CN2892668Y - Rudder wing type micro-underwater robot - Google Patents
Rudder wing type micro-underwater robot Download PDFInfo
- Publication number
- CN2892668Y CN2892668Y CN 200620020855 CN200620020855U CN2892668Y CN 2892668 Y CN2892668 Y CN 2892668Y CN 200620020855 CN200620020855 CN 200620020855 CN 200620020855 U CN200620020855 U CN 200620020855U CN 2892668 Y CN2892668 Y CN 2892668Y
- Authority
- CN
- China
- Prior art keywords
- depth
- control computer
- rudder
- underwater robot
- utility
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a rudder fin type miniature underwater robot, which realizes the navigation with set depth and direction by combining a double main propeller and a rudder wing .Compared with the ordinary underwater robot, the utility model dispenses with transverse and vertical propellers. The main structure of the utility model includes a body, a right propeller and a left propeller, an adjustable attack angle horizontal rudder, a vertical stabilizing fin, a depth gauge, a magnetic compass, a stepping motor and a control computer. The body is about 1.0m in length with the length-width ratio of 2:1. In operation, the right and the left main propellers propel the underwater robot to navigate; the direction and depth signals are fed back to the control computer by the magnetic compass and the depth gauge in a real-time way. The control computer controls the main propellers and the adjustable attack angle horizontal rudder to keep a certain direction and a diving depth. The utility model has the advantages of simple structure, convenient control, reliable operation and low cost, and can automatically navigate in the sea with set direction and depth. The utility model is particularly suitable for ocean exploitation, scientific investigation in the ocean or military purposes.
Description
Technical field
A kind of Rudder Fin Type Microminiature Underwater Robot can depthkeeping constant-bearing navigation independently under marine environment.Be used for ocean exploitation, ocean scientific investigation or military field.
Background technology
General under-water robot desire realizes the locomitivity of all directions, must comprise the multiple thruster of main thruster, side thrust device and vertical thruster at vertical, horizontal and vertical equipment, and general sum is greater than 5.They need occupy bigger space, and have destroyed the whole line style of robot, cause resistance to increase, and energy consumption strengthens, and is unfavorable for long-time navigation.On the other hand, when under-water robot moved ahead with the higher speed of a ship or plane, effect horizontal and vertical thruster sharply descended, effectively the course of control robot and trim.For the under-water robot of paying attention to the speed of a ship or plane and voyage index more, should equip controlsurfaces such as rudder, the wing or utilize main thruster to realize maneuvering performance under the higher speed of a ship or plane.
The length of microminiature underwater robot is generally less than 2.0 meters, and its activity space also is a underwater 3 D.Because its volume is little, load space and limited in one's ability, the energy deficiency of being with is not suitable for equipping side thrust device and vertical thruster.And the manipulation frequency of the rudder and the wing is low, energy consumption is little, and high speed lower-pilot ability is strong, is specially adapted to microminiature underwater robot.
But characteristics such as the Rudder Fin Type Microminiature Underwater Robot has, and volume is little, in light weight, maneuverability, stealth is good, lift-launch is convenient, the low batch manufacturing of cost and use are strengthening sea power and are improving the irreplaceable effect of bringing into play uniqueness aspect the development and utilization of marine resources ability.Developed countries such as the U.S. have been fully recognized that the importance of this microminiature underwater robot, drop into a large amount of manpower and materials and study.
1.575 meters of the PTEROA150 length overalls of Tokyo Univ Japan's nineteen ninety development, 220 kilograms of displacement, adopt the afterbody twin screw to advance, realize trim and course adjustment by adjustable tailplane and adjustable vertical tail vane, can in water, continue a journey 40 minutes, carry supersonic sounding, TV, inertial navigation system, deflagration type ballast eduction gear under water.This robot is the experimental prototype in advance that marine environment detects under-water robot.2002, U.S. Nekton company has developed the Rudder Fin Type Microminiature Underwater Robot Renger (patrol) of a kind of the low cost in water surface work, single task role, it only equips a thruster, change course by a steering rudder, sensors such as thermohaline is dark, chlorophyll, level of oxygen are housed, are mainly used in the co-operative control research of marine environmental monitoring and multirobot.
The present domestic Rudder Fin Type Microminiature Underwater Robot that main thruster still only is not installed.
Summary of the invention
The utility model provides a kind of Rudder Fin Type Microminiature Underwater Robot, it realizes the depthkeeping constant-bearing navigation of under-water robot in the mode of two main thrusters, the combination of the rudder wing, compare with general under-water robot and to have saved horizontal and vertical thruster, advantage such as have that structure is simple relatively, manoeuvrable, running are reliable, with low cost.
Rudder Fin Type Microminiature Underwater Robot's keystone configuration comprise body, about two main thrusters, adjustable angle of attack diving rudder, vertical stabilizer, depth index, magnetic compass, stepping motor and control computer.Wherein, two main thrusters are installed on the both sides of under-water robot body respectively, each two of adjustable angle of attack diving rudder and vertical stabilizers, be arranged in the afterbody of under-water robot respectively symmetrically, depth index is installed on the below of body, magnetic compass, stepping motor and controlling computer are positioned at the watertight compartment of under-water robot, and stepping motor drives adjustable angle of attack diving rudder by dynamic seal.
During navigation, promote the under-water robots navigation by two main thrusters, turning to thrust of left and right sides main thruster is adjustable respectively, and when the thrust of left and right sides main thruster was identical, under-water robot was done the direct route motion, and this moment, vertical stabilizer played steady course; When the thrust of left and right sides main thruster not simultaneously, then under-water robot is done homeward motion; When a propelling unit is just transferring thrust, and another propelling unit counter-rotating, when sending reciprocal thrust, under-water robot can be realized cast.When determining the navigation of a certain course, as departed from the course, then magnetic compass passes to control computer with offset signal, and control computer is according to the value that departs from, and propelling unit is given an order to the left and right, revises the course, makes the under-water robot navigation that goes as course.
In the navigation, depth index feeds back to control computer with the depth signal of under-water robot self all the time, under-water robot is navigated by water in a certain degree of depth, then control computer is given an order according to degree of depth difference in real time, make stepping motor drive adjustable angle of attack diving rudder and change the angle of attack, produce lift, adjust the trim of under-water robot, thereby change the degree of depth of navigation.
Description of drawings
Fig. 1 Rudder Fin Type Microminiature Underwater Robot system constitutes scheme drawing
Fig. 2 Rudder Fin Type Microminiature Underwater Robot navigation system control block diagram
The specific embodiment
Provide preferred implementation of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, Rudder Fin Type Microminiature Underwater Robot's keystone configuration comprise body 0, about two main thrusters 1, adjustable angle of attack diving rudder 2, vertical stabilizer 3, depth index 4, magnetic compass 5, stepping motor 6 and control computer 7.Wherein, body 0 is for having the oblong housing in oblate cross section, and non-watertight part can adopt aluminum alloy or glass-felt plastic to make, and built-in watertight compartment is a bicylindrical aluminum alloy watertight pressure-resistant housing; The length of body 0 is about 1.0 meters, and aspect ratio is 2: 1.Adjustable angle of attack diving rudder 2 and vertical stabilizer 3 each two are arranged in the both sides of body 0 afterbody respectively symmetrically, and make by aluminum alloy; Two main thrusters 1 are Model-250 type magnetic coupling duckpeller under water, are installed on respectively before the both sides of body 0, the adjustable angle of attack diving rudder 2; Depth index 4 is the JYB-KO-LVG type, and the below that is installed in body 0 also directly contacts with water; Magnetic compass 5, stepping motor 6 and control computer 7 are positioned at body 0 in-to-in watertight compartment; The model of stepping motor 6 is KH42JM2 (direct current 24V), drives adjustable angle of attack diving rudder 2 by the transmission device of conventional design and rotates, and install dynamic seal additional passing through the housing place.The model of magnetic compass 5 is HWR3000.Control computer 7 is PC104 bus MSMP3XEV-400C-64M-P
+-E47.
As shown in Figure 2, depth index 4, magnetic compass 5 send to control computer 7 with the degree of depth and course information, about two main thrusters 1 and stepping motor 6 accept the instruction of control computer 7 respectively.The autokinetic movement control program is stored in the control computer 7 in advance.
During the navigation of this under-water robot, provide thrust to make the robot navigation by main thruster 1, when about the thrust sent of two main thrusters 1 when identical, under-water robot is in the direct route state, at this moment, vertical stabilizer 3 plays the effect of steady course.The thrust of sending when left and right sides main thruster 1 not simultaneously, under-water robot will change course.As determining that under-water robot is by the navigation of a certain set course, then magnetic compass 5 passes to course information control computer 7 at any time, control computer 7 is according to both vectoring and the gap in course at present, give an order to main thruster 1, adjust the thrust that left and right sides main thruster sends, revise the course, make the under-water robot navigation that goes as course.As require under-water robot to navigate by water in a certain degree of depth, then depth index 4 passes to depth information control computer 7 at any time, control computer 7 is according to the gap of given depth with the present degree of depth, give an order to stepping motor 6, driving adjustable angle of attack diving rudder 2 rotates, make under-water robot be the trimming condition navigation, to change submerged depth.When the degree of depth of under-water robot reached given depth, adjustable angle of attack diving rudder 2 adjusted back to zero rudder angle position, and it will play the effect of stabilizer, can make under-water robot not have the trim navigation.
The utility model can be realized the underwater fixed depth constant-bearing navigation, and have that structure is simple relatively, manoeuvrable, running are reliable, sealing means is fit to advantages such as underwater environment, are specially adapted to ocean exploitation, ocean scientific investigation and various military field.
Claims (1)
1. Rudder Fin Type Microminiature Underwater Robot, it is characterized in that it comprise body (0), about two main thrusters (1), adjustable angle of attack diving rudder (2), vertical stabilizer (3), depth index (4), magnetic compass (5), stepping motor (6) and control computer (7); Wherein, body 0 is for having the oblong housing in oblate cross section, built-in sealing cartridge type watertight compartment; Each two of adjustable angle of attack diving rudder (2) and vertical stabilizers (3) are arranged in the both sides of body (0) afterbody respectively symmetrically; Both sides, adjustable angle of attack diving rudder (2) that two main thrusters (1) are installed on body (0) respectively are before; Depth index (4) is installed in the below of body (0), directly contacts with water; Magnetic compass (5), stepping motor (6) and control computer (7) are positioned at body (0) in-to-in watertight compartment; Stepping motor (6) is connected with adjustable angle of attack diving rudder (2) rotor axis mechanical, and installs dynamic seal additional passing through the housing place; Depth index (4), magnetic compass 5 send to control computer (7) with the degree of depth and course information respectively; About two main thrusters (1) and stepping motor (6) accept the instruction of control computer (7) respectively; The autokinetic movement control program is stored in the control computer (7) in advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620020855 CN2892668Y (en) | 2006-05-18 | 2006-05-18 | Rudder wing type micro-underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620020855 CN2892668Y (en) | 2006-05-18 | 2006-05-18 | Rudder wing type micro-underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2892668Y true CN2892668Y (en) | 2007-04-25 |
Family
ID=38060834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620020855 Expired - Fee Related CN2892668Y (en) | 2006-05-18 | 2006-05-18 | Rudder wing type micro-underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2892668Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100443369C (en) * | 2007-06-14 | 2008-12-17 | 上海交通大学 | Deep-sea solar diving device |
| CN102707721A (en) * | 2012-06-03 | 2012-10-03 | 西北工业大学 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
| CN103010435A (en) * | 2011-09-21 | 2013-04-03 | 任首旺 | Instant comprehensive optionally-oriented (steered) high-speed proceeding diving instrument |
| CN103057681A (en) * | 2013-01-18 | 2013-04-24 | 中国科学技术大学 | Underwater monitoring robot |
| CN105015741A (en) * | 2015-07-24 | 2015-11-04 | 大连海事大学 | Underwater vehicle possessing automatic direction correction function |
| CN105067631A (en) * | 2015-08-04 | 2015-11-18 | 浙江水利水电学院 | Water conveyance tunnel underwater detection method based on dynamic window and detection robot thereof |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN106802147A (en) * | 2017-01-24 | 2017-06-06 | 青岛海洋地质研究所 | Preventing seabed base in-situ observation platform auxiliary feeler lever departs from and safety guard |
| CN106871779A (en) * | 2017-02-27 | 2017-06-20 | 中国科学院自动化研究所 | Minitype underground fin face incidence vane |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN110979603A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
-
2006
- 2006-05-18 CN CN 200620020855 patent/CN2892668Y/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100443369C (en) * | 2007-06-14 | 2008-12-17 | 上海交通大学 | Deep-sea solar diving device |
| CN103010435A (en) * | 2011-09-21 | 2013-04-03 | 任首旺 | Instant comprehensive optionally-oriented (steered) high-speed proceeding diving instrument |
| CN102707721A (en) * | 2012-06-03 | 2012-10-03 | 西北工业大学 | Unmanned dynamic ship model with localization and obstacle avoidance functions |
| CN103057681A (en) * | 2013-01-18 | 2013-04-24 | 中国科学技术大学 | Underwater monitoring robot |
| CN105015741A (en) * | 2015-07-24 | 2015-11-04 | 大连海事大学 | Underwater vehicle possessing automatic direction correction function |
| CN105067631B (en) * | 2015-08-04 | 2017-12-22 | 浙江水利水电学院 | The underwater detection method of water-conveyance tunnel and its detection robot based on dynamic window |
| CN105067631A (en) * | 2015-08-04 | 2015-11-18 | 浙江水利水电学院 | Water conveyance tunnel underwater detection method based on dynamic window and detection robot thereof |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN106802147A (en) * | 2017-01-24 | 2017-06-06 | 青岛海洋地质研究所 | Preventing seabed base in-situ observation platform auxiliary feeler lever departs from and safety guard |
| CN106871779A (en) * | 2017-02-27 | 2017-06-20 | 中国科学院自动化研究所 | Minitype underground fin face incidence vane |
| CN106871779B (en) * | 2017-02-27 | 2019-10-15 | 中国科学院自动化研究所 | Minitype underground fin face incidence vane |
| CN110386238A (en) * | 2018-04-19 | 2019-10-29 | 中国科学院沈阳自动化研究所 | A kind of complete extra large depth ARV underwater robot structure |
| CN110979603A (en) * | 2019-12-28 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN110979603B (en) * | 2019-12-28 | 2023-09-12 | 中国科学院沈阳自动化研究所 | Direction control device for underwater robot |
| CN113277034A (en) * | 2021-05-18 | 2021-08-20 | 江苏科技大学 | Underwater robot for marine product fishing |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2892668Y (en) | Rudder wing type micro-underwater robot | |
| CN100443369C (en) | Deep-sea solar diving device | |
| US7305928B2 (en) | Method for positioning a marine vessel | |
| US7267068B2 (en) | Method for maneuvering a marine vessel in response to a manually operable control device | |
| CN105652878A (en) | Underwater target low-speed approaching and hovering submarine body combining multiple propellers | |
| CN106043634A (en) | High-maneuverability underwater glider | |
| CN1709766A (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN111645835A (en) | Unmanned primary and secondary underwater vehicle with multiple underwater belts | |
| CN109292061A (en) | A kind of binary submarine navigation device of bionical swing and propeller hybrid propulsion | |
| CN108423118A (en) | A kind of unmanned boat using wave advance | |
| CN105620654A (en) | Hybrid-propulsion underwater vehicle | |
| CN212500979U (en) | Marine power steering integrated device | |
| CN112357028B (en) | Aircraft for detecting underwater plants | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| CN208344516U (en) | A kind of fin rudder combination self-correction underwater surface aircraft | |
| CN113716003B (en) | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof | |
| CN208198727U (en) | A kind of unmanned boat using wave advance | |
| CN105109649A (en) | Underwater vector propeller for realizing flexible steering by utilizing coanda effect | |
| RU203080U1 (en) | Small-sized remote-controlled unmanned underwater vehicle with separate propulsion control | |
| CN206719471U (en) | A kind of " fish type " semi-submersible type unmanned boat | |
| CN115180144A (en) | Fixed wing strides medium ground effect aircraft | |
| CN114435576A (en) | Rudderless propulsion ship | |
| CN115071934A (en) | Novel underwater robot based on flapping wing propulsion | |
| CN210310798U (en) | Unmanned ship | |
| CN114313168A (en) | Chain type multi-body autonomous underwater robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Institute for Engineering Technology Design, College of Shipbuilding Engineering Assignor: Harbin Engineering Univ. Contract fulfillment period: 2008.8.20 to 2013.8.20 Contract record no.: 2008230000051 Denomination of utility model: Rudder wing type micro-underwater robot Granted publication date: 20070425 License type: Exclusive license Record date: 20081010 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.8.20 TO 2013.8.20; CHANGE OF CONTRACT Name of requester: HARBIN CHUANDA ENGINEERING DESIGN RESEARCH INSTITU Effective date: 20081010 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070425 Termination date: 20100518 |