CN111099004A

CN111099004A - Six-degree-of-freedom ROV

Info

Publication number: CN111099004A
Application number: CN202010057609.8A
Authority: CN
Inventors: 熊明磊; 陈龙冬; 孙勐
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-05-05

Abstract

The invention relates to a six-degree-of-freedom ROV, belonging to the technical field of underwater robots, and the six-degree-of-freedom ROV comprises a rack and a floating material, wherein the floating material is arranged on a top plate of the rack; the vertical propellers are arranged on the top plate of the rack and used for driving the rack to move in the vertical direction, the number of the vertical propellers is four, and the four vertical propellers are distributed at the four top corners of the same rectangle; the horizontal propellers are arranged in the rack and used for driving the rack to move in the horizontal direction, the number of the horizontal propellers is four, and the horizontal propellers are arranged on the periphery of the rack respectively. By adopting the structure, the six-degree-of-freedom ROV provided by the invention can realize linear movement and 360-degree rotation in the horizontal direction and the vertical direction, and has higher flexibility.

Description

Six-degree-of-freedom ROV

Technical Field

The invention belongs to the technical field of underwater robots, and particularly relates to a six-degree-of-freedom ROV.

Background

ROVs, i.e., Remote Operated vehicles (Remote Operated vehicles), have various functions, and different types of ROVs are used for performing different tasks, and are widely applied to various fields such as military, coast guards, maritime affairs, customs, nuclear power, hydropower, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.

In the prior art, a horizontal propeller is arranged on a common ROV and used for providing power for horizontal movement, a vertical propeller is arranged on the common ROV and used for providing power for vertical lifting movement, but the conventional ROV cannot realize that the whole machine rotates in space, so that the ROV has the defect of insufficient flexibility.

Disclosure of Invention

The invention provides a six-degree-of-freedom ROV, which is used for solving the technical problem that the ROV in the prior art is not flexible enough in use.

The invention is realized by the following technical scheme: a six degree-of-freedom ROV comprising:

the floating material is arranged on a top plate of the rack;

the vertical thrusters are mounted on the top plate of the rack and used for driving the rack to move in the vertical direction, the number of the vertical thrusters is four, and the four vertical thrusters are distributed at four top corners of the same rectangle;

the horizontal propellers are arranged in the rack and used for driving the rack to move in the horizontal direction, the number of the horizontal propellers is four, and one horizontal propeller is arranged on the periphery of the rack.

Further, in order to better realize the invention, the frame is a rectangular frame, the axis of the horizontal propeller and the side line of the frame form an angle of 45 degrees, and the axes of the adjacent horizontal propellers are perpendicular to each other.

Further, in order to better implement the present invention, the vertical thruster is embedded in the float.

Further, in order to better implement the present invention, the horizontal propeller and the vertical propeller are each an electric propulsion device, and the electric propulsion device includes a first motor, a nacelle mounted on a rotating shaft of the first motor, and a blade mounted on the first motor housing and housing the blade.

Further, in order to better implement the present invention, the first motor is a forward and reverse rotation motor.

Further, in order to better implement the present invention, the present invention further includes a pan/tilt head and a controller, wherein the pan/tilt head is mounted on the rack, a sealed cabin is disposed in the rack, the controller is mounted in the sealed cabin, the pan/tilt head includes a camera and an illumination lamp, and the controller is electrically connected to the camera, the illumination lamp and the first motor to receive signals of the camera and control operating states of the illumination lamp and the eight first motors.

Further, in order to better implement the present invention, the pan/tilt head further includes a second motor, a bracket, a rotating shaft, and a mounting seat, the bracket is mounted on the rack, the second motor is mounted on the bracket, the rotating shaft is linked with a rotating shaft of the second motor and is rotatably inserted into the bracket, the camera and the illumination lamp are fixedly connected to the rotating shaft through the mounting seat, and the controller is electrically connected to the second motor to control a working state of the second motor.

Furthermore, in order to better realize the invention, the floating material lifting device also comprises a lifting device which is arranged at the center of the top plate of the frame and extends upwards to the floating material.

Furthermore, in order to better realize the invention, the lifting device comprises a first flat plate, two second flat plates, a circular shaft and a bearing rod, wherein the number of the second flat plates is two, the two second flat plates are vertically arranged on the first flat plate and positioned above the first flat plate, the two second flat plates are arranged in an opposite and spaced manner, one end of the circular shaft is rotatably inserted on one of the second flat plates, the other end of the circular shaft is rotatably inserted on the other second flat plate, the bottom of the bearing rod is provided with a circular hole, the circular shaft is inserted in the circular hole, and the middle of the bearing rod is provided with an annular groove coaxial with the bearing rod;

the first flat plate is connected to a top plate of the rack.

Furthermore, in order to better realize the invention, a groove is arranged on the lower surface of the top plate of the rack, two through holes are arranged at the bottom of the groove, two second flat plates are respectively inserted into the two through holes, and the first flat plate is accommodated in the groove;

when the upper plate is pulled upwards, the upper surface of the first flat plate is abutted to the groove bottom of the groove.

Compared with the prior art, the invention has the following beneficial effects:

the six-degree-of-freedom ROV provided by the invention comprises a rack and floating materials, wherein the floating materials are arranged on a top plate of the rack, so that the whole six-degree-of-freedom ROV can be suspended in water, four vertical propellers are also arranged on the rack and are distributed at four top corners of the same rectangle, therefore, the whole six-degree-of-freedom ROV can realize 360-degree rotary motion in the vertical direction by driving different vertical propellers to operate, namely, the six-degree-of-freedom ROV is driven to vertically lift or rotate in the vertical direction, a horizontal propeller is respectively arranged at the periphery of the rack, so that the six-degree-of-freedom ROV is driven to linearly move or rotate 360 degrees in the horizontal direction, by adopting the structure, the six-degree-of-freedom ROV provided by the embodiment can linearly move or rotate 360 degrees in the vertical direction and the horizontal direction, so that the six-degree-of, the flexibility is higher.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a six degree-of-freedom ROV in an embodiment of the present invention;

FIG. 2 is a top view of the structure shown in FIG. 1;

FIG. 3 is a schematic view of a mounting structure of a horizontal thruster on a frame in an embodiment of the invention;

fig. 4 is a schematic structural diagram of a pan/tilt head in an embodiment of the present invention;

fig. 5 is a schematic structural view of an electric propulsion apparatus in an embodiment of the present invention;

FIG. 6 is a schematic structural view of a lifting device in an embodiment of the present invention;

FIG. 7 is a schematic structural view of a top plate in an embodiment of the present invention;

FIG. 8 is a schematic view of the installation structure of the lifting device and the top plate in the embodiment of the invention;

fig. 9 is a control schematic diagram of a six degree-of-freedom ROV in an embodiment of the present invention.

In the figure:

1-a frame; 11-a top plate; 111-grooves; 112-a through hole;

2-floating material;

3-a vertical thruster;

4-a horizontal thruster;

5-a holder; 51-a camera; 52-lighting lamps; 53-a second motor; 54-a scaffold; 55-rotation axis; 56-mounting seat;

6, a hoisting device; 61-a first plate; 62-a second plate; 63-round shaft; 64-bearing rod; 641-ring grooves;

7-a first motor;

8-a flow guide sleeve;

9-blades;

10-sealing the cabin;

100-a controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Example 1:

the present embodiment provides a six-degree-of-freedom ROV, i.e. an underwater robot capable of acting in six degrees of freedom, and it is noted that the ROV described in the present invention is actually an underwater robot.

As shown in fig. 1-3, the six-degree-of-freedom ROV includes a frame 1 and a buoyant material 2, wherein the frame 1 is a rectangular frame having a top plate 11 and a bottom plate, the buoyant material 2 can be a solid substance with a density lower than that of water, and the entire six-degree-of-freedom ROV can be suspended in the air by using the buoyant material 2, that is, the buoyancy provided by the buoyant material 2 is balanced with the sum of the buoyancy of the buoyant material 2 and the frame 1 and the components thereon.

The six-degree-of-freedom ROV further comprises four vertical thrusters 3, the vertical thrusters 3 are mounted on the top plate 11 of the frame 1, the number of the vertical thrusters 3 is four, the four vertical thrusters 3 are distributed at four corners of the same rectangle, and optimally, the four vertical thrusters 3 are respectively mounted at four corners of the top plate 11 of the rectangular frame (i.e. the frame 1). This vertical thruster 3 can produce the thrust of vertical direction to order about whole six degrees of freedom ROV and go up and down in vertical direction, moreover, through controlling the operation of different vertical thruster 3, just can make whole six degrees of freedom ROV can overturn on vertical direction, for example forward pitch, hypsokinesis, roll left, roll right the motion such as. As a best mode of the present embodiment, the axial directions of the four vertical thrusters 3 in the present embodiment are all the same as the height direction axial direction of the gantry 1. Of course, as another embodiment of this embodiment, the axial directions of the four vertical thrusters 3 in this embodiment and the axial direction of the height direction of the gantry 1 have a certain small angle therebetween, that is, the four vertical thrusters 3 are installed in an inclined manner with respect to the gantry 1.

The six-degree-of-freedom ROV further comprises four horizontal thrusters 4, the four horizontal thrusters 4 are installed in the rack 1, the four horizontal thrusters 4 are respectively located on the periphery of the rack 1, and optimally, one horizontal thruster 4 is respectively installed at four top corners of the rack 1. By operating different horizontal propellers 4, the six-degree-of-freedom ROV can be driven to do linear motion or 360-degree rotation in the horizontal direction, such as forward motion, backward motion, left motion, right motion, left rotation and right rotation. As a best mode of the present embodiment, the axis of the horizontal thruster 4 in the present embodiment forms an angle of 45 ° with the borderline of the frame 1, and the axial directions of two adjacent horizontal thrusters 4 are perpendicular to each other.

Through the structure, the six-degree-of-freedom ROV provided by the embodiment can not only lift and translate in water, but also rotate in the horizontal direction and the vertical direction, and can flexibly move in six degrees of freedom, so that the flexibility is higher.

In this embodiment, as a specific embodiment of this embodiment, the top plate 11 of the frame 1 is provided with a mounting hole, the vertical propeller 3 is mounted in the mounting hole and is embedded in the floating material 2, but the water inlet end and the water outlet end of the vertical propeller 3 protrude from the floating material 2, and the horizontal propeller 4 is mounted on the bottom plate of the frame 1.

Example 2:

this embodiment is a specific implementation manner of embodiment 1, and the horizontal propeller 4 and the vertical propeller 3 in the six-degree-of-freedom ROV provided by this embodiment are electric propulsion devices, as shown in fig. 5, each of which includes a first motor 7, a nacelle 8, and blades 9, the blades 9 are mounted on a rotating shaft of the first motor 7, and the nacelle 8 is mounted on a housing of the first motor 7 and is covered outside the blades 9. The guide cover 8 can protect the blades 9, and when the first motor 7 is powered on, the blades 9 are driven to rotate in the guide cover 8, so that thrust is formed.

As a preferred embodiment of the present embodiment, the first motor 7 in the present embodiment is a forward and reverse rotation motor, so that both the horizontal thruster 4 and the vertical thruster 3 can generate forward and reverse thrust, thereby driving the six-degree-of-freedom ROV to move more flexibly as required.

Example 3:

as a preferred implementation manner of the foregoing embodiment, the six-degree-of-freedom ROV provided in this embodiment further includes a pan/tilt head 5 and a controller 100, where the pan/tilt head 5 includes a camera 51 and an illuminating lamp 52, and the pan/tilt head 5 is mounted on the rack 1, the illuminating lamp 52 can emit light to implement illumination, and the camera 51 can collect image information in water, as shown in fig. 1, a sealed cabin 10 is further disposed in the rack 1, and the sealed cabin 10 is a sealed plastic chamber. The controller 100 is installed in the sealed cabin 10, and it should be noted that the controller 100 in this embodiment is an STM32F4 or an STM32H7 series single chip microcomputer.

The controller 100 is electrically connected to the camera 51, the illuminating lamp 52 and the eight first motors 7 (the first motors 7 of the four horizontal propellers 4 and the first motors 7 of the four vertical propellers 3), the controller 100 can receive the image information collected by the camera 51 and transmit the image information back to the ground center console, the controller 100 can receive the instruction from the ground center console to drive one or more of the eight first motors 7 to operate, and the controller 100 can supply power to the illuminating lamp 52. It should be noted that the control and power supply between the controller 100 and the ground center console and between the camera 51, the illuminating lamp 52 and the eight first motors 7 in the present embodiment is already common in the prior art, and is used in the existing submarine and other equipment, so the detailed description thereof is omitted here. In this embodiment, the control function of the controller 100 and the functions of receiving, processing and transmitting signals are used to achieve the signal communication with the ground center console and the control effect between the video camera 51, the illuminating lamp 52 and the eight first motors 7.

As a more preferred embodiment of the present embodiment, as shown in fig. 4, the pan/tilt head 5 of the present embodiment further includes a second motor 53, a bracket 54, a rotating shaft 55 and a mounting seat 56, wherein, the bracket 54 is arranged on the frame 1, the second motor 53 is arranged on the bracket 54, the rotating shaft 55 is connected with the rotating shaft of the second motor 53 in a linkage way through a coupler, the rotating shaft 55 is rotatably inserted into the holder 54, the holder 54 supports the rotation of the rotating shaft 55, the camera 51 and the illumination lamp 52 are fixed to a rotation shaft 55 by a mount 56, and, specifically, as shown in fig. 4, the mounting seat 56 includes a clamping plate and a steel band, both ends of the steel band are fixed on the clamping plate by screws, the clamping plate is clamped on the rotating shaft 55, the illumination lamp 52 is bound to the rotation shaft 55 by one steel band, and the camera 51 is bound to the rotation shaft 55 by two steel bands. Preferably, the second motor 53 is also controlled by the controller 100.

With this configuration, the second motor 53 can drive the camera 51 and the illumination lamp 52 to rotate to provide a larger view image, thereby guiding the six-degree-of-freedom ROV provided by the present embodiment to travel by using the controller 100.

Example 4:

in this embodiment, a lifting device 6 extending upward from the floating material 2 is further installed at the center of the top plate 11 of the frame 1, and a user can use a lifting rope to hook on the lifting device 6 to implement the laying or retrieving of the six-degree-of-freedom ROV provided in this embodiment.

As a specific embodiment of this embodiment, as shown in fig. 6, 7 and 8, the lifting device 6 in this embodiment comprises a first flat plate 61, a second flat plate 62, a round shaft 63 and a force bearing rod 64, the number of the second plates 62 is two, the two second plates 62 are both vertically arranged on the upper surface of the first plate 61, and the two second flat plates 62 are opposite and spaced, one end of the circular shaft 63 is rotatably inserted into one of the second flat plates 62, the other end of the circular shaft 63 is rotatably inserted into the other second flat plate 62, at this time, the circular shaft 63 can rotate on the second flat plates 62, if the circular shaft 63 is not desired to rotate between the two second flat plates 62, in this embodiment, the second plate 62 is further provided with a screw hole into which a screw is screwed and which can be pressed against the surface of the circular shaft 63, and when rotation is not required, the screw can be tightened and pressed against the surface of the circular shaft 63. The bearing rod 64 is a hollow straight rod structure, the bottom of the bearing rod 64 is provided with a round hole, the round shaft 63 is inserted into the round hole, the bearing rod 64 is positioned between the two second flat plates 62, in order to realize external connection, the middle position of the bearing rod 64 is provided with an annular groove 641 which is coaxial with the bearing rod 64, and when the lifting appliance is used, the lifting appliance on the lifting rope can act in the annular groove 641, so that connection and lifting are realized.

The first plate 61 is connected to the top plate 11 of the housing 1.

As a preferred embodiment of this embodiment, as shown in fig. 7 and 8, the bottom surface of the top plate 11 of the rack 1 in this embodiment is provided with a groove 111 adapted to the first flat plate 61, and two through holes 112 are further provided at the bottom of the groove 111, and one ends of the two second flat plates 62 away from the first flat plate 61 are inserted into the two through holes 112 after passing through the groove 111, at this time, the first flat plate 61 is located below the top plate 11 and the circular shaft 63 is located above the top plate 11. When pulling up, the first plate 61 is accommodated in the groove 111 and the upper surface of the first plate 61 abuts against the groove bottom of the groove 111, thereby forming mutual interference and further pulling up the six-degree-of-freedom ROV.

By adopting the structure, in the six-degree-of-freedom ROV provided by the embodiment, bolts are not used for connecting the hoisting device 6 and the frame 1, so that the situation that the hoisting device 6 cannot be taken off from the frame 1 due to the damage of the bolts caused by the corrosion of water can be avoided. In addition, in the connection mode between the hoisting device 6 and the frame 1 in this embodiment, when the ROV with six degrees of freedom is placed in water, due to the buoyancy of the floating material 2, the upper surface of the first flat plate 61 can be separated from the bottom of the groove 111, that is, there is no interference between the hoisting device 6 and the frame 1 at this time, so that the ROV with six degrees of freedom can enter water in a nearly natural state, the degree of influence on the sinking trajectory of the ROV with six degrees of freedom due to the interference between the hoisting device 6 and the frame 1 is reduced, and the practicability is further enhanced.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A six degree-of-freedom ROV, comprising:

the floating material is arranged on a top plate of the rack;

2. A six degree-of-freedom ROV according to claim 1, wherein: the frame is a rectangular frame, an angle of 45 degrees is formed between the axis of the horizontal propeller and the sideline of the frame, and the axes of the adjacent horizontal propellers are mutually vertical.

3. A six degree-of-freedom ROV according to claim 1, wherein: the vertical propeller is embedded in the floating material.

4. A six degree-of-freedom ROV according to any of claims 1 to 3, wherein: the horizontal propeller and the vertical propeller are both electric propulsion equipment, the electric propulsion equipment comprises a first motor, a flow guide sleeve and blades, the blades are installed on a rotating shaft of the first motor, and the flow guide sleeve is installed on a shell of the first motor and covers the blades.

5. A six degree-of-freedom ROV according to claim 4, wherein: the first motor is a forward and reverse rotating motor.

6. A six degree-of-freedom ROV according to claim 5, characterised in that: still include cloud platform and controller, the cloud platform is installed in the frame, be equipped with the sealed cabin in the frame, the controller is installed in the sealed cabin, the cloud platform includes camera and light, the controller with camera, light first motor is equal to be connected in order to receive camera signal and control light and eight the operating condition of first motor.

7. A six degree-of-freedom ROV according to claim 6, characterised in that: the cradle head further comprises a second motor, a support, a rotating shaft and a mounting seat, the support is mounted on the rack, the second motor is mounted on the support, the rotating shaft is in linkage connection with a rotating shaft of the second motor, the rotating shaft is inserted on the support in a rotating mode, the camera and the illuminating lamp are fixedly connected onto the rotating shaft through the mounting seat, and the controller is electrically connected with the second motor to control the working state of the second motor.

8. A six degree-of-freedom ROV according to any of claims 1 to 3, wherein: the lifting device is arranged in the center of the top plate of the rack and extends out of the floating material upwards.

9. A six degree-of-freedom ROV according to claim 8, wherein: the lifting device comprises a first flat plate, two second flat plates, a circular shaft and a bearing rod, wherein the number of the second flat plates is two, the two second flat plates are vertically arranged on the first flat plate and are positioned above the first flat plate, the two second flat plates are arranged in an opposite and spaced mode, one end of the circular shaft is rotatably inserted on one of the second flat plates, the other end of the circular shaft is rotatably inserted on the other second flat plate, a circular hole is formed in the bottom of the bearing rod, the circular shaft is inserted in the circular hole, and an annular groove coaxial with the bearing rod is formed in the middle of the bearing rod;

the first flat plate is connected to a top plate of the rack.

10. A six degree-of-freedom ROV according to claim 9, wherein: a groove is formed in the lower surface of a top plate of the rack, two through holes are formed in the bottom of the groove, the two second flat plates are inserted into the two through holes respectively, and the first flat plate is accommodated in the groove;