RO128992A2

RO128992A2 - System for repositioning submersible robot by changing the weight center in relation to the volume center

Info

Publication number: RO128992A2
Application number: ROA201200369A
Authority: RO
Inventors: Gheorghe Ioan Vuşcan; Felix Attila Farkas
Original assignee: Universitatea Tehnică Din Cluj-Napoca
Priority date: 2012-05-23
Filing date: 2012-05-23
Publication date: 2013-11-29

Abstract

The invention relates to a system for repositioning the submersible robot by changing the centroid in relation to the volume center. According to the invention, the system is capable of maintaining the robot at a given angle in relation to an initial axes system and, at the same time, the movement of the repositioning system combined with the movement generated by the two engines (2) placed symmetrically in relation to submersible body (1) which may generate very complex trajectories, the system having two axes for horizontal movements, carried out by means of the two guides (6 and 9), located at 90° in relation to each other, whereon there moves a platform (8) of a pack of batteries (13), the guide move being performed by means of some motors (3 and 7) which drive some screws (4 and 5), the pack of batteries (13) moving along the two axes OX and OY, thus repositioning the centroid, which will be situated on the vertical line which joins the volume center with the centroid, and for balancing the buoyancy, the robot uses a counterweight (10) and it is endowed with an image collecting camera (12), and the robot inclination may be controlled by the sensing equipment thereof, such as a triaxial clinometer (11), placed on the board.

Description

DESCRIEREDESCRIPTION

Aceasta invenție se refera la un robot submersibil cu un sistem de repozitionare care este capabil de a repozitiona robotul submersibil prin schimbarea poziției centrului de greutate relativ la poziția centrului volumic al acestuia. Acest sistem este capabil de a menține robotul la un unghi dat fata de un sistem de axe inițial. Totodată mișcarea sistemului de repozitionare combinat cu mișcarea generata de cele doua motoare (2) dispuse simetric fata de corpul submersibilului pot genera traiectorii deosebit de complexe.This invention relates to a submersible robot with a repositioning system that is capable of repositioning the submersible robot by changing the position of the center of gravity relative to the position of its volumetric center. This system is capable of holding the robot at an angle to an initial axis system. At the same time, the movement of the repositioning system combined with the movement generated by the two motors (2) arranged symmetrically with the body of the submersible can generate extremely complex trajectories.

Se dă în continuare un exemplu de realizare a dispozitivului, în legătură cu figura 1 care reprezintă:The following is an example of an embodiment of the device, in connection with Figure 1, which represents:

figura 1, vedere de ansamblu asupra sistemului de repozitionare al robotului;figure 1, an overview of the robot repositioning system;

Sistemul are doua axe de deplasare in plan orizontal, dispuse la 90 de grade una fata de cealalta. Pe aceste doua axe se deplasează pachetul de baterii, repozitionand astfel centrul de greutate , care se va afla pe verticala care unește centrul volumic cu centrul de greutate. La modelele existente si analizate, acest lucru se realizează prin mișcarea continua a elicilor, fiind consumatoare de energie, reducând autonomitatea robotului considerabil. Acest sistem este destinat roboților care au o viteza de croaziera mica, de exemplu robotii de preluare a imaginilor de pe suprafața umeda a barajelor, analiza pereților de conducte de mari dimensiuni, etc. Robotul submersibil are forma de torpila (1), care este propulsat pe direcția OX de cele doua motoare dispuse in plan orizontal simetric fata de axa OX a torpilei (2) care ii oferă prin schimbarea sensului de rotatie una fata de cealalta un grad de rotatie in jurul axei Z; sistemul din interiorul robotului este alcătuit dintr-un motor pas cu pas (3), care are rolul de a transmite prin tija filetata (4) o mișcare de deplasare a săniei (6) de-a lungul axei OX pe ghidajele (9). Deplasând sania (6) se va modifica poziția centrului de greutate pe axele -XOX si rezulta o rotatie in jurul axei Y. Pe sania (6) se afla montat motorul (7) care prin tija filetata (5) transmite o mișcare axiala de-a lungul axei -YOY a săniei suport al bateriilor (8). In urma acestei mișcări rezulta o deplasare a centrului de greutate pe axa -YOY rezultând o rotatie in jurul axei OX. Balastul (10) are rolul de a echilibra flotabilitatea robotului aducandu-1 la flotabilitatea neutra. Controlul unghiului de înclinare pe cele doua axe, OY si OX se realizează prin giroscopul 3D (11) instalat la bordul robotului. Aceast sistem de repozitionare oferă operatorului posibilitatea de a poziționa optim camera (12) in vederea achiziției de date din mediul acvatic. Greutatea care dezechilibrează robotul este reprezentat de pachetul de baterii (13) care este de neinlaturat in cazul roboților autonomi.The system has two horizontal axis of displacement, arranged at 90 degrees from each other. On these two axes moves the battery pack, thus repositioning the center of gravity, which will be on the vertical linking the center of gravity with the center of gravity. In existing and analyzed models, this is achieved by the continuous movement of the propellers, being energy consuming, reducing the autonomy of the robot considerably. This system is intended for robots that have a low cruise speed, for example robots for taking pictures on the wet surface of dams, analyzing large pipe walls, etc. The submersible robot has the shape of a torpedo (1), which is propelled on the OX direction by the two motors arranged in a horizontal plane symmetrical with respect to the OX axis of the torpedo (2), which offers them by changing the direction of rotation one against the other a degree of rotation. around the Z axis; the system inside the robot is composed of a stepper motor (3), which has the function of transmitting through the threaded rod (4) a movement of movement of the sled (6) along the axis OX on the guides (9). Moving the sled (6) will change the position of the center of gravity on the axes -XOX and will result in a rotation around the Y axis. along the -YOY axis of the battery slider (8). This movement results in a shift of the center of gravity on the -YOY axis resulting in a rotation around the OX axis. Ballast (10) has the role of balancing the robot's buoyancy by bringing it to neutral buoyancy. The control of the tilt angle on the two axes, OY and OX is done by the 3D gyroscope (11) installed on board the robot. This repositioning system gives the operator the opportunity to optimally position the camera (12) in order to acquire data from the aquatic environment. The unbalanced weight of the robot is represented by the battery pack (13) which is unbreakable in the case of autonomous robots.

In cazul in care sistemul este dinamic, modificarea centrului de greutate si implicit repozitionarea robotului realizează virajele necesare orientării pentru deplasarea intr-un punct dat.In case the system is dynamic, the change of the center of gravity and implicitly the repositioning of the robot makes the corners necessary for the orientation for the displacement at a given point.

Prin aplicarea invenției se obțin următoarele avantaje:By applying the invention, the following advantages are obtained:

Scăderea costurilor de construcție prin reducerea numărului de motoare necesare Marirea autonomiei bateriilor prin eliminarea consumului constant de energie necesara menținerii robotului intr-o poziție data prin mișcarea continuua a motoarelor Stabilitate mai ridicata eliminând mișcările adiacente rezultate din mișcarea elicilor motoarelor pentru repozitionareReducing construction costs by reducing the number of engines required Increasing battery autonomy by eliminating the constant energy consumption required to keep the robot in a position given by the continuous movement of the engines Higher stability eliminating the adjacent movements resulting from the movement of the propeller motors for repositioning

Principalul dezavantaj al acestei construcții o reprezintă timpul mai ridicat de răspuns pentru o comanda de reorientare aceasta abordare pretandu-se la robotii cu viteza de croazieraThe main disadvantage of this construction is the higher response time for a reorientation command, this approach being suitable for cruising speed robots

Claims

1. The robot repositioning system comprising the two guide slits (6) and (9) and the support (8) for the battery pack (13), characterized in that the repositioning of the battery pack (13) results in a change in the position of the center of the battery. weight, moving this center of gravity relative to the position of the volumetric center. These two centers are always on the vertical axis of the robot, and in the case of a move from one to the other it will result in the repositioning of the robot so that these two are on the same axis, and the degree center will always be re-located below the volume center in the case which these two centers do not coincide by changing the position of the robot.

2. The rotation orientation system on the OY axis, according to claim 1, characterized in that the rotation movement on this axis is achieved by changing the position of the center of gravity along the OY axis.

The rotational orientation system on the OX axis, according to claim 1, characterized in that the rotational movement on this axis is achieved by changing the position of the center of gravity along the OX axis.

4. The navigation system for a given point, according to claim 1, characterized in that the orientation movement of the robot to obtain a certain trajectory is obtained by combining the movement on the two axes of the position of the center of gravity with the movement given by the propulsion of the two submersible robot motors that can be equal or with variable speed or with the possibility of reversing the rotational senses with each other.