CN104029197A - Vector propulsion mechanism of underwater robot - Google Patents
Vector propulsion mechanism of underwater robot Download PDFInfo
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- CN104029197A CN104029197A CN201410289860.1A CN201410289860A CN104029197A CN 104029197 A CN104029197 A CN 104029197A CN 201410289860 A CN201410289860 A CN 201410289860A CN 104029197 A CN104029197 A CN 104029197A
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Abstract
The invention discloses a vector propulsion mechanism of an underwater robot. The vector propulsion mechanism is a novel spherical parallel connection mechanism and comprises a static platform and a movable platform. Four groups of kinematical branch chains are formed between the movable platform and the static platform, two groups of kinematical branch chains include a group of branch chains RP<C> and a group of branch chains RP<C>RU and are driving branch chains, each group of driving branch chains comprises a curved movement pair PC which is of an arc-shaped groove sliding structure, the other two groups of kinematical branch chains comprise branch chains RP<C> and branch chains RP<C>RU, are structurally identical to the former two groups of kinematical branch chains but are driven branch chains, the four groups of kinematical branch chains are symmetrically installed, and the four groups of kinematical branch chains, the movable platform and the static platform jointly form the spherical parallel connection mechanism with two degrees of freedom. A group of intermediate kinematical transfer branch chains RUC is additionally arranged between the static platform and the movable platform and is used for transferring torque and movement of a main propulsion motor to a propeller. The vector propulsion mechanism has the advantages of convenience in installation and control, good low-speed steering performance and the like.
Description
Technical field
The present invention relates to submarine navigation device technical field, be specially a kind of vector propulsive mechanism in parallel that is applied to underwater robot.
Background technology
Underwater robot adopts screw propeller as propulsion plant more at present, single screw propeller can only produce variable size and the fixing propulsive force of direction, and in the time that robot need to carry out different directions guiding maneuvering motion, such as pitching and deflection, multiple screw propellers just need to be installed and produce multi-dimensional direction propulsive force.Different from general propeller, vector propeller advances propulsive force except providing, can also produce the propulsive force on other multi-dimensional direction, steering capability and the stationkeeping ability of underwater robot can greatly improve lowsteaming time according to the robot manipulation task demand that leads.At present, vector propulsive mechanism is only confined to traditional serial mechanism or Stewart six-degree-of-freedom parallel connection mechanism.But, the deadweight duty ratio of tradition serial mechanism is large, is difficult to adapt to deep-sea weight environment, although six-degree-of-freedom parallel connection mechanism can meet guiding control action requirement at aspects such as flexibility and deadweight duty ratios, but its working space is little, structure and control more complicated, be also difficult to be applied to engineering reality.Lower-mobility parallel institution is because the free degree is few, manufacture and design more and simplify, and the control action of crucial guiding does not need the whole six-freedom degree in space yet, therefore the vector propulsive mechanism based on lower-mobility parallel institution will provide new design concept for vector propulsion mode.
Summary of the invention
The technical problem to be solved in the present invention is: for existing underwater robot Push Technology problem, the present invention proposes a kind of lower-mobility vector propulsive mechanism in parallel, this mechanism can realize the vector Push Technology of unit structure multi-pose, improves low speed steering capability and the stationkeeping ability of underwater robot.
For solving the problems of the technologies described above, the present invention by the following technical solutions: screw promotes mainly motor and drive shaft system is all fixed on silent flatform, between silent flatform and moving platform, is made up of four groups of movement branched chain, and one group is RP
cmovement branched chain, one group is RP
crU movement branched chain, these two groups of movement branched chain, for driving side chain, wherein all comprise a secondary P of curve movement
c, be deep-slotted chip breaker slide construction configuration; And the symmetrical installation identical with front two groups of structures of other two groups of movement branched chain, these two groups is passive side chain, for improving the rigidity of propulsive mechanism and reducing the force unbalance that is subject to of progradation; Between moving platform and silent flatform, be also provided with the intermediary movements transmission side chain with gimbal structure, be mainly used to be delivered to screw propeller by promoting mainly rotatablely moving of motor, this intermediary movements transmits side chain and is connected with silent flatform by revolute pair, be connected with moving platform by cylindrical pair, form a RUC intermediate transfer side chain; Above-mentioned four groups of movement branched chain and intermediary movements transmit side chain and have jointly formed a kind of new spherical Three Degree Of Freedom vector propelling parallel institution.Compared with existing Push Technology, the invention has the beneficial effects as follows: the present invention utilizes new spherical parallel institution to change the spatial movement attitude of screw, thereby realized the spatial attitude such as deflection and the pitching adjustment action of underwater robot; Intermediary movements transmits side chain and has realized the transmission that rotatablely moves of promoting mainly between motor and screw.The combination of this sphere parallel mechanism and screw propeller, realize the motor function of unit structure multi-pose, the complicated supplementary structure configurations such as fin rudder are saved, make the structure of underwater robot compacter, this mechanism can singly overlap and install and use simultaneously, has modular applications, is convenient to the advantages such as batch production; The present invention adopts that to have the sphere parallel mechanism coefficient of friction of deep-slotted chip breaker slide construction low, can effectively increase the service life, and has the features such as simple in structure, reliability is high, facility is installed and noise is low; Sphere parallel mechanism of the present invention, under the Collaborative Control of two servomotors, can be realized accurate control, and fast response time, can make screw reach rapidly required spatial attitude simultaneously.
Brief description of the drawings
Fig. 1 is the overall appearance figure that vector of the present invention advances parallel institution;
Fig. 2 is two degrees of freedom sphere parallel mechanism schematic diagram of the present invention;
Fig. 3 is that vector of the present invention advances parallel institution sketch.
In figure: 1-promotes mainly motor, 2-disc base, 3,13-servomotor, 4-central authorities universal joint, 5,11-RP
crU side chain, 6-jackshaft, 7,12-RP
cside chain, 8-cylindrical pair, 9-screw, 10,19,26-arc slide bar, 14,22,25-revolute pair, 15,18,21,27-deep-slotted chip breaker bearing, 16,17,20,28-support, 23,24-universal joint.
Detailed description of the invention
Embodiment of the present invention structure as shown in Figure 1, taking disc base 2 as silent flatform, taking arc slide bar 10 as moving platform, has 4 groups of movement branched chain between sound platform, be respectively two groups of RP
cside chain 7,12 and two groups of RP
crU side chain 5,11, wherein RP
cside chain 12 and RP
crU side chain 5 is active branched chain, and end connects respectively servomotor 13,3, other two groups of movement branched chain, i.e. RP
cside chain 7 and RP
crU side chain 11 is passive side chain, plays and increases rigidity, reduces stressed unbalanced effect.In described four groups of movement branched chain, all comprise a secondary P of curve movement with deep-slotted chip breaker slide construction
c, four groups of movement branched chain are positioned on same sphere and the installation of 90 ° of spaces, jointly form spherical surface two-freedom parallel institution (referring to Fig. 2).For torque is transferred to the screw 9 on moving platform from the motor 1 of promoting mainly being fixed on disc base, the present invention has increased a RUC intermediary movements and has transmitted side chain between silent flatform and moving platform, this side chain bottom is connected with the motor 1 of promoting mainly on silent flatform by revolute pair 14, centre has a universal joint 4 to connect the jackshaft 6 of upper end, jackshaft 6 is connected with screw through moving platform 10, and between moving platform, forms cylindrical pair 8.This intermediary movements side chain, not for propulsive mechanism provides force and moment, only plays and transmits the torque of promoting mainly motor to the effect of screw propeller.The structure diagram of vector propulsive mechanism of the present invention as shown in Figure 3.
Fig. 2 is spherical surface two-freedom parallel institution sketch of the present invention, and this parallel institution is made up of silent flatform, moving platform and four groups of movement branched chain.Wherein first group of movement branched chain RP
cformed with arc slide bar 10 by deep-slotted chip breaker bearing 15, support 16, deep-slotted chip breaker bearing 15 and the hinged formation revolute pair of support 16 R, arc slide bar 10 can do Circular Sliding in deep-slotted chip breaker bearing 15, forms secondary P of curve movement
c; Second group of movement branched chain RP
crU is by support 17, deep-slotted chip breaker bearing 18, and arc slide bar 19 and universal joint 23 form, and wherein arc slide bar 19 and universal joint 23 are hinged, forms revolute pair 22; In like manner, the 3rd group of movement branched chain be by support 20, deep-slotted chip breaker bearing 21, form with arc slide bar 10, with first group of movement branched chain at grade; The 4th group of movement branched chain is by support 28, deep-slotted chip breaker bearing 27, and arc slide bar 26 and universal joint 24 form, and installs, also at grade with second group of movement branched chain is symmetrical.Above-mentioned four groups of movement branched chain are positioned at same sphere and 90 ° of spaces layout, and the pivot center of four revolute pairs in four groups of movement branched chain bottoms intersects at a bit, i.e. sphere center position.By controlling corner and the rotating speed of two servomotors 3,13, can Shi Gai mechanism under two groups of effects that drive side chains, realize the motion of spherical surface two-freedom.
Fig. 3 is the structure diagram of vector propulsive mechanism of the present invention, wherein A
1a
2a
3a
4plane has formed silent flatform, A
1, A
2, A
3, A
4locate to have respectively four revolute pair R at 4, these four revolute pairs are positioned on the circle that the center of circle is O, the distribution of 90 ° of spaces, and pivot center junction and center of circle O, wherein A
1, A
2two places connect servomotor, are driving joint.B
1, B
2, B
3, B
4locate four secondary P of curve movement that are formed by connecting for deep-slotted chip breaker bearing and arc slide bar at 4
c, wherein B
1, B
3between be arc slide bar 10, be moving platform, moving platform adds universal joint U by revolute pair R respectively with the other two arc slide bars 19,26 in both sides and is connected, and in this schematic diagram of mechanism, is equivalent to C
1and C
2two ball pairs at place.Transmit in side chain at intermediary movements, the revolute pair at M point place connects promotes mainly motor 1, promotes mainly motor 1 and transmits torque to jackshaft 6 by universal joint 4, further drives screw motion by the cylindrical pair at D point place.Screw propeller is at A
1, A
2under the acting in conjunction of promoting mainly motor at 2 servomotors of locating and M point place, can convert screw direction of propulsion and speed, realize vector and advance required many attitude.This new spherical parallel institution has spherical mechanism feature, and each side chain location layout is simple and easy, provides greatly convenient for vector advances to control.
The present invention is not limited to above-mentioned detailed description of the invention; above-described embodiment is only schematic; be not restrictive; those skilled in the art are under enlightenment of the present invention; in the situation that not departing from the invention aim; without the moulding of creationary change element, connected mode etc., can make a lot of similarly frame mode and embodiment, all within protection scope of the present invention.
Claims (3)
1. the propulsive mechanism of underwater robot, comprises moving platform and silent flatform, screw promote mainly motor and drive shaft system is fixed on silent flatform, between moving platform and silent flatform, have four groups of movement branched chain to form, it is characterized in that: described movement branched chain comprises two groups of RP
cside chain and two groups of RP
crU side chain, wherein one group of RP
cside chain and one group of RP
crU side chain connects motor and forms driving side chain, other one group of RP
cside chain and one group of RP
crU side chain forms passive side chain with driving symmetrical installation of side chain, described moving platform, silent flatform and four groups of movement branched chain form spherical surface two-freedom parallel institution jointly, in four groups of movement branched chain, all comprise a deep-slotted chip breaker slide construction, moving platform can slide in deep-slotted chip breaker, four groups of movement branched chain, four revolute pair R are bottom positioned on same circle, and pivot center intersects at the center of circle; Described drive shaft system is central flexible drive axle, and the universal joint of power transmission shaft is centered close to the above-mentioned center of circle.
2. the propulsive mechanism of underwater robot according to claim 1, is characterized in that: described deep-slotted chip breaker slide construction is to be fixed on the deep-slotted chip breaker bearing on silent flatform by support, and the arc slide bar of composition moving platform can slide in deep-slotted chip breaker bearing.
3. the propulsive mechanism of underwater robot according to claim 1, is characterized in that: 90 °, every two groups of side chain intervals of described movement branched chain are installed on silent flatform, two groups of RP
cside chain and two groups of RP
crU side chain respectively at grade.
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| CN201410289860.1A CN104029197B (en) | 2014-06-26 | 2014-06-26 | A kind of vector propulsion mechanism of underwater robot |
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|---|---|---|---|
| CN201410289860.1A CN104029197B (en) | 2014-06-26 | 2014-06-26 | A kind of vector propulsion mechanism of underwater robot |
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| CN104029197B CN104029197B (en) | 2016-01-20 |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527955A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | Vector propelling device of water-surface unmanned platform |
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN104985591A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN104985589A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN104985587A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN106426091A (en) * | 2016-10-09 | 2017-02-22 | 邯郸学院 | Three-freedom-degree robot |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN109383727A (en) * | 2017-08-11 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of nearly vector expression underwater robot propeller |
| CN109747867A (en) * | 2018-12-12 | 2019-05-14 | 兰州空间技术物理研究所 | A kind of electric thruster vector regulating mechanism |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN110341920A (en) * | 2019-07-15 | 2019-10-18 | 金义凯 | A kind of angle adjustable blade avoiding damage to marine organisms |
| CN112405499A (en) * | 2020-10-27 | 2021-02-26 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN112722224A (en) * | 2021-01-22 | 2021-04-30 | 燕山大学 | Over-constrained double-branch two-rotating spherical parallel vector propeller |
| CN116331543A (en) * | 2022-10-31 | 2023-06-27 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527955A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | Vector propelling device of water-surface unmanned platform |
| CN104787285A (en) * | 2015-04-03 | 2015-07-22 | 山东大学（威海） | Propeller vector propelling device |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN104985589B (en) * | 2015-07-02 | 2017-01-25 | 上海交通大学 | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN104985591A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN104985589A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN104985587A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN105216999B (en) * | 2015-10-16 | 2017-07-04 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN105366021A (en) * | 2015-12-02 | 2016-03-02 | 山东大学（威海） | Vector propulsion plant capable of adjusting pitch and underwater vehicle having same |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105539786B (en) * | 2016-02-01 | 2017-07-04 | 山东大学（威海） | Wheel leg combined shunt leg mechanism and underwater robot |
| CN106426091A (en) * | 2016-10-09 | 2017-02-22 | 邯郸学院 | Three-freedom-degree robot |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| WO2018223363A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳先进技术研究院 | Three-degrees-of-freedom decoupled spherical parallel mechanism |
| CN109383727A (en) * | 2017-08-11 | 2019-02-26 | 中国科学院沈阳自动化研究所 | A kind of nearly vector expression underwater robot propeller |
| CN109747867A (en) * | 2018-12-12 | 2019-05-14 | 兰州空间技术物理研究所 | A kind of electric thruster vector regulating mechanism |
| CN109747867B (en) * | 2018-12-12 | 2022-03-04 | 兰州空间技术物理研究所 | Vector adjustment mechanism for electric thruster |
| CN110341920A (en) * | 2019-07-15 | 2019-10-18 | 金义凯 | A kind of angle adjustable blade avoiding damage to marine organisms |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN112405499A (en) * | 2020-10-27 | 2021-02-26 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN112405499B (en) * | 2020-10-27 | 2023-07-28 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN112722224A (en) * | 2021-01-22 | 2021-04-30 | 燕山大学 | Over-constrained double-branch two-rotating spherical parallel vector propeller |
| CN116331543A (en) * | 2022-10-31 | 2023-06-27 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
| CN116331543B (en) * | 2022-10-31 | 2023-12-29 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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