertical-push fixed cabin body 112, a vertical driving motor support 113, a vertical driving motor 114 and a vertical-push propeller 115, wherein the vertical driving motor support 113 is arranged in the vertical-push fixed cabin body 112, the vertical driving motor 114 is arranged on the vertical driving motor support 113, an output shaft is connected with the vertical-push propeller 115, and the vertical driving motor 114 drives the vertical-push propeller 115 to rotate around a vertical shaft so as to realize the rapid vertical movement of the AUV.

In an embodiment of the utility model, the midship control cabin segment 104 comprises a midship control cabin shell 116, an electric control element fixing plate 130, a GPS radio and bluetooth integrated module 131, a power supply supporting plate 132 and a power supply 133, which are arranged in the midship control cabin shell 116, wherein the electric control element fixing plate 130 is arranged on the power supply supporting plate 132 and is located at the front end of the midship control cabin shell 116, and an electric control system for AUV operation control and a navigation system for AUV tracking and positioning are mounted on the electric control element fixing plate 130; the power supply 133 is arranged on the power supply support plate 132, and the power supply 133 is used for improving the underwater cruising ability of the single AUV.

In an embodiment of the utility model, the stern expansion cabin section 105 comprises a stern fairing 119, a horizontal propulsion mechanism and a horizontal paddle rudder rear mechanism, wherein the stern fairing 119 is arranged at the rear end of the midship control cabin section 104, and the top of the stern fairing 119 is provided with an integrated antenna 137; horizontal propulsion mechanisms are arranged on the left side and the right side of the front end of the stern fairing 119, and a horizontal paddle rear steering mechanism is arranged at the rear end of the stern fairing 119.

In the embodiment of the utility model, the horizontal propulsion mechanism comprises a longitudinal driving motor bracket 117, a longitudinal driving motor 118 and a driving propeller 135, wherein the longitudinal driving motor bracket 117 is arranged on the outer side of the stern fairing 119, the longitudinal driving motor 118 is arranged on the longitudinal driving motor bracket 117, and an output shaft is connected with the driving propeller 135; the longitudinal driving motor 118 drives the driving propeller 135 to rotate, and the rotation axis of the driving propeller 135 is parallel to the central axis of the single AUV. Therefore, the longitudinal driving motor 118 drives the propeller 135 to rotate, thereby providing underwater navigation power of the single AUV.

In the embodiment of the utility model, the horizontal paddle rear steering mechanism comprises a paddle rear steering 120, a single-shaft steering engine bracket 138 and a single-shaft steering engine 139, wherein the single-shaft steering engine bracket 138 is connected with a stern fairing 119 through a stern connecting stud 136; the single-shaft steering engine 139 is arranged on the single-shaft steering engine support 138, the output end of the single-shaft steering engine 139 is connected with the rear oar rudder 120, the single-shaft steering engine 139 drives the rear oar rudder 120 to overturn up and down, a certain included angle is formed between the rear oar rudder and the base plane of the robot body, the included angle is +/-20 degrees, and power is provided for pitching motion of the robot by utilizing interaction of the control surface and fluid, so that pitching control is performed on the single AUV.

In the embodiment of the present invention, there are three single AUVs, specifically, a front single AUV100, a middle single AUV200, and a rear single AUV300, as shown in fig. 1.

The working principle of the utility model is as follows:

the single AUV mainly works by realizing underwater heaving and front-back movement through a vertical driving motor 114 and a longitudinal driving motor 118, realizing pitching movement through a rear paddle rudder 120, and having flexible movement routes, wherein a peristaltic pump 127 works to collect a water sample, and the water sample is stored in a water storage water bag 128 through a one-way pipeline; and when the chained multi-body autonomous underwater robot floats out of the water surface after finishing a single observation task, the current position of the chained multi-body autonomous underwater robot is determined by adopting a GPS (global positioning system) and is connected with a shore-based monitoring center or a mother ship monitoring center through a satellite communication system. And receiving observation data of a single operation and issuing a next operation task at the same time. The modular assembly scheme can provide convenience conditions for reasonably matching corresponding scientific loads or power modules according to the operation requirements of different scenes.

The chain type combination work of the chain type multi-body autonomous underwater robot mainly realizes the chain type connection by hinging the single AUVs through a hinged support 106 at the head end of a bow expansion cabin section 101 and a bearing 121 with a seat at the tail end of a stern expansion cabin section 105. In addition, under the condition that each single AUV has independent driving force, the multi-body AUV can work cooperatively through reasonable matching of a plurality of power control devices, and underwater navigation maneuverability can be effectively improved.

The utility model has the characteristic of power distribution, has the advantages of high efficiency and high maneuvering navigation, can meet the requirements of underwater complex environment tasks, and can provide potential solutions for executing deep and offshore tasks and complex environment operations such as underwater archaeology, pipeline operation and maintenance and the like.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A chain type multi-body autonomous underwater robot is characterized by comprising a plurality of single AUVs (autonomous underwater vehicles) which are sequentially hinged end to end; the single AUV comprises a bow expansion cabin section (101), a midship sampling cabin section (102), a midship vertical push cabin section (103), a midship control cabin section (104) and a stern expansion cabin section (105) which are connected in sequence, wherein the midship sampling cabin section (102) is used for sampling; the midship vertical push cabin section (103) is used for providing pushing force moving in the vertical direction; the stern expansion section (105) is used for providing power for fore-and-aft movement and pitching movement.

2. The chained multi-body autonomous underwater vehicle of claim 1, wherein two adjacent cabin sections of the single AUV are connected through connecting flanges (125), each connecting flange (125) is provided with a threading screw (124), and the threading screws (124) are used for routing signal cables.

3. The chain type multi-body autonomous underwater vehicle of claim 2, characterized in that connecting tie rods (110) are connected between the front end of the midship pod section (103) and the rear end of the bow expansion pod section (101) and between the rear end of the midship pod section (103) and the front end of the stern expansion pod section (105).

4. The chain type multi-body autonomous underwater vehicle of claim 2, characterized in that the bow expansion bay (101) comprises a bow dome (107) and a bow end cap (108), wherein one side of the bow end cap (108) is connected with the connecting flange (125) at one end of the midship sampling bay (102) by a connecting ring (109), and the bow dome (107) is arranged outside the bow end cap (108) and connected with the bow end cap (108) by a bow connecting stud (122).

5. The chain type multi-body autonomous underwater vehicle of claim 1, wherein the midship sampling cabin section (102) comprises a midship sampling cabin shell (111), and a peristaltic pump (127) and a water storage bag (128) which are arranged in the midship sampling cabin shell (111), wherein a peristaltic pump support plate (126) is arranged in the midship sampling cabin shell (111), the peristaltic pump (127) is arranged on the peristaltic pump support plate (126), and the peristaltic pump (127) is connected with the water storage bag (128) through a one-way sampling pipeline.

6. The chain type multi-body autonomous underwater vehicle of claim 1, wherein the midship pendulous push cabin section (103) comprises a pendulous push fixed cabin body (112), a vertical driving motor support (113), a vertical driving motor (114) and a pendulous push propeller (115), wherein the vertical driving motor support (113) is arranged in the pendulous push fixed cabin body (112), the vertical driving motor (114) is arranged on the vertical driving motor support (113), an output shaft is connected with the pendulous push propeller (115), and the vertical driving motor (114) drives the pendulous push propeller (115) to rotate around a vertical shaft.

7. The chained multi-body autonomous underwater vehicle of claim 1, wherein the midship control cabin segment (104) comprises a midship control cabin shell (116), and an electric control element fixing plate (130), a GPS-radio-bluetooth integrated module (131), a power supply supporting plate (132) and a power supply (133) which are arranged in the midship control cabin shell (116), wherein the electric control element fixing plate (130) is arranged on the power supply supporting plate (132) and is positioned at the front end of the midship control cabin shell (116); the power supply (133) is disposed on the power supply support plate (132).

8. The chain type multi-body autonomous underwater vehicle of claim 1, characterized in that said stern expansion capsule (105) comprises a stern fairing (119), a horizontal propulsion mechanism and a horizontal rudder rear mechanism, wherein the stern fairing (119) is arranged at the rear end of said midship control capsule (104), and the top of the stern fairing (119) is provided with an integrated antenna (137); horizontal propulsion mechanisms are arranged on the left side and the right side of the front end of the stern fairing (119), and a horizontal paddle rear steering mechanism is arranged at the rear end of the stern fairing (119).

9. The chain type multi-body autonomous underwater vehicle of claim 8, wherein the horizontal propulsion mechanism comprises a longitudinal driving motor bracket (117), a longitudinal driving motor (118) and a driving propeller (135), wherein the longitudinal driving motor bracket (117) is disposed outside the stern fairing (119), the longitudinal driving motor (118) is disposed on the longitudinal driving motor bracket (117), and the output shaft is connected with the driving propeller (135); the longitudinal driving motor (118) drives the driving propeller (135) to rotate, and the rotating axis of the driving propeller (135) is parallel to the central axis of the single AUV.

10. The chain type multi-body autonomous underwater vehicle of claim 8, wherein the horizontal rear paddle steering mechanism comprises a rear paddle rudder (120), a single-shaft steering engine bracket (138) and a single-shaft steering engine (139), wherein the single-shaft steering engine bracket (138) is connected with the stern fairing (119) through a stern connecting stud (136); the single-shaft steering engine (139) is arranged on the single-shaft steering engine support (138), the output end of the single-shaft steering engine is connected with the rear oar rudder (120), and the single-shaft steering engine (139) drives the rear oar rudder (120) to overturn so as to provide power for pitching motion of the robot.