CN109334921A - A kind of underwater robot - Google Patents
A kind of underwater robot Download PDFInfo
- Publication number
- CN109334921A CN109334921A CN201811312314.XA CN201811312314A CN109334921A CN 109334921 A CN109334921 A CN 109334921A CN 201811312314 A CN201811312314 A CN 201811312314A CN 109334921 A CN109334921 A CN 109334921A
- Authority
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- China
- Prior art keywords
- damping fin
- vertical beam
- damping
- underwater robot
- winding 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.)
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Links
- 238000013016 damping Methods 0.000 claims abstract description 84
- 238000004804 winding Methods 0.000 claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 8
- 238000007667 floating Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011897 real-time detection 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of underwater robots, robot body including tower structure and the Hovering control device being arranged in robot body, robot body includes being oppositely arranged the first vertical beam and the second vertical beam, Hovering control device includes bracing wire, Wire winding shaft, can automatic rolling the first damping fin and the second damping fin, Wire winding shaft may be rotatably mounted between the first vertical beam and the second vertical beam, first damping fin and the second damping fin are winding and installed in respectively on the first vertical beam and the second vertical beam, and first the extension end of damping fin and the second damping fin pass through bracing wire and take-up axis connection.The present invention is small due to disturbing when damping fin telescopic device works to surrounding water, avoids the problem that propeller forms the plume of floating, to significantly improve the clarity and visual range in the observation visual field.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of underwater robot.
Background technique
With being continuously increased for underwater operation demand, people increase underwater Man's Demands increasingly.In the specified depth of water
Carry out the important technology performance indicator that operation is underwater robot.It is carried out when underwater robot needs to be maintained at certain depth
When observing operation, on the one hand underwater robot needs to realize Depth control, on the other hand needs to reduce underwater robot as far as possible
Disturbance to surrounding water, to improve the clarity in the observation visual field.Existing underwater robot is due to safety concerns, it will usually set
Positive buoyancy is counted into, i.e. underwater robot can also emerge when losing active buoyancy by the buoyancy of itself.It is this kind of underwater
Robot is realizing the method that the thrust of screw propeller of real-time control vertical direction is generallyd use when depthkeeping operation, this
Method exists following insufficient:
1, the water body that surrounding can be stirred when screw propeller works, causes in water and water-bed deposit generates diffusion fortune
It is dynamic, the plume of floating is formed, the clarity and visual range in the observation visual field can be significantly reduced；
2, it needs to increase the energy consumption of underwater robot to the screw propeller continued power of vertical direction.
It can be seen that surrounding water will not be disturbed, improve the clear of the observation visual field by inventing in a kind of depthkeeping observation operation process
The clear degree and low underwater robot of energy consumption has great importance.
Summary of the invention
The present invention in view of the problems of the existing technology, provide will not be disturbed in a kind of depthkeeping operation process surrounding water,
And the underwater robot that energy consumption is low.
To achieve the above object, the invention discloses a kind of underwater robot, the robot body including tower structure
With the Hovering control device being arranged in the robot body, the robot body include the first vertical beam for being oppositely arranged and
Second vertical beam, the Hovering control device include bracing wire, Wire winding shaft, can automatic rolling the first damping fin and the second damping fin,
The Wire winding shaft may be rotatably mounted between first vertical beam and the second vertical beam, first damping fin and the second damping fin point
It is not winding and installed on first vertical beam and the second vertical beam, and the extension end of first damping fin and the second damping fin is logical
Cross the bracing wire and the take-up axis connection.
Further, first damping fin and the second damping fin is positioned opposite and synchronization telescope moves.
Further, further include the first reel of damping fin wireline reel and the connection of the first vertical beam and connect with the second vertical beam
The second reel connect, scroll spring is provided in first reel and the second reel, and the scroll spring and damping fin are wound
Axis winding connection, first damping fin and the second damping fin wind axis connection with the damping fin.
Further, first damping fin and the second damping fin are set as that the robot body vertical direction can be covered
Section.
Further, one end of the bracing wire is connect with the midpoint of first damping fin and the second damping fin, the other end
It is connect with the midpoint of the Wire winding shaft.
Further, the middle position of the robot body is equipped with electronic compartment, is equipped with depth in the electronic compartment
Sensor and controller, the Wire winding shaft are connected with the controller by a motor driven, the motor, depth transducer
It connects.
Further, horizontal propeller and vertical pusher, the horizontal propulsion are also equipped in the robot body
Device and vertical pusher are connect with the controller.
Further, multiple buoyant mass are also evenly equipped on the robot body.
Further, it is to stretch that first damping fin and the second damping fin, which are set as half or so in original operating state,
Unfolded state out.
Compared with the prior art, the advantages of the present invention are as follows:
Drift can be generated by being generated during power realizes hovering relative to traditional underwater robot by vertical pusher
Floating plume and need the problems such as consuming electric energy.Underwater robot of the invention is flexible by devising a damping fin
Device, when needing to increase the resistance of motion, the first damping fin and the second damping fin stretch out, and developed area increases, to realize water
The slow sinking of lower robot, close to hovering.When needing to reduce the resistance of motion, damping fin is shunk, and developed area reduces.Due to
It is small to surrounding water disturbance when damping fin telescopic device works, the plume of floating can be formed in the process to avoid hovering, thus
Significantly improve the clarity and visual range in the observation visual field；At the same time, it also avoids powering during hovering to propeller, from
And reduce energy consumption.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic front view of underwater robot disclosed in the preferred embodiment of the present invention；
Fig. 2 is the schematic top plan view of underwater robot disclosed in the preferred embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the Hovering control device of underwater robot disclosed in the preferred embodiment of the present invention；
Fig. 4 is the A-A schematic cross-sectional view of Fig. 1.
Marginal data:
1, robot body；11, the first vertical beam；12, the second vertical beam；13, first crossbeam；131, upper front beam；132, on
Rear cross beam；14, second cross beam；141, lower front beam；142, lower rear cross beam；15, horizontal propeller；16, vertical pusher；161,
Left vertical pusher；162, right vertical pusher；17, buoyant mass；171, left front buoyant mass；172, left back buoyant mass；173, right
Preceding buoyant mass；174, buoyant mass behind the right side；18, cable；19, electronic compartment；191, depth transducer；192, controller；2, hovering control
Device processed；21, motor；22, Wire winding shaft；23, bracing wire；231, Zola's line；232, right bracing wire；241, the first damping fin；242,
Two damping fins；251, the first reel；261, the second reel；27, scroll spring；28, damping fin wireline reel.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As Figure 1-Figure 4, the invention discloses a kind of underwater robots, including robot body 1 and control robot
The Hovering control device 2 that ontology 1 hovers, wherein robot body 1 is the first vertical beam 11, the second vertical beam 12,13 and of first crossbeam
Second cross beam 14 forms tower structure, meanwhile, robot body 1 is equipped with horizontal propeller 15, vertical pusher 16, buoyancy
Block 17, cable 18, electronic compartment 19, depth transducer 191 and controller 192, the first vertical beam 11 and the second vertical beam 12 are arranged vertically
The left and right sides of robot under water, first crossbeam 13 have 2 pieces, respectively go up front beam 131 and upper rear cross beam 132, and second is horizontal
Beam 14 has 2 pieces, respectively descends front beam 141 and lower rear cross beam 142, and first crossbeam 13 and second cross beam 14 are horizontally disposed under water
The two sides up and down of robot, buoyant mass 17 share 4 pieces, buoyant mass before respectively left front buoyant mass 171, left back buoyant mass 172, the right side
173 and it is right after buoyant mass 174.Buoyant mass 17 is arranged symmetrically in the upper surface of first crossbeam 13, left front buoyant mass 171, left back floating
The inside face contact of power block 172 and the first vertical beam 11, it is right before buoyant mass 173, it is right after buoyant mass 174 and the second vertical beam 12 inside
Face contact, vertical pusher 16 have 2, respectively left vertical pusher 161 and right vertical pusher 162, left vertical pusher
161 are mounted between left front buoyant mass 171 and left back buoyant mass 172, and right vertical pusher 162 is mounted on buoyant mass 173 before the right side
And behind the right side between buoyant mass 174, electronic compartment 19 is horizontally arranged at the center of first crossbeam 13,15 horizontal symmetrical of horizontal propeller peace
Mounted in the lower surface of first crossbeam 13, depth transducer 191 and controller 192 are mounted on inside electronic compartment 19, depth transducer
Using electrical connection between 191 and controller 192.
In the present embodiment, Hovering control device 2 is mounted on the lower portion of underwater robot, and is located at first crossbeam 13
Between second cross beam 14, including motor 21, Wire winding shaft 22, damping fin wireline reel 28, bracing wire 23 (including Zola's line 231 and the right side
Bracing wire 232), first damping fin 241 on the left side, second damping fin 242 on the right, first reel 251 on the left side and the right
Two reels 261, motor 21 are mounted on the center of second cross beam 14, and the output end of motor 21 is connect with Wire winding shaft 22,21 He of motor
Electronic compartment 19 is connected by cable 18, and scroll spring 27, the first reel 251 are provided in the first reel 251 and the second reel 261
Be mounted on the first vertical beam 11, and the both ends of the damping fin wireline reel 28 on the left side with the scroll spring 27 in the first reel 251
Connection, meanwhile, the second reel 261 is mounted on the second vertical beam 12, and the both ends of the damping fin wireline reel 28 on the right are with second
Scroll spring 27 in reel 261 connects, and the extension end of the first damping fin 241 is connect by Zola's line 231 with Wire winding shaft 22, the
The extension end of two damping fins 242 is connect by right bracing wire 232 with Wire winding shaft 22.
In the present embodiment, the first end of Zola's line 231 is connect with the midpoint of the extension end of the first damping fin 241, Zola's line
231 second end is wrapped in the midpoint of Wire winding shaft 22, Zola's line 231 driven under the pulling of Wire winding shaft 22 first damping fin 241 to
Wire winding shaft 22 moves, and Zola's line 231 drives the first damping fin 241 to move to the first vertical beam 11 under the pulling of scroll spring 27；It is right
The first end of bracing wire 232 is connect with the midpoint of 242 movable end of the second damping fin, and the second end of right bracing wire 232 is wrapped in Wire winding shaft
22 midpoint, right bracing wire 232 drive the second damping fin 242 to move to Wire winding shaft 22 under the pulling of Wire winding shaft 22.Meanwhile in this reality
It applies in example, for underwater robot in the original state of work, the first damping fin 241 and the second damping fin 242 have half to be in
Unfolded state is convenient for subsequent carry out precise fine-adjustment, to accelerate to adjust to provide an initial damping force f for underwater robot
Section process, to rapidly enter suspended state.
Specifically, the course of work of the invention is as follows: when underwater robot of the present invention needs to carry out under water in designated depth
When environmental observation, first by underwater robot dive to designated depth, it is then shut off vertical pusher 16, the control in electronic compartment 19
Device 192 processed is by 191 real-time detection depth of depth transducer, if depth detection value is less than set depth value, controller 192 is connect
Three-way motor 21 rotates forward, and motor 21 is rotated with Wire winding shaft 22, and Wire winding shaft 22 is with Zola's line 231 and right bracing wire 232 with identical
Speed is mobile to Wire winding shaft 22, and the first damping fin 241 and the second damping fin 242 are with identical speed sync from the first reel 251
It is pulled out in the second reel 261, the damping force that underwater robot is subject to increases；If depth detection value is equal to set depth value,
Then motor 21 stops operating；If depth detection value is greater than set depth value, controller 192 is connected motor 21 and is inverted, the first resistance
Buddhist nun's piece 241 and the second damping fin 242 respectively under 27 pulling force effect of scroll spring with the retracting of identical speed, underwater robot by
The damping force arrived reduces.
Meanwhile the working principle of the invention and advantage are as follows:
The buoyancy F1 being subject to when underwater robot works in water is greater than gravity G and damping force f, existing underwater robot
In water low speed move up and down damping force f at present be it is constant, Hovering control method is real by vertical pusher 16 in water
When generate the thrust T of vertical direction and maintain stress balance of the underwater robot in vertical direction, equilibrium equation are as follows: F1=G+
F+T, the present invention are to maintain underwater robot vertical by adjusting the damping force f of underwater robot in vertical direction in real time
The stress balance in direction, specific implementation are to devise a damping fin telescopic device, water on robot lower beam under water
The calculation formula for the damping force f that damping fin is subject to when lower robot moves in vertical direction are as follows: f=k*A, in formula, k is damping
Coefficient, A is the area of damping fin, it follows that passing through the adjustable damping force f of area for adjusting damping fin.Work as underwater
People needs when designated depth carries out hovering observation operation, and meeting following equilibrium equation by change damping force f can be not
It realizes in the state of unlatching vertical pusher 16 and hovers in water: F1=G+f, for small underwater robot, the adjusting of damping force f
Range is about 1N.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of underwater robot, which is characterized in that robot body (1) and setting including tower structure are in the machine
Hovering control device (2) in human body (1), the robot body (1) include the first vertical beam (11) being oppositely arranged and
Two vertical beams (12), the Hovering control device (2) include bracing wire (23), Wire winding shaft (22), can automatic rolling the first damping fin
(241) and the second damping fin (242), the Wire winding shaft (22) may be rotatably mounted at first vertical beam (11) and the second vertical beam
(12) between, first damping fin (241) and the second damping fin (242) be winding and installed in respectively first vertical beam (11) and
On second vertical beam (12), and the extension end of first damping fin (241) and the second damping fin (242) passes through the bracing wire
(23) it is connect with the Wire winding shaft (22).
2. underwater robot according to claim 1, which is characterized in that first damping fin (241) and the second damping
Piece (242) is positioned opposite and synchronization telescope moves.
3. underwater robot according to claim 2, which is characterized in that further include damping fin wireline reel (28) and first
The first reel (251) of vertical beam (11) connection and the second reel (252) connected with the second vertical beam (12), first reel
(251) and in the second reel (252) it is provided with scroll spring (27), the scroll spring (27) and damping fin wireline reel (28) are rolled up
Around connection, first damping fin (241) and the second damping fin (242) are connect with the damping fin wireline reel (28).
4. underwater robot according to claim 3, which is characterized in that first damping fin (241) and the second damping
Piece (242) is set as that the section of the robot body (1) vertical direction can be covered.
5. underwater robot according to claim 4, which is characterized in that one end of the bracing wire (23) and first resistance
Buddhist nun's piece (241) is connected with the midpoint of the second damping fin (242), and the other end is connect with the midpoint of the Wire winding shaft (22).
6. -5 any underwater robot according to claim 1, which is characterized in that the centre of the robot body (1)
Position is equipped with electronic compartment (19), is equipped with depth transducer (191) and controller (192) in the electronic compartment (19), described
Wire winding shaft (22) by a motor (21) drive, the motor (21), depth transducer (191) with the controller (192)
Connection.
7. underwater robot according to claim 6, which is characterized in that be also equipped with water in the robot body (1)
Flat propeller (15) and vertical pusher (16), the horizontal propeller (15) and vertical pusher (16) with the controller
(192) it connects.
8. underwater robot according to claim 6, which is characterized in that be also evenly equipped on the robot body (1) more
A buoyant mass (17).
9. -5 any underwater robot according to claim 1, which is characterized in that first damping fin (241) and the
Two damping fins (242) are set as half or so in original operating state to stretch out unfolded state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811312314.XA CN109334921B (en) | 2018-11-06 | 2018-11-06 | Underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811312314.XA CN109334921B (en) | 2018-11-06 | 2018-11-06 | Underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109334921A true CN109334921A (en) | 2019-02-15 |
| CN109334921B CN109334921B (en) | 2023-08-08 |
Family
ID=65313779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811312314.XA Active CN109334921B (en) | 2018-11-06 | 2018-11-06 | Underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334921B (en) |
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| Publication number | Publication date |
|---|---|
| CN109334921B (en) | 2023-08-08 |
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Application publication date: 20190215 Assignee: HANGZHOU AOHAI MARINE ENGINEERING Co.,Ltd. Assignor: HUNAN INSTITUTE OF ENGINEERING Contract record no.: X2023980048634 Denomination of invention: An underwater robot Granted publication date: 20230808 License type: Common License Record date: 20231130 |