CN108100191A - Full attitude motion underwater robot - Google Patents
Full attitude motion underwater robot Download PDFInfo
- Publication number
- CN108100191A CN108100191A CN201711397514.5A CN201711397514A CN108100191A CN 108100191 A CN108100191 A CN 108100191A CN 201711397514 A CN201711397514 A CN 201711397514A CN 108100191 A CN108100191 A CN 108100191A
- Authority
- CN
- China
- Prior art keywords
- propeller
- fuselage
- bit
- propelling screws
- underwater robot
- 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.)
- Pending
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full attitude motion underwater robots, fuselage including being in prism class type, the cross section of the fuselage is in isosceles triangle, the vertex of the upper surface of the fuselage is nearby equipped with preceding bearing propeller, and the left and right base angle of the upper surface of the fuselage is respectively equipped with left bit propeller and right bit propeller；The side wall of the fuselage corresponding to the left bit propeller and the right bit propeller is respectively arranged on the left side and the right side left propelling screws and right propelling screws.The present invention has filled up the blank of full posture underwater robot both at home and abroad, and it is relatively easy to be provided simultaneously with structure, controls the characteristics of simple.
Description
Technical field
The present invention relates to a kind of full attitude motion underwater robot more particularly to the stringent accurately underwater machine of Gesture
Device people.
Background technology
The characteristics of underwater robot is operation under water, and underwater operation environment is complicated, is not only influenced be subject to topography and geomorphology,
Also disturbed be subject to current.The motion mode of current underwater robot, (x-axis, y-axis) can in the horizontal direction for underwater robot
Using the action (rotary motion i.e. using z-axis as axle center) accomplished planar movement and turned, can accomplish to drift along in vertical direction
Movement, in motion process, the posture of underwater robot is substantially horizontal.The rotation using x-axis as axle center can not be completed to transport
It is dynamic, using y-axis as the rotary motion in axle center and the non-horizontal attitude motion of underwater robot.
The content of the invention
In order to solve the technical issues of above-mentioned, the object of the present invention is to provide a kind of full attitude motion underwater robots, make
It can complete the translational motion and rotary motion in all directions under water with comprehensive posture.The skill that the present invention uses
Art means are as follows：
A kind of full attitude motion underwater robot, including fuselage, the upper surface of the fuselage is equipped with preceding bearing propeller, a left side
Bearing propeller and right bit propeller, the preceding bearing propeller, the left bit propeller and the right bit propeller
Distribution triangular in shape, the preceding bearing propeller are located at the vertex of a triangle, and the shaft of the preceding bearing propeller is vertical
Be connected in the upper surface of the fuselage and with the preceding bearing propeller driving mechanism in the fuselage, the left bit propeller and
The right bit propeller is located at the left and right base angle of the triangle respectively, and the shaft of the left bit propeller is perpendicular to described
It the upper surface of fuselage and is connected with the left bit propeller driving mechanism in the fuselage, the shaft of the right bit propeller is hung down
Directly it is connected in the upper surface of the fuselage and with the right bit propeller driving mechanism in the fuselage；
The left and right sides of the side wall of the fuselage corresponding to the left bit propeller and the right bit propeller point
Not She You left propelling screws and right propelling screws, the shafts of the left propelling screws perpendicular to the side wall and with it is described
Left propelling screws driving mechanism connection in fuselage, the shafts of the right propelling screws perpendicular to the side wall and with it is described
Right propelling screws driving mechanism connection in fuselage.
The fuselage is in prism class type, and the cross section of the fuselage is in class isosceles triangle, three ribs of the fuselage
Position has arc surface.
The left propelling screws and the right propelling screws are respectively left-handed and right-hand airscrew or respectively dextrorotation
And left-hand airscrew.
The left bit propeller and the right bit propeller are respectively left-handed and right-hand airscrew or respectively dextrorotation
And left-hand airscrew.
The present invention controls posture and the movement of underwater robot by the different rotating speeds of each propeller.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, the posture of existing underwater robot be substantially horizontal can only adjust its horizontal level posture (such as
Left/right rotation), and can not adjust its vertical direction posture (such as lean forward, hypsokinesis, "Left"-deviationist, Right deviation), full posture of the invention
Movement underwater robot possesses the ability of full angle posture；
2nd, the movement of existing underwater robot can carry out in the horizontal direction all directions translation and turning and hang down
The ability directly moved can not but complete the rotary motion using x-axis as axle center, and using y-axis as the rotary motion in axle center etc., the present invention is very
Good solves the problems, such as this.
3rd, underwater robot of the invention can complete the comprehensive fortune such as comprehensive translation, rotation with comprehensive posture
It is dynamic.
The present invention has filled up the blank of full posture underwater robot both at home and abroad, and it is relatively easy to be provided simultaneously with structure, control letter
The characteristics of easy.
The present invention can be widely popularized in the fields such as robot under water for the foregoing reasons.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the top view of full attitude motion underwater robot in specific embodiment of the invention.
Fig. 2 is the left view of full attitude motion underwater robot in specific embodiment of the invention.
Fig. 3 is the rearview of full attitude motion underwater robot in specific embodiment of the invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work belong to the scope of protection of the invention.
As shown in Figure 1-Figure 3, a kind of full attitude motion underwater robot, including fuselage 1, the upper surface of the fuselage 1 is set
There are preceding bearing propeller 2, left bit propeller 3 and right bit propeller 4, the preceding bearing propeller 2, the left bit spiral
4 distribution triangular in shape of paddle 3 and the right bit propeller, the preceding bearing propeller 2 is located at the vertex of a triangle, described
The shaft of preceding bearing propeller 2 perpendicular to the upper surface of the fuselage 1 and with the preceding bearing propeller driving machine in the fuselage 1
Structure connects, and the left bit propeller 3 and the right bit propeller 4 are described respectively positioned at the left and right base angle of the triangle
The shaft of left bit propeller 3 perpendicular to the upper surface of the fuselage 1 and with the left bit propeller driving machine in the fuselage 1
Structure connects, the shaft of the right bit propeller 4 perpendicular to the upper surface of the fuselage 1 and with the right bit in the fuselage 1
Propeller driving mechanism connects；
The left and right sides of the side wall of the fuselage 1 corresponding to the left bit propeller 3 and the right bit propeller 4
Be respectively equipped with left propelling screws 5 and right propelling screws 6, the shafts of the left propelling screws 5 perpendicular to the side wall and
It is connected with the left propelling screws driving mechanism in the fuselage 1, the shaft of the right propelling screws 6 is perpendicular to the side wall
And it is connected with the right propelling screws driving mechanism in the fuselage 1.
The fuselage 1 is in prism class type, and the cross section of the fuselage 1 is in class isosceles triangle, three of the fuselage 1
Rib position has arc surface 7.
The left propelling screws 5 and the right propelling screws 6 are respectively left-handed and right-hand airscrew or are respectively the right side
Rotation and left-hand airscrew.
The left bit propeller 3 and the right bit propeller 4 are respectively left-handed and right-hand airscrew or are respectively the right side
Rotation and left-hand airscrew.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from various embodiments of the present invention technology
The scope of scheme.
Claims (4)
1. a kind of full attitude motion underwater robot, it is characterised in that：Including fuselage, the upper surface of the fuselage is equipped with front position
Propeller, left bit propeller and right bit propeller, the preceding bearing propeller, the left bit propeller and the right
Position propeller distribution triangular in shape, the preceding bearing propeller are located at the vertex of a triangle, the preceding bearing propeller
Shaft is connected perpendicular to the upper surface of the fuselage and with the preceding bearing propeller driving mechanism in the fuselage, the left bit
Propeller and the right bit propeller are located at the left and right base angle of the triangle respectively, and the shaft of the left bit propeller is hung down
It is directly connected in the upper surface of the fuselage and with the left bit propeller driving mechanism in the fuselage, the right bit propeller
Shaft be connected perpendicular to the upper surface of the fuselage and with the right bit propeller driving mechanism in the fuselage；
The left and right sides of the side wall of the fuselage corresponding to the left bit propeller and the right bit propeller is set respectively
Have a left propelling screws and right propelling screws, the shafts of the left propelling screws perpendicular to the side wall and with the fuselage
Interior left propelling screws driving mechanism connection, the shafts of the right propelling screws perpendicular to the side wall and with the fuselage
Interior right propelling screws driving mechanism connection.
2. full attitude motion underwater robot according to claim 1, it is characterised in that：The fuselage is in prism class
Type, in class isosceles triangle, three rib positions of the fuselage have arc surface for the cross section of the fuselage.
3. full attitude motion underwater robot according to claim 1, it is characterised in that：The left propelling screws and institute
It is respectively left-handed and right-hand airscrew or respectively dextrorotation and left-hand airscrew to state right propelling screws.
4. full attitude motion underwater robot according to claim 1, it is characterised in that：The left bit propeller and institute
It is respectively left-handed and right-hand airscrew or respectively dextrorotation and left-hand airscrew to state right bit propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711397514.5A CN108100191A (en) | 2017-12-21 | 2017-12-21 | Full attitude motion underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711397514.5A CN108100191A (en) | 2017-12-21 | 2017-12-21 | Full attitude motion underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108100191A true CN108100191A (en) | 2018-06-01 |
Family
ID=62212260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711397514.5A Pending CN108100191A (en) | 2017-12-21 | 2017-12-21 | Full attitude motion underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108100191A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112484576A (en) * | 2020-12-07 | 2021-03-12 | 湖南翰坤实业有限公司 | Fighting equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
| CN104960650A (en) * | 2015-06-16 | 2015-10-07 | 华中科技大学 | Six-degree-of-freedom underwater robot |
| CN105151301A (en) * | 2015-07-28 | 2015-12-16 | 浙江大学 | Aerial and underwater amphibious robot and method |
| US20160023733A1 (en) * | 2014-07-25 | 2016-01-28 | Graham Hawkes | Positively buoyant, vertical thrust, manned submersible |
| CN106314731A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater detecting and salvage robot and working method and control system thereof |
| CN206243416U (en) * | 2016-12-09 | 2017-06-13 | 公安海警学院 | A kind of multifunctional police underwater robot |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
-
2017
- 2017-12-21 CN CN201711397514.5A patent/CN108100191A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160023733A1 (en) * | 2014-07-25 | 2016-01-28 | Graham Hawkes | Positively buoyant, vertical thrust, manned submersible |
| CN104960650A (en) * | 2015-06-16 | 2015-10-07 | 华中科技大学 | Six-degree-of-freedom underwater robot |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
| CN105151301A (en) * | 2015-07-28 | 2015-12-16 | 浙江大学 | Aerial and underwater amphibious robot and method |
| CN106314731A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater detecting and salvage robot and working method and control system thereof |
| CN206243416U (en) * | 2016-12-09 | 2017-06-13 | 公安海警学院 | A kind of multifunctional police underwater robot |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112484576A (en) * | 2020-12-07 | 2021-03-12 | 湖南翰坤实业有限公司 | Fighting equipment |
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| PB01 | Publication | ||
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Application publication date: 20180601 |