CN107187566A - Underwater multi-robot annular formation locus adjusting means - Google Patents
Underwater multi-robot annular formation locus adjusting means Download PDFInfo
- Publication number
- CN107187566A CN107187566A CN201710359203.3A CN201710359203A CN107187566A CN 107187566 A CN107187566 A CN 107187566A CN 201710359203 A CN201710359203 A CN 201710359203A CN 107187566 A CN107187566 A CN 107187566A
- Authority
- CN
- China
- Prior art keywords
- bearing
- connecting rod
- height
- robot
- rotary shaft
- 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.)
- Granted
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 30
- 230000001105 regulatory effect Effects 0.000 claims description 51
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000000919 ceramic Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 19
- 238000011160 research Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of annular formation locus adjusting means of underwater multi-robot.The purpose is to provide, a kind of water resistant flow disturbance is strong, limit the apparatus for adjusting position fluctuated above and below robot.The present invention includes radius governor motion and height regulation pedestal, and height regulation pedestal includes Base body, the first telescopic component and height fine adjusting function bearing again, and radius governor motion includes connecting rod, rotary shaft, multiple second telescopic components and Duo Gen and rotates pole again.Base body bottom is provided with height fine adjusting function bearing, Base body top is provided with the first telescopic component, first telescopic component top and the grafting of connecting rod bottom, connecting rod top is connected with rotary shaft bottom, the top of rotary shaft is provided with angle dial, one end of many rotation poles is hinged between connecting rod and rotary shaft, and each other end for rotating pole stretches out.Connecting rod top is provided with angle indicator, rotates and is provided with the second telescopic component on pole, underwater robot is fixed on the end of the second telescopic component.
Description
Technical field
The present invention relates to a kind of underwater robot technical field, more particularly to a kind of underwater multi-robot annular forms into columns empty
Between apparatus for adjusting position.
Background technology
In recent years, the underwater robot including bionic machine fish is because it is being developed marine resources, is reconnoitring ring under water
Major application prospect in terms of border, inspection plumbing leak, laying submerged cable, receives more and more extensive concern.In crowd
In many underwater robot technical research, underwater multi-robot cooperation technology because contribute to lifted underwater operation feasibility,
Operability, and can in the case where ensureing not improving system cost effectively sensing capabilities, mobility etc. of lifting system
Advantage, the research to the technology is more and more attractive.Underwater robot especially bionic machine fish, because it possesses than tradition
The more superior exercise performance of underwater research vehicle and the competitively research for causing scientists.
Numerous among the research of underwater robot, reality of the underwater robot formation research to lifting underwater robot
It is significant with property.Underwater robot formation research relates generally to formation algorithm research, the control research of underwater robot kinematics
With Fish behavior research etc..In addition to theoretical research, experimental verification is also important research link.Because underwater robot exists
It can be influenceed its exercise performance by the perturbation action for coming from water, how to be effectively prevented from the perturbation action of water during underwater exercise,
And the control and regulation of flight pattern are key issues in realization formation research.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of water resistant flow disturbance it is strong, can be achieved to determine under water radius formation,
Limit the annular formation locus adjusting means of underwater multi-robot of robot fluctuation up and down in water.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein, including radius governor motion and height
Degree regulation pedestal, height regulation pedestal includes Base body, the first telescopic component and multiple height fine adjusting function bearings, Base body again
The marginal position of bottom is provided with multiple height fine adjusting function bearings, and Base body top is vertically provided with straight-tube shape first and stretched
Contracting component, radius governor motion includes connecting rod, angle dial, rotary shaft, multiple second telescopic components and Duo Gen and rotated again
Pole, the bottom of connecting rod and the top grafting of the telescopic component of straight-tube shape first in height regulation pedestal, the top of connecting rod with
The bottom connection of rotary shaft, the top of rotary shaft is provided with angle dial, set in the horizontal direction between connecting rod and rotary shaft
Many rotation poles are equipped with, the one end for rotating pole extends to away from connecting rod and rotary shaft side, rotates the other end of pole
The position between connecting rod and rotary shaft is hinged on, connecting rod top is provided with angle indicator, angle indicator orientation angle scale
Disk, rotates the upper bearing of trend along rotation pole of pole and is provided with the second telescopic component, underwater robot is held away from connection
The end position of bar and the second telescopic component of rotary shaft side.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein the Base body is along level side
To " ten " character form structure of setting, the quantity of height fine adjusting function bearing is four, and four height fine adjusting function bearings are separately positioned on pedestal
Four marginal positions of main body, the top of each height fine adjusting function bearing connects with the bottom of four marginal positions of Base body respectively
Connect.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein first telescopic component includes again
First height regulating sleeve, the second height regulating sleeve, third height regulating sleeve and the 4th height regulating sleeve, the first height
Regulating sleeve internal sleeve is provided with the second height regulating sleeve, and the second height regulating sleeve internal sleeve is provided with third height adjusting set
Cylinder, third height regulating sleeve internal sleeve is provided with the 4th height regulating sleeve, the outer wall of each height regulating sleeve and all offered
Screw is plugged between multiple first positioning through hole, the first positioning through hole of two adjacent height regulating sleeves.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein the centre on the Base body top
Position is vertically provided with the connecting shaft of tubular construction, the upper position of connecting shaft outer wall and the four of Base body edges
Fixed beam is equipped between position respectively, the bottom of the first height regulating sleeve is set in inside connecting shaft, the outer wall of connecting shaft
On offer the first positioning through hole of multiple first positioning through hole, the first positioning through hole of connecting shaft and the first height regulating sleeve
Between be plugged with screw.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein between the connecting rod and rotary shaft
Connected by shaft coupling.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein between the connecting rod and shaft coupling
Clutch shaft bearing group is arranged with, clutch shaft bearing group includes clutch shaft bearing, second bearing and 3rd bearing again, and second bearing is located at first
Below bearing, second bearing is more than clutch shaft bearing, and 3rd bearing is located at below second bearing, and 3rd bearing is more than second bearing,
Back-up ring is respectively arranged between clutch shaft bearing and second bearing, between second bearing and 3rd bearing；Rotary shaft and angle index
Second bearing group is arranged between disk, second bearing group includes fourth bearing, 5th bearing and 6th bearing, 5th bearing position again
Below fourth bearing, 5th bearing is more than fourth bearing, and 6th bearing is located at below 5th bearing, and 6th bearing is more than the 5th
Bearing, back-up ring is respectively arranged between fourth bearing and 5th bearing, between 5th bearing and 6th bearing.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein the rotation pole is close to connecting rod
Be connected, be distributed above and below two hinge bars with one end of two hinge bars with the end of rotary shaft side, two hinge bars it is another
End is respectively sleeved in clutch shaft bearing group and second bearing group, and angle indicator is mounted on the top of the hinge bar of top.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein second telescopic component and radius
Adjustable telescopic rod, radius adjustable telescopic rod is tubular structure, and radius adjustable telescopic rod is set on the outside of rotation pole, radius regulation
Multiple second positioning through hole are offered on expansion link, rotates and offers multiple 3rd positioning through hole, the second positioning through hole on pole
Screw is plugged between the 3rd positioning through hole.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein the radius adjustable telescopic rod is remote
The end of connecting rod and rotary shaft side is provided with the outside of connection pillar, connection pillar and is provided with ceramic flat surface bearing, under water machine
Device people is bonded on connection pillar.
The annular formation locus adjusting means of underwater multi-robot of the present invention, wherein the quantity for rotating pole is three
Root, three rotate pole and are located in same level.
The annular formation locus adjusting means difference from prior art of underwater multi-robot of the present invention is：This hair
Bright to be provided with radius governor motion and height regulation pedestal, radius governor motion is arranged on height regulation Chuck top, and height is adjusted
Telescopic adjustment can be carried out by being provided with section pedestal between multiple height regulating sleeves, each height regulating sleeve, and pass through screw
Height and position after regulation is locked, is adjusted so as to the height effectively to underwater robot；Radius is adjusted
Radius adjustable telescopic rod is provided with mechanism, radius adjustable telescopic rod can carry out telescopic adjustment in the horizontal direction, and pass through spiral shell
Nail is locked to the radial location after regulation, so as to which effectively the moving radius of underwater robot is adjusted.Water
Moving height and radius can be adjusted according to demand for lower robot, complete annular formation and set, movement locus is stable, has
The turbulent water that solves of effect moves the influence caused to underwater robot.Realize and the radius of determining of underwater robot formed into columns,
Radius governor motion also defines the fluctuation up and down in underwater robot motion process simultaneously, further enhancing underwater robot
The stability of motion.The present invention is ground suitable for the experiment that underwater multi-robot formation control is studied with AUV Control
Study carefully.
The annular formation locus adjusting means of underwater multi-robot of the present invention is described further below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the stereogram of the annular formation locus adjusting means of underwater multi-robot of the present invention；
Fig. 2 is the front view of the annular formation locus adjusting means of underwater multi-robot of the present invention；
Fig. 3 is the top view of the annular formation locus adjusting means of underwater multi-robot of the present invention；
Fig. 4 is the blast that pedestal is highly adjusted in the adjusting means of underwater multi-robot of the present invention annular formation locus
Figure；
Fig. 5 is the blast of radius governor motion in the annular formation locus adjusting means of underwater multi-robot of the present invention
Figure；
Fig. 6 is in contraction highly to adjust pedestal in the annular formation locus adjusting means of underwater multi-robot of the present invention
The front view of state；
Fig. 7 is in stretching, extension highly to adjust pedestal in the annular formation locus adjusting means of underwater multi-robot of the present invention
The front view of state；
Fig. 8 is in for radius governor motion in the annular formation locus adjusting means of underwater multi-robot of the present invention to be shunk
The top view of state；
Fig. 9 is in for radius governor motion in the annular formation locus adjusting means of underwater multi-robot of the present invention to be stretched
The top view of state；
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, it is the annular formation locus adjusting means of underwater multi-robot of the present invention, including the
One underwater robot 1, the second underwater robot 4, the 3rd underwater robot 5, radius governor motion 2 and height regulation pedestal 3, half
Footpath governor motion 2 is located at the top of height regulation pedestal 3, and the bottom and the top of height regulation pedestal 3 of radius governor motion 2 connect
Connect, the first underwater robot 1, the second underwater robot 4 and the 3rd underwater robot 5 are connected with radius governor motion 2 respectively.
As shown in figure 4, highly to adjust pedestal in the annular formation locus adjusting means of underwater multi-robot of the present invention
Explosive view, height regulation pedestal 3 is again including Base body 8, multiple height fine adjusting function bearings 6 and multiple height regulating sleeves, base
Seat main body 8 is horizontally disposed " ten " character form structure, and four marginal positions of Base body 8 are respectively arranged with highly micro-
Bearing 6 is adjusted, the bottom of the top of each height fine adjusting function bearing 6 respectively with four marginal positions of Base body 8 is connected.Base body
The centre position on 8 tops is vertically provided with the connecting shaft 7 of tubular construction, the upper position and pedestal of the outer wall of connecting shaft 7
Fixed beam 13 is equipped with respectively between four marginal positions of main body 8.Connecting shaft 7 is internally provided with the first height regulating sleeve 9,
The bottom of first height regulating sleeve 9 is set in inside connecting shaft 7, and the internal sleeve of the first height regulating sleeve 9 is provided with the second height
Regulating sleeve 10, the internal sleeve of the second height regulating sleeve 10 is provided with third height regulating sleeve 11, third height regulating sleeve 11
Internal sleeve is provided with the 4th height regulating sleeve 12, the outer wall of connecting shaft 7 and each height regulating sleeve and all vertically opened up
There are multiple first positioning through hole 14, the first positioning through hole 14 of connecting shaft 7 and the first positioning through hole of the first height regulating sleeve 9
The first screw 15, the first positioning through hole 14 and the second height regulating sleeve 10 of the first height regulating sleeve 9 are plugged between 14
The first positioning through hole 14 between be plugged with the second screw 16, the first positioning through hole 14 and the 3rd of the second height regulating sleeve 10
The 3rd screw 17 is plugged between first positioning through hole 14 of height regulating sleeve 11, the first of third height regulating sleeve 11 determines
Grafting and the 4th screw 18 between first positioning through hole 14 of the position height regulating sleeve 12 of through hole 14 and the 4th.
As shown in figure 5, being radius governor motion in the annular formation locus adjusting means of underwater multi-robot of the present invention
Explosive view, radius governor motion 2 again including connecting rod 19, angle dial 29, rotary shaft 30, three rotation poles 21 and three
Root expansion link 22, connecting rod 19 and rotary shaft 30 are all vertically set, and bottom and the height of connecting rod 19 are adjusted in pedestal 3
The top grafting of 4th height regulating sleeve 12, the top of connecting rod 19 is connected by shaft coupling 31 with the bottom of rotary shaft 30,
The top of rotary shaft 30 is fixed with disc angle dial 29 in the horizontal direction.It is arranged between connecting rod 19 and shaft coupling 31
There is clutch shaft bearing group 33, clutch shaft bearing group 33 is again including clutch shaft bearing, second bearing and 3rd bearing, and second bearing is located at first
Below bearing, second bearing is more than clutch shaft bearing, and 3rd bearing is located at below second bearing, and 3rd bearing is more than second bearing,
Back-up ring is respectively arranged between clutch shaft bearing and second bearing, between second bearing and 3rd bearing.In shaft coupling 31 with rotating
Back-up ring is provided between axle 30.Second bearing group 32, second bearing group are arranged between rotary shaft 30 and angle dial 29
32 again including fourth bearing, 5th bearing and 6th bearing, and 5th bearing is located at below fourth bearing, and 5th bearing is more than the 4th
Bearing, 6th bearing is located at below 5th bearing, and 6th bearing is more than 5th bearing, between fourth bearing and 5th bearing, the
Back-up ring is respectively arranged between five bearings and 6th bearing.Three rotation poles are arranged between connecting rod 19 and rotary shaft 30
21, rotation pole 21 is horizontally disposed, and the one end for rotating pole 21 extends to away from connecting rod 19 and the side of rotary shaft 30,
Rotate the one end of the other end of pole 21 respectively with two hinge bars 34 to be connected, two hinge bars are distributed about 34, and two are hinged
The other end of bar 34 is respectively sleeved in clutch shaft bearing group 33 and second bearing group 32, and the top of hinge bar 34 above is pacified
Equipped with angle indicator 28, the orientation angle dial 29 of angle indicator 28.In the rotation away from connecting rod 19 and the side of rotary shaft 30
The end position of pole 21 offers multiple 3rd positioning through hole 26 side by side in the horizontal direction, rotates the outer sheath of pole 21 provided with pipe
Offer multiple second positioning through hole 23 on shape radius adjustable telescopic rod 22, radius adjustable telescopic rod 22 side by side in the horizontal direction,
The 5th screw 27 is plugged between second positioning through hole 23 and the 3rd positioning through hole 26, passes through 27 pairs of rotation poles 21 of the 5th screw
Position between radius adjustable telescopic rod 22 is locked.Stretched in the radius regulation away from connecting rod 19 and the side of rotary shaft 30
The end position of contracting bar 22 is provided with connection pillar 25, and the outside of connection pillar 25 is provided with clutch shaft bearing 24, first used
Bearing 24 is ceramic flat surface bearing.First underwater robot 1, the second underwater robot 4 and the 3rd underwater robot 5 are bonded respectively
On three connection pillars 25 for rotating pole 21.Three rotate pole 21 and are located in same level.
As shown in Fig. 2 being the front view of the annular formation locus adjusting means of underwater multi-robot of the present invention, the first water
Lower robot 1, the second underwater robot 4 and the 3rd underwater robot 5 are located in same level, pass through height regulation pedestal 3
The height of each underwater robot can be adjusted.By the grafting for changing screw between connecting shaft 7 and height regulating sleeve
The plug-in position of screw between position and each height regulating sleeve, thus to height adjust pedestal 3 height be adjusted and
Locking.By adjusting each height fine adjusting function bearing 6, the height that height adjusts pedestal 3 can be also finely adjusted.Such as Fig. 6, Fig. 7 institute
Show, the height adjustment range of height regulation pedestal 3 is 1675mm~5370mm.
As shown in figure 3, being the top view of the annular formation locus adjusting means of underwater multi-robot of the present invention, the first water
Lower robot 1, the second underwater robot 4 and the 3rd underwater robot 5 are travelling along same circumference, before motion per adjacent two under water
Angle between robot is all identical, and the angle in motion process between adjacent two underwater robot can be with corresponding two water
The difference of the motion state of lower robot and change, can by the signified scales of different 34 upper angle pointers of hinge bar 28
Understand the variable quantity of the angle between adjacent two underwater robot.Can be to each underwater robot by radius governor motion 2
Moving radius is adjusted.By changing different rotation poles 21 and respective radius adjustable telescopic rod 22 in radius governor motion 2
Between the 5th screw 27 plug-in position, the moving radius of each underwater robot can be adjusted and be locked.Such as Fig. 8, Fig. 9
Shown, the radius adjustable range of radius governor motion 2 is 625mm~5125mm.
The present invention in use, first, by the first underwater robot 1, the second underwater robot 4 and the 3rd under water
Robot 5 is bonded on the connection pillar 25 in radius governor motion 2 respectively.Secondly, pedestal 3 is adjusted to height as needed
The radius of height and radius governor motion 2 is adjusted.Then, the first underwater robot 1, the and of the second underwater robot 4 are started
3rd underwater robot 5 is respectively in underwater exercise, the first underwater robot 1, the second underwater robot 4 and the 3rd underwater robot
5 can drive connected rotation pole 21 and radius adjustable telescopic rod 22 to be rotated during underwater exercise, so that real
Now the radius annular of determining of each underwater robot is formed into columns, and defines the fluctuation up and down in each underwater robot motion process.
The annular formation locus adjusting means of underwater multi-robot of the present invention, is provided with radius governor motion 2 and height
Pedestal 3 is adjusted, radius governor motion 2 is arranged on height regulation pedestal 3 top, height regulation pedestal 3 and is provided with multiple height
Telescopic adjustment can be carried out between regulating sleeve, each height regulating sleeve, and the height and position after regulation is carried out by screw
Locking, is adjusted so as to the height effectively to underwater robot；Radius regulation is provided with radius governor motion 2 to stretch
Contracting bar 22, radius adjustable telescopic rod 22 can carry out telescopic adjustment in the horizontal direction, and by screw to the radius position after regulation
Put and locked, so as to which effectively the moving radius of underwater robot is adjusted.Underwater robot can be according to need
Ask and moving height and radius are adjusted, complete annular formation and set, movement locus is stable, effectively solves turbulent water
The influence caused is moved to underwater robot.Realize and the radius of determining of underwater robot is formed into columns, while radius governor motion 2 is also
The fluctuation up and down in underwater robot motion process is defined, the stability of underwater robot motion is further enhancing.This hair
The bright experimental study studied suitable for underwater multi-robot formation control with AUV Control.Water resistant flow disturbance of the present invention
Property it is strong, can be achieved to determine under water radius and form into columns, limit robot and fluctuated up and down in water, compared with prior art with significantly excellent
Point.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (10)
1. a kind of annular formation locus adjusting means of underwater multi-robot, it is characterised in that：Including radius governor motion (2)
With height regulation pedestal (3), height regulation pedestal (3) includes Base body (8), the first telescopic component and multiple height fine adjusting functions again
Bearing (6), the marginal position of Base body (8) bottom is provided with multiple height fine adjusting function bearings (6), Base body (8) top edge
Vertical direction is provided with the telescopic component of straight-tube shape first, and radius governor motion (2) includes connecting rod (19), angle dial again
(29), rotary shaft (30), multiple second telescopic components and Duo Gen rotate pole (21), and bottom and the height of connecting rod (19) are adjusted
The top grafting of the telescopic component of straight-tube shape first in pedestal (3), the top of connecting rod (19) is connected with the bottom of rotary shaft (30),
The top of rotary shaft (30) is provided with angle dial (29), horizontally disposed between connecting rod (19) and rotary shaft (30)
There are many to rotate pole (21), the one end for rotating pole (21) extends to away from connecting rod (19) and rotary shaft (30) side, turns
The other end of dynamic pole (21) is hinged on the position between connecting rod (19) and rotary shaft (30), and connecting rod (19) top is provided with
Angle indicator (28), angle indicator (28) orientation angle dial (29) rotates prolonging along rotation pole (21) on pole (21)
Stretch direction and be provided with the second telescopic component, underwater robot is held away from the second of connecting rod (19) and rotary shaft (30) side
The end position of telescopic component.
2. the annular formation locus adjusting means of underwater multi-robot according to claim 1, it is characterised in that：It is described
Base body (8) is horizontally disposed " ten " character form structure, and the quantity of height fine adjusting function bearing (6) is four, four high
Degree fine setting bearing (6) is separately positioned on four marginal positions of Base body (8), the top difference of each height fine adjusting function bearing (6)
It is connected with the bottom of four marginal positions of Base body (8).
3. the annular formation locus adjusting means of underwater multi-robot according to claim 1, it is characterised in that：It is described
First telescopic component includes the first height regulating sleeve (9), the second height regulating sleeve (10), third height regulating sleeve again
(11) and the 4th height regulating sleeve (12), first height regulating sleeve (9) internal sleeve is provided with the second height regulating sleeve (10),
Second height regulating sleeve (10) internal sleeve is provided with third height regulating sleeve (11), third height regulating sleeve (11) internal sleeve
Provided with the 4th height regulating sleeve (12), multiple first positioning through hole (14) are all offered on the outer wall of each height regulating sleeve,
Screw is plugged between the first positioning through hole (14) of two adjacent height regulating sleeves.
4. the annular formation locus adjusting means of underwater multi-robot according to claim 3, it is characterised in that：It is described
The centre position on Base body (8) top is vertically provided with the connecting shaft (7) of tubular construction, connecting shaft (7) outer wall
Fixed beam (13), the first height regulating sleeve are equipped between upper position and four marginal positions of Base body (8) respectively
(9) bottom is set on connecting shaft (7) inside, the outer wall of connecting shaft (7) and offers multiple first positioning through hole (14), connects
Screw is plugged between the first positioning through hole (14) of the first positioning through hole (14) of axle (7) and the first height regulating sleeve (9).
5. the annular formation locus adjusting means of underwater multi-robot according to claim 1, it is characterised in that：It is described
It is connected between connecting rod (19) and rotary shaft (30) by shaft coupling (31).
6. the annular formation locus adjusting means of underwater multi-robot according to claim 5, it is characterised in that：It is described
Be arranged with clutch shaft bearing group (33) between connecting rod (19) and shaft coupling (31), clutch shaft bearing group (33) include again clutch shaft bearing,
Second bearing and 3rd bearing, second bearing are located at below clutch shaft bearing, and second bearing is more than clutch shaft bearing, and 3rd bearing is located at
Below second bearing, 3rd bearing is more than second bearing, between clutch shaft bearing and second bearing, second bearing and 3rd bearing it
Between be respectively arranged with back-up ring；Second bearing group (32), second bearing are arranged between rotary shaft (30) and angle dial (29)
Group (32) includes fourth bearing, 5th bearing and 6th bearing again, and 5th bearing is located at below fourth bearing, and 5th bearing is more than
Fourth bearing, 6th bearing is located at below 5th bearing, and 6th bearing is more than 5th bearing, fourth bearing and 5th bearing it
Between, between 5th bearing and 6th bearing be respectively arranged with back-up ring.
7. the annular formation locus adjusting means of underwater multi-robot according to claim 6, it is characterised in that：It is described
Rotate pole (21) to be connected with one end of two hinge bars (34) close to the end of connecting rod (19) and rotary shaft (30) side, two
Root hinge bar (34) is distributed up and down, and the other end of two hinge bars (34) is respectively sleeved at clutch shaft bearing group (33) and second bearing
In group (32), angle indicator (28) is mounted on the top of the hinge bar (34) of top.
8. the annular formation locus adjusting means of underwater multi-robot according to claim 1, it is characterised in that：It is described
Second telescopic component and radius adjustable telescopic rod (22), radius adjustable telescopic rod (22) are tubular structure, radius adjustable telescopic rod
(22) it is set on the outside of rotation pole (21), multiple second positioning through hole (23) is offered on radius adjustable telescopic rod (22), turns
Multiple 3rd positioning through hole (26) are offered on dynamic pole (21), between the second positioning through hole (22) and the 3rd positioning through hole (26)
It is plugged with screw.
9. the annular formation locus adjusting means of underwater multi-robot according to claim 8, it is characterised in that：It is described
End of the radius adjustable telescopic rod (22) away from connecting rod (19) and rotary shaft (30) side is provided with connection pillar (25), connection
Ceramic flat surface bearing is provided with the outside of pillar (25), underwater robot is bonded on connection pillar (25).
10. the annular formation locus adjusting means of underwater multi-robot according to claim 1, it is characterised in that：Institute
It is three to state and rotate the quantity of pole (21), and three rotate poles (21) and are located in same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359203.3A CN107187566B (en) | 2017-05-19 | 2017-05-19 | Underwater multi-robot annular formation spatial position regulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710359203.3A CN107187566B (en) | 2017-05-19 | 2017-05-19 | Underwater multi-robot annular formation spatial position regulating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107187566A true CN107187566A (en) | 2017-09-22 |
| CN107187566B CN107187566B (en) | 2018-12-28 |
Family
ID=59875775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710359203.3A Expired - Fee Related CN107187566B (en) | 2017-05-19 | 2017-05-19 | Underwater multi-robot annular formation spatial position regulating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107187566B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114624684A (en) * | 2022-03-15 | 2022-06-14 | 哈尔滨理工大学 | Underwater sound source positioning device and method based on path tracking |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2421474A1 (en) * | 1974-04-30 | 1975-11-13 | Peter Konrad Prof Dr I Hermann | Self propelling inclined beam carousel - is driven by changing weight distribution of persons on eccentrically located saddles |
| US4583620A (en) * | 1979-06-22 | 1986-04-22 | Dresser Industries, Inc. | Vehicle hoist |
| JPH11166306A (en) * | 1997-12-04 | 1999-06-22 | Toyo Seiko Kk | Pole for aid |
| CN201552364U (en) * | 2009-11-30 | 2010-08-18 | 邹晓宁 | Circular gas cutting machine with magnetic sucking legs |
| CN201792153U (en) * | 2010-09-02 | 2011-04-13 | 中冶实久建设有限公司 | Clamping fixture for welding |
| CN201934257U (en) * | 2011-02-22 | 2011-08-17 | 苏州市职业大学 | Wind driven generator impeller structure mixed with solar energy gathering device |
| CN102945999A (en) * | 2012-11-27 | 2013-02-27 | 中国人民解放军国防科学技术大学 | Radar/antenna support |
| CN203228225U (en) * | 2013-03-20 | 2013-10-09 | 辽宁威跃集团机械制造有限公司 | Two-arm manipulator |
| CN104075801A (en) * | 2013-03-29 | 2014-10-01 | 深圳市海洋王照明工程有限公司 | Lifting fixing frame |
| CN204403714U (en) * | 2014-12-16 | 2015-06-17 | 武汉微梦文化传媒有限公司 | A kind of being convenient to adjusts tripod highly |
| CN104832768A (en) * | 2015-05-11 | 2015-08-12 | 中国人民解放军总装备部军械技术研究所 | Adjusting platform for universal erection of any-landform and space photoelectric equipment |
| CN105259901A (en) * | 2015-11-18 | 2016-01-20 | 上海海事大学 | Autonomous underwater robot formation operation control system and operation method thereof |
| CN205691096U (en) * | 2016-05-31 | 2016-11-16 | 南京江源测绘有限公司 | A kind of spider and with the theodolite of this spider |
| CN106404166A (en) * | 2016-09-05 | 2017-02-15 | 西北工业大学 | Space tether system unfolding ground test tether movement observation platform |
-
2017
- 2017-05-19 CN CN201710359203.3A patent/CN107187566B/en not_active Expired - Fee Related
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2421474A1 (en) * | 1974-04-30 | 1975-11-13 | Peter Konrad Prof Dr I Hermann | Self propelling inclined beam carousel - is driven by changing weight distribution of persons on eccentrically located saddles |
| US4583620A (en) * | 1979-06-22 | 1986-04-22 | Dresser Industries, Inc. | Vehicle hoist |
| JPH11166306A (en) * | 1997-12-04 | 1999-06-22 | Toyo Seiko Kk | Pole for aid |
| CN201552364U (en) * | 2009-11-30 | 2010-08-18 | 邹晓宁 | Circular gas cutting machine with magnetic sucking legs |
| CN201792153U (en) * | 2010-09-02 | 2011-04-13 | 中冶实久建设有限公司 | Clamping fixture for welding |
| CN201934257U (en) * | 2011-02-22 | 2011-08-17 | 苏州市职业大学 | Wind driven generator impeller structure mixed with solar energy gathering device |
| CN102945999A (en) * | 2012-11-27 | 2013-02-27 | 中国人民解放军国防科学技术大学 | Radar/antenna support |
| CN203228225U (en) * | 2013-03-20 | 2013-10-09 | 辽宁威跃集团机械制造有限公司 | Two-arm manipulator |
| CN104075801A (en) * | 2013-03-29 | 2014-10-01 | 深圳市海洋王照明工程有限公司 | Lifting fixing frame |
| CN204403714U (en) * | 2014-12-16 | 2015-06-17 | 武汉微梦文化传媒有限公司 | A kind of being convenient to adjusts tripod highly |
| CN104832768A (en) * | 2015-05-11 | 2015-08-12 | 中国人民解放军总装备部军械技术研究所 | Adjusting platform for universal erection of any-landform and space photoelectric equipment |
| CN105259901A (en) * | 2015-11-18 | 2016-01-20 | 上海海事大学 | Autonomous underwater robot formation operation control system and operation method thereof |
| CN205691096U (en) * | 2016-05-31 | 2016-11-16 | 南京江源测绘有限公司 | A kind of spider and with the theodolite of this spider |
| CN106404166A (en) * | 2016-09-05 | 2017-02-15 | 西北工业大学 | Space tether system unfolding ground test tether movement observation platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114624684A (en) * | 2022-03-15 | 2022-06-14 | 哈尔滨理工大学 | Underwater sound source positioning device and method based on path tracking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107187566B (en) | 2018-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207583335U (en) | A kind of improved drilling machine drilling rod positioning device | |
| CN207145922U (en) | Water conservancy management mobile wireless video monitoring apparatus | |
| CN205786919U (en) | Antenna house test device | |
| CN105901857A (en) | Intelligent umbrella | |
| CN107187566A (en) | Underwater multi-robot annular formation locus adjusting means | |
| CN108934949A (en) | Change the device for fetching water of spray regime based on wind-force | |
| CN108843005A (en) | Self-balancing workbench | |
| CN206124533U (en) | A teaching show board for starting an undertaking course | |
| CN208069734U (en) | A kind of water conservancy construction handling device | |
| CN207593810U (en) | Detecting Robot in a kind of water | |
| CN207197568U (en) | One kind is easily installed intelligent water level detection means | |
| CN209662569U (en) | Indoor golf simulator | |
| CN205197226U (en) | Sunshade hanging umbrella of angularly adjustable | |
| CN207944769U (en) | A kind of high voltage power transmission safety supports tower | |
| CN207295255U (en) | It is a kind of can Automatic-dumping wash mill | |
| CN205937523U (en) | Wide bearing frame of application range | |
| CN207419809U (en) | Large stadium movable roof Central Closed device | |
| CN110596346A (en) | A rain structure under simulation for simulating stony desertification device | |
| CN106142134A (en) | A kind of novel industrial robot | |
| CN110568155A (en) | A experimental earth plane adjusts structure for simulating stony desertification device | |
| RU2692899C1 (en) | Device simulating perpetual movement of earth around its axis | |
| CN206924392U (en) | The gate seat height adjustment mechanism of mahjong machine | |
| CN209650487U (en) | A kind of packaged type geological prospecting platform waterborne | |
| CN208304988U (en) | A kind of machine-building auxiliary table | |
| CN110359474A (en) | A kind of method of pair of precipitation well head closing dewatering construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170922 Assignee: Boya Road (Beijing) Industrial Robot Technology Co Ltd Assignor: Peking University Contract record no.: 2019990000108 Denomination of invention: Multi-underwater-robot ring formation space position adjusting device Granted publication date: 20181228 License type: Common License Record date: 20190403 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20190519 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |