WO2017161954A1

WO2017161954A1 - Power system used for underwater robot and underwater robot

Info

Publication number: WO2017161954A1
Application number: PCT/CN2017/070216
Authority: WO
Inventors: 魏建仓; 杜欢兴; 乔建磊; 王书军
Original assignee: 天津深之蓝海洋设备科技有限公司
Priority date: 2016-03-22
Filing date: 2017-01-05
Publication date: 2017-09-28
Also published as: JP3220737U

Abstract

A power system used for an underwater robot and an underwater robot, wherein the power system comprises: a vertical suspension propeller assembly (10) including a left vertical suspension propeller assembly (11) and a right vertical suspension propeller assembly (12), the left vertical suspension propeller assembly (11) and the right vertical suspension propeller assembly (12) being arranged on two sides of the body of the underwater robot symmetrically with respect to the central axis of the underwater robot, the left vertical suspension propeller assembly (11) and the right vertical suspension propeller assembly (12) each comprising at least one vertical suspension propeller and the number of vertical suspension propellers included being equal; and a horizontal suspension propeller assembly (20) including a left horizontal suspension propeller assembly (21) and a right horizontal suspension propeller assembly (22), the left horizontal suspension propeller assembly (21) and the right horizontal suspension propeller assembly (22) being arranged on two sides of a tail portion of the underwater robot symmetrically with respect to the central axis of the underwater robot, the left horizontal suspension propeller assembly (21) and the right horizontal suspension propeller assembly (22) each comprising at least one horizontal suspension propeller and the number of horizontal suspension propellers included being equal.

Description

Power system and underwater robot for underwater robot

Technical field

The invention relates to the technical field of marine engineering, in particular to a power system and an underwater robot for an underwater robot.

Background technique

The underwater motion of the underwater robot is achieved by the output thrust of the propeller, and depending on the complexity of the action that can be achieved, the underwater robot will carry a different number of thrusters. The propeller arrangement of the underwater robot is generally horizontal or vertical, and realizes the functions of forward, backward, left shift, right shift, and turn.

Summary of the invention

According to an embodiment of the present invention, a power system for an underwater robot is provided, comprising:

a vertically suspended propeller assembly comprising a left vertical suspension thruster set and a right vertical suspension thruster set, wherein the left vertical suspension thruster set and the right vertical suspended thruster set are underwater robotic The central axis is symmetrically disposed on both sides of the fuselage of the underwater robot, and the left vertical suspension propeller group and the right vertical suspension propeller group each include at least one vertical suspension propeller, and the vertical suspension propulsion included The number of devices is equal;

The horizontal suspension thruster group includes a left horizontal suspension thruster group and a right horizontal suspension thruster group, wherein the left horizontal suspension thruster group and the right horizontal suspension thruster group are symmetrically disposed on the central axis of the underwater robot. On both sides of the tail of the underwater robot, the left horizontal suspension thruster set and the right horizontal horizontal thruster set each include at least one horizontally suspended thruster and the number of horizontally suspended thrusters included is equal.

Optionally, the geometric planes of the vertical suspension thruster set and the horizontal suspension thruster set substantially coincide with the geometric plane of the fuselage of the underwater robot.

Optionally, when the number of vertical suspension thrusters of the left vertical suspension thruster group is 2n, the vertically suspended thrusters included are symmetrically arranged with the longitudinal section of the underwater robot's floating center; Straight When the number of vertical suspension thrusters of the suspension thruster group is 2n, the vertical suspension thrusters included are symmetrically arranged with the longitudinal section of the underwater robot's floating center; the vertical vertical suspension thruster group is vertical When the number of suspension thrusters is 2n+1, the n+1th vertical suspension thrusters arranged in the vertical suspension thrusters included are disposed on the longitudinal section of the underwater robot's floating center, and the rest The vertical suspension propeller is symmetrically arranged with the longitudinal section of the underwater robot's floating center; when the number of vertical suspension propellers of the right vertical suspension propeller group is 2n+1, the vertical suspension propulsion included The n+1th vertical suspension thrusters arranged in the order are placed on the longitudinal section of the underwater robot's floating center, and the remaining vertical suspension thrusters are longitudinal sections of the underwater robot's floating center. Symmetrical setting; where n is a natural number.

Optionally, the left vertical suspension thruster set includes two vertical suspension thrusters; the right vertical suspension thruster set includes two vertical suspension thrusters.

Optionally, the two vertical suspension thrusters included in the left vertical suspension thruster and the two vertical suspension thrusters included in the right vertical suspension thruster are respectively located at the center of gravity of the underwater robot. On the four vertices of the square.

Optionally, the left horizontal suspension thruster set includes a horizontally suspended thruster; the right horizontally suspended thruster set includes a horizontally suspended thruster.

Optionally, the horizontally suspended thruster set includes a horizontally suspended thruster having a greater power than the vertically suspended thruster included in the vertically suspended thruster set.

Alternatively, all horizontally suspended thrusters have equal power and all vertically suspended thrusters have equal power.

According to one embodiment of the invention, an underwater robot is provided, including the power system described above.

The power system for the underwater robot of the above embodiment provides a vertical suspension thruster group on both sides of the fuselage of the underwater robot, and a horizontal suspension thruster group is disposed at the tail of the airframe, thereby realizing posture adjustment, advancement, Movement function of back, left and right shift, turn, roll and pitch.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

FIG. 1 is a schematic diagram of a power system for an underwater robot according to an embodiment of the present invention.

detailed description

In order to make the technical solutions and the advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be further described in detail below through the accompanying drawings and embodiments.

FIG. 1 is a power system for an underwater robot according to an embodiment of the present invention. As shown in FIG. 1, a power system for an underwater robot includes a vertically suspended propeller group 10 and a horizontal suspension propeller group 20.

The vertically suspended propeller group 10 includes a left vertical suspension thruster set 11 and a right vertical suspension thruster set 12. The left vertical suspension thruster group 11 and the right vertical suspension thruster group 12 are symmetrically disposed on both sides of the underwater robot's fuselage with the central axis of the underwater robot. The left vertical suspension thruster set 11 and the right vertical suspension thruster set 12 each include at least one vertical suspension thruster and include the same number of vertically suspended thrusters.

The horizontal suspension thruster set 20 includes a left horizontal suspension thruster set 21 and a right horizontal horizontal thruster set 22 . The left horizontal suspension thruster group 21 and the right horizontal suspension thruster group 22 are symmetrically disposed on both sides of the tail of the underwater robot with the center axis of the underwater robot. The left horizontal suspension thruster set 21 and the right horizontal horizontal thruster set 22 each include at least one horizontally suspended thruster and include equal numbers of horizontally suspended thrusters.

According to the power system for an underwater robot of the above embodiment, a vertical suspension thruster group is disposed on both sides of the body of the underwater robot, and a horizontal suspension thruster group is disposed at the tail of the air body, thereby realizing posture adjustment and advancement. Movement function of receding, retreating, moving left and right, turning, rolling and pitching.

As an option, all horizontally suspended thrusters have equal power and all vertically suspended thrusters have equal power. For example, in FIG. 3, the left vertical suspension thruster 111, the left second vertical suspension thruster 112, the right vertical suspension thruster 121, and the right second vertical suspension thruster 122 have the same power; the left horizontal suspension thruster The power of 211 and the right horizontal suspension thruster 221 are equal.

As an option, the power of the horizontal suspension propeller is greater than the power of the vertical suspension propeller. For example, the power of any one of the left horizontal suspension propeller 211 and the right horizontal suspension propeller 221 in FIG. 3 is greater than that of the left vertical suspension propeller 111, the left two vertical suspension propeller 112, and the right vertical suspension propulsion. The power of any one of the regulator 121 and the right second vertical suspension thruster 122.

Optimized the underwater robot by the power system for the underwater robot of the above embodiment The power output, based on the motion of attitude adjustment, forward, backward, left shift, right shift, roll and pitch, fully exerts the power of the propeller power output to the motion.

As an option, the geometric plane of the vertical suspension thruster set 10 and the horizontal suspension thruster set 20 substantially coincides with the geometric plane of the fuselage of the underwater robot. For example, the vertical suspension thruster set 10 and the horizontal suspension thruster set 20 are disposed on the geometric plane of the fuselage of the underwater robot.

Alternatively, when the number of vertical suspension thrusters of the left vertical suspension thruster group 11 is 2n, the included vertical suspension thrusters are symmetrically arranged with the longitudinal section of the underwater robot's floating center, wherein , n is a natural number. For example, the number of vertically suspended thrusters of the left vertical suspension thruster set 11 may be an even number of 2, 4, 6, or 8.

As an option, the left vertical suspension thruster set 11 includes two vertical suspension thrusters. When n=1, 2n vertical suspension thrusters (ie 2 vertical suspension thrusters) are arranged on the left side, the left vertical suspension thruster 111 and the left vertical suspension thruster 112 are floated by the underwater robot. The longitudinal section of the heart is symmetrically set. When the number of vertical suspension thrusters of the right vertical suspension thruster group 12 is 2n, the included vertical suspension thrusters are symmetrically arranged with the longitudinal section of the underwater robot's floating center, where n is a natural number. For example, the number of vertically suspended thrusters of the right vertical suspension thruster set 12 may be an even number of 2, 4, 6, or 8.

As an option, the right vertical suspension thruster set 12 includes two vertical suspension thrusters. When n=1, two vertical suspension thrusters are disposed on the right side, and the right vertical suspension thruster 121 and the right second vertical suspension thruster 122 are symmetrically disposed with the longitudinal section of the underwater robot's floating center.

When the number of vertical suspension thrusters of the left vertical suspension thruster group 11 is 2n+1, the n+1th vertical suspension thrusters arranged in the vertical suspension thrusters included are disposed under water On the longitudinal section of the robot's floating center, the remaining vertical suspension thrusters are symmetrically arranged with the longitudinal section of the underwater robot's floating center, where n is a natural number. For example, the number of vertically suspended thrusters of the left vertical suspension thruster group 11 may be an odd number of 3, 5, 7, or 9.

For example, when n=1, 2n+1 vertical suspension thrusters (ie 3 vertical suspension thrusters) are arranged on the left side, three vertical suspension thrusters are arranged in sequence, and the three vertical suspension thrusters are arranged. The first vertical suspension thruster, the second vertical suspension thruster and the third vertical suspension thruster are respectively. The n+1th vertical suspension propeller (ie, the second vertical suspension propeller) is disposed on a longitudinal section of the underwater robot's floating center, the first vertical suspension propeller and the third vertical suspension propeller It is symmetrically arranged with the longitudinal section of the underwater robot's floating center.

When the number of vertical suspension thrusters of the right vertical suspension thruster group is 2n+1, the n+1th vertical suspension thrusters arranged in the vertical suspension thrusters included are arranged in the underwater robot In the longitudinal section where the floating center is located, the remaining vertical suspension thrusters are symmetrically arranged with the longitudinal section of the underwater robot's floating center, where n is a natural number. For example, the number of vertically suspended thrusters of the right vertical suspension thruster set 12 may be an odd number of 3, 5, 7, or 9.

For example, when n=1, 2n+1 vertical suspension thrusters (ie, 3 vertical suspension thrusters) are arranged on the right side, three vertical suspension thrusters are sequentially arranged, and the three vertical suspension thrusters are respectively The first vertical suspension thruster, the second vertical suspension thruster and the third vertical suspension thruster. The n+1th vertical suspension propeller (ie, the second vertical suspension propeller) is disposed on a longitudinal section of the underwater robot's floating center, the first vertical suspension propeller and the third vertical suspension propeller It is symmetrically arranged with the longitudinal section of the underwater robot's floating center.

Alternatively, the two vertical suspension thrusters included in the left vertical suspension thruster set and the two vertical suspension thrusters 12 included in the right vertical suspension thruster set 12 are respectively located at the center of gravity of the underwater robot On the four vertices of the center of the square.

Alternatively, the left horizontal suspension thruster set 21 includes a horizontally suspended thruster; the right horizontal horizontal thruster set 22 includes a horizontally suspended thruster. For example, the left horizontal suspension thruster set 21 includes a left horizontal suspension thruster 211. The right horizontal suspension thruster set 21 includes a right horizontal suspension thruster 221.

As an option, the horizontal suspension thruster set 20 includes a horizontally suspended thruster having a greater power than the vertical suspension thruster included in the vertical suspension thruster set 10.

For example, when the left vertical suspension thruster 111, the left second vertical suspension thruster 112, the right vertical suspension thruster 121, and the right second vertical suspension thruster 122 are opened, and the left horizontal suspension thruster 211 and right When a horizontal suspension thruster 221 is closed, the underwater robot moves vertically upwards or vertically downwards.

For example, when the left vertical suspension propeller 111, the left two vertical suspension propeller 112, the right vertical suspension propeller 121, and the right two vertical suspension propeller 122 are closed, and the left horizontal suspension propeller 211 and right When a horizontal suspension thruster 221 is opened, the underwater robot moves horizontally forward or horizontally backward.

For example, when the left vertical suspension propeller 111 and the left two vertical suspension propeller 112 are drained downward, and the right vertical suspension propeller 121 and the right second vertical suspension propeller 122 are drained upward, and the left horizontal suspension is left. When the pusher 211 and the right horizontal suspension thruster 221 are closed, the underwater robot rolls clockwise.

For example, when the left vertical suspension propeller 111 and the left two vertical suspension propeller 11 are drained upward, When the right vertical suspension propeller 121 and the right two vertical suspension propeller 122 are drained downward, and the left horizontal suspension propeller 211 and the right horizontal suspension propeller 221 are closed, the underwater robot rolls counterclockwise.

For example, when the left vertical suspension propeller 111 and the right vertical suspension propeller 121 are drained upward, and the left second vertical suspension propeller 112 and the right second vertical suspension propeller 122 are drained downward, and the left horizontal suspension is left. When the pusher 211 and the right horizontal suspension thruster 221 are closed, the body of the underwater robot assumes a top view.

For example, when the left vertical suspension propeller 111 and the right vertical suspension propeller 121 are drained upward, and the left second vertical suspension propeller 112 and the right second vertical suspension propeller 122 are drained downward, and the left horizontal suspension is left. When the pusher 211 and the right horizontal suspension propeller 221 are turned on, the underwater robot moves rapidly obliquely downward.

For example, when the left vertical suspension thruster 111 and the right vertical suspension thruster 121 are drained downward, and the left two vertical suspension thrusters 112 and the right two vertical suspension thrusters 122 are drained upward, and the left horizontal suspension is left. When the pusher 211 and the right horizontal suspension thruster 221 are closed, the body of the underwater robot assumes a head-up state.

For example, when the left vertical suspension propeller 111 and the right vertical suspension propeller 121 are drained upward, and the left second vertical suspension propeller 112 and the right second vertical suspension propeller 122 are drained downward, and the left horizontal suspension is left. When the pusher 211 and the right horizontal suspension thruster 221 are turned on, the underwater robot moves rapidly obliquely upward.

For example, when the left vertical suspension propeller 111, the left two vertical suspension propeller 112, the right vertical suspension propeller 121, the right two vertical suspension propeller 122 are closed, and the left horizontal suspension propeller 211 is forwarded When the drain and the right horizontal suspension propeller 221 are drained backward, the underwater robot turns left in the original position.

For example, when the left vertical suspension propeller 111 and the left two vertical suspension propeller 112 are drained upward, and the right vertical suspension propeller 121 and the right second vertical suspension propeller 122 are drained downward, and the left horizontal suspension is suspended. When the propeller 211 and the right horizontal suspension propeller 221 are drained backward, the underwater robot turns left in a moving posture.

For example, when the left vertical suspension propeller 111, the left two vertical suspension propeller 112, the right vertical suspension propeller 121, the right two vertical suspension propeller 122 are closed, and the left horizontal suspension propeller 211 is rearward When the drain and the right horizontal suspension propeller 221 are drained forward, the underwater robot turns right in the right place.

For example, when the left vertical suspension propeller 111 and the left two vertical suspension propeller 112 are drained downward, and the right vertical suspension propeller 121 and the right second vertical suspension propeller 122 are drained upward, and the left water is drained. When the flat suspension propeller 211 and the right horizontal suspension propeller 221 are drained backward, the underwater robot turns right in a moving posture.

The power system for an underwater robot according to the above embodiment implements posture adjustment and advancement by providing a vertical suspension thruster group on both sides of the fuselage of the underwater robot, and providing a horizontal suspension thruster group at the tail of the airframe. Movement function of receding, retreating, moving left and right, turning, rolling and pitching.

An embodiment of the present invention also provides an underwater robot that is provided with the power system described above.

The specific embodiments of the present invention have been described in detail with reference to the preferred embodiments of the present invention. All modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A power system for an underwater robot, comprising:

a vertically suspended propeller assembly comprising a left vertical suspension thruster set and a right vertical suspension thruster set, wherein the left vertical suspension thruster set and the right vertical suspension thruster set The central axis of the underwater robot is symmetrically disposed on both sides of the fuselage of the underwater robot, and the left vertical suspension thruster group and the right vertical suspension thruster group each include at least one vertical Suspending the propeller and including the number of vertically suspended propellers;

a horizontal suspension thruster set comprising a left horizontal suspension thruster set and a right horizontal suspension thruster set, wherein the left horizontal horizontal suspension thruster set and the right horizontal horizontal suspension thruster set are the underwater robot The central axis is symmetrically disposed on both sides of the tail of the underwater robot, and the left horizontal suspension thruster group and the right horizontal suspension thruster group each include at least one horizontal suspension thruster, and the level included The number of suspension thrusters is equal.
The power system of claim 1 wherein the geometric plane of the set of vertically suspended thrusters and the set of horizontally suspended thrusters substantially coincides with the geometrical plane of the fuselage of the underwater robot.
The power system according to claim 1 or 2, wherein the number of vertically suspended propellers of the left vertical suspension thruster group is 2n, the vertically suspended propeller included is the underwater robot The longitudinal section of the floating center is symmetrically arranged;

When the number of vertically suspended propellers of the right vertical suspension propeller group is 2n, the vertically suspended propellers included are symmetrically disposed with a longitudinal section of the underwater robot's floating center;

When the number of vertical suspension thrusters of the left vertical suspension thruster group is 2n+1, the n+1th vertical suspension thrusters arranged in the vertical suspension thrusters included are disposed in the In the longitudinal section where the floating center of the underwater robot is located, the remaining vertical suspension thrusters are symmetrically arranged with the longitudinal section of the floating center of the underwater robot;

When the number of vertical suspension thrusters of the right vertical suspension thruster group is 2n+1, the n+1th vertical suspension thrusters arranged in the vertical suspension thrusters included are disposed in the On the longitudinal section where the floating center of the underwater robot is located, the remaining vertical suspension thrusters are the underwater robots The longitudinal section of the floating center is symmetrically arranged;

Where n is a natural number.
The power system of claim 3 wherein said left vertical suspension thruster set comprises two vertical suspension thrusters; said right vertical suspension thruster set comprises two vertical suspension thrusters.
The power system of claim 4, wherein the left vertical suspension thruster set comprises two vertical suspension thrusters and the right vertical suspension thruster set includes two vertical suspension advancements The devices are respectively located at four vertices of a square centered on the center of gravity of the underwater robot.
The power system of claim 5 wherein said left horizontal suspension thruster set includes a horizontally suspended thruster; said right horizontal horizontal thruster set includes a horizontally suspended thruster.
The power system of claim 1 wherein the horizontally suspended thruster set includes a horizontally suspended thruster having a greater power than the vertically suspended thruster included in the vertically suspended thruster set.
The power system of claim 1 wherein all of the horizontally suspended thrusters have equal power and all of the vertically suspended thrusters have equal power.
An underwater robot comprising: the power system of any of claims 1-7.