CN217260614U - Underwater robot for experiment - Google Patents
Underwater robot for experiment Download PDFInfo
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- CN217260614U CN217260614U CN202220833787.XU CN202220833787U CN217260614U CN 217260614 U CN217260614 U CN 217260614U CN 202220833787 U CN202220833787 U CN 202220833787U CN 217260614 U CN217260614 U CN 217260614U
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- buoyancy
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- screw propeller
- buoyancy block
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Abstract
The utility model relates to an aquatic robot for experiments, including braced frame, control system, system and buoyancy system of marcing, braced frame includes upper plate (9), hypoplastron (15), backup pad (13), preceding crash bar (10) and lower crash bar (12), and preceding crash bar (10) can be used to bear the collision of the preceding object in the course of marcing, and lower crash bar (12) can be used to bear the collision of the object below in the course of marcing and be used for supporting the complete machine after going out water, and the robot still includes the clearance system, the clearance system includes clearing device (1) and waterproof steering wheel (2) that are located hypoplastron (15) rear, is equipped with on waterproof steering wheel (2) and adjusts crank (17), drives clearing device (1) through waterproof steering wheel (2) and can realize the clear function of barrier; in addition, the structure change of the crank-slider mechanism can be realized by adjusting the connecting rod connection position on the crank (17), thereby changing the cleaning action and the cleaning force.
Description
Technical Field
The utility model relates to a robotechnology field particularly, relates to an aquatic robot for experiments.
Background
Along with the development of science and technology, the development and exploration of land resources are difficult to find out greatly, and the land available resources are gradually reduced. Ocean exploration is actively carried out under the promotion of subjects such as robotics, automatic control principles, materials science and the like, and many researchers aim at ocean development, but the ocean is not suitable for direct deep exploration of human beings and is often accompanied with danger. The underwater robot has been developed significantly because the underwater depth that can be achieved by manpower can not meet the requirements of scientific research.
The underwater robot can reach places where people can not submerge for exploration and bring information back to sea, can submerge almost anywhere as long as the underwater robot is suitable in materials and communication distance, does not worry about danger, has high command execution force, and can simultaneously transmit more information back by means of sensors relative to the human being.
At present, the widely adopted underwater robots are of two types, one is a bionic type, the other is a propeller propulsion type, and the propeller propulsion type is a popular underwater robot structural design relatively speaking. The bionic type machine has large body volume and large running resistance in water, and can not use a conventional component and needs special customization.
For example, the chinese utility model patent with the publication number CN 212099301U discloses an underwater robot for underwater detection, wherein the vertical plane of the advancing direction of the housing of the robot is thinner than the horizontal plane, the underwater communication system is fixed on the top of the housing, and the energy system, the pressure-resistant detection system and the pressure-resistant control cabin are arranged inside the housing; the retractable stabilizing wing is fixed on the outer surface of the tail part of the shell; the four vector thrusters are arranged on two sides of the shell; a control system of an underwater robot is arranged in the pressure-resistant control cabin; the outer shell of the pressure-resistant control cabin comprises a cylindrical shell and a plurality of ribs, wherein the ribs are distributed on the outer surface of the cylindrical shell, and the cylindrical shell comprises an upper shell plate, a lower shell plate and a pressure reduction layer; the outer side wall of the upper shell plate and the inner side wall of the lower shell plate are parallel inclined planes, a gap is formed between the outer side wall of the upper shell plate and the inner side wall of the lower shell plate, and a decompression layer is arranged in the gap; the decompression layer is made of buoyancy material, damping material or sound absorption material. However, the robot lacks a cleaning device, and the power source is a lithium ion battery, so that the running speed is slow; in addition, the shell is made of high-strength titanium alloy materials, and the manufacturing cost is high.
SUMMERY OF THE UTILITY MODEL
In order to solve among the prior art bulky, the running resistance is great in aqueous, and this propulsion efficiency that makes the robot discounts greatly, can cause obvious energy loss and the problem that the functioning speed is slow, manufacturing cost is high, the utility model provides an aquatic robot for experiments can solve the defect of above-mentioned existence through increasing clearance system.
An experimental underwater robot comprises a supporting frame, a control system, a traveling system and a buoyancy system, wherein the supporting frame comprises an upper plate, a lower plate, a supporting plate, a front anti-collision rod and a lower anti-collision rod, the front anti-collision rod can be used for bearing the collision of a front object in the traveling process, the lower anti-collision rod can be used for supporting the whole robot after bearing the collision of a lower object in the traveling process and yielding water, the robot further comprises a clearing system, the clearing system comprises a clearing device and a waterproof steering engine, the clearing device is located behind the lower plate, an adjusting crank is arranged on the waterproof steering engine, and the clearing function of obstacles can be achieved by driving the clearing device through the waterproof steering engine; in addition, the structure change of the crank-slider mechanism can be realized by adjusting the connecting position of the connecting rod on the crank, so that the clearing action and the clearing force can be changed.
Preferably, the control system comprises a tracking unit, a vision unit and a control core cabin, wherein the tracking unit comprises depth sensors and infrared sensors with adjustable intervals, the infrared sensors are positioned at the front end of the lower plate, the number of the infrared sensors is an odd number larger than 3, the depth sensors are positioned on the lower plate, and the number of the depth sensors is 1. The number and the spacing of the infrared sensors are adjustable, and the device can be used for testing the influence of the navigation function and the navigation precision of the whole machine under the conditions of different spacings and numbers of the infrared sensors; the depth of entry of degree of depth sensor is adjustable, can test the influence of different mounted position to whole machine navigation function and navigation accuracy.
In any of the above schemes, preferably, the vision unit includes a waterproof camera and an image processing unit, the waterproof camera collects image signals and sends the image signals to the image processing unit, the image processing unit processes the signals and sends the data to the control core cabin, the waterproof camera is mounted at the front end of the upper plate and has an adjustable camera angle, and the image processing unit is located at the top of the control core cabin and has an adjustable position; the control core cabin is positioned between the upper plate and the lower plate, is adjustable in position, receives return signals of the tracking unit and the visual unit, processes the return signals and sends an advancing system instruction.
In any of the above solutions, preferably, the image processing unit and the control core module are fixedly installed through different fixing holes. The image processing unit and the part with larger mass proportion of the control core cabin can realize fine adjustment of the front and back and/or left and right positions through different fixing holes, so that the aim of adjusting the buoyancy and the gravity center of the whole device is fulfilled.
In any of the above solutions, it is preferable that the traveling system includes a support plate and a plurality of sets of symmetrically distributed propellers, and the propellers are angularly adjustable propellers.
In any of the above schemes, preferably, the multiple sets of symmetrically distributed propellers include a left rear steering propeller, a left rear advancing propeller, a left floating and submerging propeller, a left front steering propeller, a right floating and submerging propeller, a right rear advancing propeller, and a right rear steering propeller, and the propellers receive instructions for controlling the core cabin and realize the functions of advancing, retreating, floating, submerging, left-right steering and the like of the underwater robot. The screw propellers quantity is not less than 6 sets, wherein be no less than 2 sets of screw propellers and arrange for vertical or slope in order to realize aquatic robot come-up dive function, be no less than 4 sets of screw propellers and arrange around in order to realize the aquatic robot function of marcing forward and retreat, all screw propellers installation angle is all adjustable.
In any of the above aspects, it is preferred that the buoyancy system comprises a main buoyancy system and a bottom buoyancy system, the main buoyancy system is located above the upper plate and comprises a left front buoyancy block, a right rear buoyancy block and a left rear buoyancy block; the bottom buoyancy system is located below the lower plate and comprises blocks of low density material and hollow blocks of different volumes. When the left front buoyancy block, the right rear buoyancy block and the left rear buoyancy block adopt hollow block structures, the gravity and the gravity center of the whole machine can be adjusted in modes of filling liquid and the like under the condition of not changing the appearance.
In any of the above schemes, preferably, the left front buoyancy block, the right rear buoyancy block and the left rear buoyancy block are fixed on the upper plate through different fixing holes, and parts with large mass ratio can realize fine adjustment of the front and rear and/or left and right positions through different fixing holes, so as to achieve the purpose of adjusting the buoyancy and gravity center of the whole device.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of an experimental underwater robot according to the present invention.
Fig. 2 is a schematic structural diagram of a control system in the embodiment shown in fig. 1 of the experimental underwater robot according to the present invention.
Fig. 3 is a schematic structural diagram of a propulsion system in the embodiment shown in fig. 1 of the experimental underwater robot according to the present invention.
Fig. 4 is a schematic structural view of the buoyancy system in the embodiment shown in fig. 1 of the experimental underwater robot according to the present invention.
Fig. 5 is a schematic structural diagram of a cleaning system in the embodiment shown in fig. 1 of the experimental underwater robot according to the present invention.
The reference numbers illustrate:
the device comprises a clearing device 1, a waterproof steering engine 2, a rear buoyancy block 3, a right rear buoyancy block 31, a left rear buoyancy block 32, a status indicator lamp 4, a screw propeller 5, a left rear steering screw propeller 51, a left rear forward screw propeller 52, a left floating and diving screw propeller 53, a left front steering screw propeller 54, a right front steering screw propeller 55, a right floating and diving screw propeller 56, a right rear forward screw propeller 57, a right rear steering screw propeller 58, an image processing unit 6, a front buoyancy block 7, a left front buoyancy block 71, a right front buoyancy block 72, a waterproof camera 8, an upper plate 9, a front bumper 10, an infrared sensor 11, a lower bumper 12, a support plate 13, a control core cabin 14, a lower plate 15, a depth sensor 16 and an adjusting crank 17.
Detailed Description
The following describes a specific embodiment of the experimental underwater robot according to the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present invention is a schematic structural diagram of a preferred embodiment of an underwater robot for experiments.
An experimental underwater robot comprises a supporting frame, a control system, a traveling system and a buoyancy system, wherein the supporting frame comprises an upper plate 9, a lower plate 15, a supporting plate 13, a front anti-collision rod 10 and a lower anti-collision rod 12, the front anti-collision rod 10 can be used for bearing the collision of a front object in the traveling process, the lower anti-collision rod 12 can be used for supporting the whole robot after bearing the collision of a lower object in the traveling process and yielding water, the robot further comprises a clearing system, the clearing system comprises a clearing device 1 and a waterproof steering engine 2, the clearing device 1 is positioned behind the lower plate 15, the waterproof steering engine 2 is provided with an adjusting crank 17 (shown in figure 5), and the clearing device 1 is driven by the waterproof steering engine 2 to achieve the clearing function of obstacles; in addition, the structure change of the crank-slider mechanism can be realized by adjusting the connecting rod connection position on the crank 17, thereby changing the cleaning action and the cleaning force.
As shown in fig. 2, the structure of the control system in the embodiment shown in fig. 1 of the experimental underwater robot according to the present invention is schematically illustrated.
In this embodiment, the control system comprises a tracking unit, a vision unit and a control core cabin 14, wherein the tracking unit comprises depth sensors 16 and infrared sensors 11 with adjustable spacing, the infrared sensors 11 are positioned at the front end of a lower plate 15, the number of the infrared sensors 11 is an odd number larger than 3, and the depth sensors 16 are positioned on the lower plate 15, and the number of the depth sensors is 1. The number and the spacing of the infrared sensors 11 are adjustable, and the device can be used for testing the influence of the navigation function and the navigation precision of the whole device under the conditions of different infrared sensor spacing and number; the depth sensor 16 is adjustable in water depth, and can test the influence of different installation positions on the whole navigation function and navigation precision.
In this embodiment, the vision unit includes a waterproof camera 8 and an image processing unit 6, the waterproof camera 8 collects image signals and sends the image signals to the image processing unit 6, the image processing unit 6 processes the signals and sends the data to a control core cabin 14, the waterproof camera 8 is installed at the front end of the upper plate 9, the camera angle is adjustable, and the image processing unit 6 is located at the top of the control core cabin 14 and is adjustable in position; the control core cabin 14 is positioned between the upper plate 9 and the lower plate 15, is adjustable in position, receives return signals of the tracking unit and the vision unit, processes and sends a traveling system command.
In this embodiment, the image processing unit 6 and the control core compartment 14 are fixedly mounted through different fixing holes. The image processing unit 6 and the control core cabin 14 with larger mass can realize fine adjustment of the front and back and/or left and right positions through different fixing holes, so as to achieve the purpose of adjusting the buoyancy and the gravity center of the whole device.
Referring next to fig. 3, a schematic diagram of a propulsion system in the embodiment of fig. 1 of the experimental underwater robot according to the present invention is shown.
In this embodiment, the advancing system includes a supporting plate 13 and a plurality of sets of symmetrically distributed propellers 5, and the propellers 5 are angularly adjustable propellers.
In this embodiment, the plurality of sets of symmetrically distributed propellers 5 include a left rear steering propeller 51, a left rear forward propeller 52, a left floating and diving propeller 53, a left front steering propeller 54, a right front steering propeller 55, a right floating and diving propeller 56, a right rear forward propeller 57, and a right rear steering propeller 58, and the propellers 5 receive and control the instruction of the core cabin 14 and realize the functions of forward, backward, upward floating, diving, left and right steering of the underwater robot. The number of the screw propellers is not less than 6, wherein not less than 2 screw propellers (53, 54) are arranged vertically or obliquely to realize the floating and submerging functions of the underwater robot, not less than 4 screw propellers (51, 52, 54, 55, 57, 58) are arranged front and back to realize the advancing and retreating functions of the underwater robot, and the installation angles of all the screw propellers are adjustable.
As shown in fig. 4, the embodiment of the experimental underwater robot shown in fig. 1 according to the present invention is a schematic structural diagram of a buoyancy system.
In this embodiment, the buoyancy system comprises a main buoyancy system and a bottom buoyancy system, the main buoyancy system being located above the upper plate 9 and comprising a left front buoyancy block 71, a right front buoyancy block 72, a right rear buoyancy block 31 and a left rear buoyancy block 32; the bottom buoyancy system is located below the lower plate 15 and comprises blocks of low density material and hollow blocks of different volumes. When the left front buoyancy block 71, the right front buoyancy block 72, the right rear buoyancy block 31 and the left rear buoyancy block 32 are of hollow block structures, the gravity and the gravity center of the whole machine can be adjusted in a liquid filling mode without changing the appearance.
In this embodiment, the left front buoyancy block 71, the right front buoyancy block 72, the right rear buoyancy block 31 and the left rear buoyancy block 32 are fixed on the upper plate 9 through different fixing holes, and parts with large mass ratio can be finely adjusted in front and rear and/or left and right positions through different fixing holes, so as to adjust the buoyancy and the center of gravity of the whole device.
The skilled person in the art can understand that the experimental underwater robot of the present invention includes any combination of the parts in this specification. These combinations are not described in detail herein for the sake of brevity and clarity, but the scope of the invention, which is defined by any combination of parts or features disclosed herein, will become apparent after a review of this specification.
Claims (8)
1. The utility model provides an aquatic robot for experiments, includes braced frame, control system, system of marcing and buoyancy system, braced frame includes upper plate (9), hypoplastron (15), backup pad (13), preceding crash bar (10) and lower crash bar (12), its characterized in that: the robot further comprises a clearing system, wherein the clearing system comprises a clearing device (1) and a waterproof steering engine (2) which are located behind the lower plate (15), and an adjusting crank (17) is arranged on the waterproof steering engine (2).
2. The experimental underwater robot of claim 1, wherein: the control system comprises a tracking unit, a vision unit and a control core cabin (14), wherein the tracking unit comprises depth sensors (16) and infrared sensors (11) with adjustable intervals, the infrared sensors (11) are positioned at the front end of a lower plate (15), the number of the infrared sensors is an odd number larger than 3, the depth sensors (16) are positioned on the lower plate (15), and the number of the depth sensors is 1.
3. The experimental underwater robot of claim 2, wherein: the vision unit comprises a waterproof camera (8) and an image processing unit (6), the waterproof camera (8) collects image signals and sends the image signals to the image processing unit (6), the image processing unit (6) processes the signals and sends the data to the control core cabin (14), the waterproof camera (8) is installed at the front end of the upper plate (9) and the camera shooting angle is adjustable, and the image processing unit (6) is located at the top of the control core cabin (14) and is adjustable in position; the control core cabin (14) is positioned between the upper plate (9) and the lower plate (15) and is adjustable in position.
4. The experimental water robot as set forth in claim 3, wherein: the image processing unit (6) and the control core cabin (14) are fixedly installed through different fixing holes.
5. The experimental water robot as set forth in claim 1, wherein: the advancing system comprises a support plate (13) and a plurality of groups of symmetrically distributed spiral propellers (5), wherein the spiral propellers (5) are propellers with adjustable angles.
6. The experimental water robot as set forth in claim 5, wherein: the multiple groups of symmetrically distributed screw propellers (5) comprise a left rear steering screw propeller (51), a left rear advancing screw propeller (52), a left floating and diving screw propeller (53), a left front steering screw propeller (54), a right front steering screw propeller (55), a right floating and diving screw propeller (56), a right rear advancing screw propeller (57) and a right rear steering screw propeller (58).
7. The experimental underwater robot of claim 1, wherein: the buoyancy system comprises a main buoyancy system and a bottom buoyancy system, the main buoyancy system is positioned above the upper plate (9) and comprises a left front buoyancy block (71), a right front buoyancy block (72), a right rear buoyancy block (31) and a left rear buoyancy block (32); the bottom buoyancy system is located below the lower plate (15) and comprises blocks of low density material and hollow blocks of different volumes.
8. The experimental water robot as set forth in claim 7, wherein: the left front buoyancy block (71), the right front buoyancy block (72), the right rear buoyancy block (31) and the left rear buoyancy block (32) are fixed on the upper plate (9) through different fixing holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220833787.XU CN217260614U (en) | 2022-04-12 | 2022-04-12 | Underwater robot for experiment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220833787.XU CN217260614U (en) | 2022-04-12 | 2022-04-12 | Underwater robot for experiment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217260614U true CN217260614U (en) | 2022-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220833787.XU Expired - Fee Related CN217260614U (en) | 2022-04-12 | 2022-04-12 | Underwater robot for experiment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217260614U (en) |
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2022
- 2022-04-12 CN CN202220833787.XU patent/CN217260614U/en not_active Expired - Fee Related
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Granted publication date: 20220823 |
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| CF01 | Termination of patent right due to non-payment of annual fee |