CN108408007A - Hybrid power underwater robot - Google Patents

Abstract

This application discloses a kind of hybrid power underwater robots, including aerodone bay section, undulate propulsion mechanism and propeller propulsive mechanism；The aerodone bay section includes aerodone shell and aerodone executing agency；The aerodone executing agency is arranged in aerodone shell, the aerodone executing agency includes pitching angle adjusting mechanism and net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism floats or dive under water for making aerodone shell, the pitching angle adjusting mechanism realizes that gliding is advanced for making aerodone shell generate angle with fluid during floating dive；The undulate propulsion mechanism is arranged in the rear end of aerodone shell；The propeller propulsive mechanism includes a pair of of forward-reverse spiral paddle propeller, and the screw propeller is arranged on the aerodone shell.The present invention can make robot adapt to more complicated arduous environment, reduce the failure rate of robot.

Description

Hybrid underwater robot

technical field

The present application relates to a robot, in particular to a hybrid underwater robot.

Background technique

Traditional underwater robots are divided into two forms: cable-free underwater robots and cable-connected underwater robots. Cable-based underwater robots are also called Remote Operated Vehicles (ROV for short), and their working range is limited by the length of cables. Unable to achieve all-weather autonomous work; the other is the cable-free underwater robot, also known as autonomous underwater vehicle (Autonomous Underwater Vehicle, referred to as AUV). Autonomous underwater robots are a new generation of underwater robots. Compared with cabled underwater robots, they have the advantages of large range of motion, good mobility, safety, and intelligence. They can shuttle into complex waters without the support of surface base stations. It is an important tool to complete various underwater tasks. For example, in the civilian field, it can be used for laying pipelines, seabed investigation, data collection, drilling support, seabed construction, maintenance and repair of underwater equipment, etc.; in the military field, it can be used for reconnaissance, laying mines, minesweeping and lifesaving.

The underwater glider is a typical cable-free underwater robot. It uses the net buoyancy and attitude angle adjustment of the equipment to obtain propulsion, and the energy consumption is extremely small. It only consumes a small amount of energy when adjusting the net buoyancy and attitude angle, and has high efficiency. It has the characteristics of high height and large battery life, and the battery life can reach thousands of kilometers. However, due to the simple use of buoyancy drive and lack of maneuverability, the underwater glider can only sail in zigzag and spiral orbits underwater. Its track control and positioning accuracy are low, and its speed is slow. There is a drifting situation.

Existing underwater gliders perform zigzag motion by adjusting the net buoyancy and robot attitude angle, which can greatly reduce energy consumption. However, this single operation mode leads to insufficient maneuverability of the glider, which cannot cope with complex water conditions, and cannot Individual work on the surface or at defined depths.

Contents of the invention

In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a hybrid underwater robot capable of adapting to various water body environments.

In order to achieve the above object, the technical scheme that the present invention takes is:

A hybrid underwater robot, comprising a glider cabin section, a tail fin swing propulsion mechanism and a propeller propulsion mechanism;

The glider compartment includes a glider housing and a glider actuator;

The glider actuator is arranged in the glider housing, and the glider actuator includes a pitch angle adjustment mechanism and a net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism is used to make the glider housing float or dive underwater, and the pitch The angle adjustment mechanism is used to make the glider shell form an angle with the fluid in the process of floating and diving, so as to realize the gliding forward;

The tail fin swing propulsion mechanism is arranged at the rear end of the glider housing;

The propeller propulsion mechanism includes a pair of forward and reverse propeller propellers, and the propeller propellers are arranged on the glider shell.

The tail fin swing propulsion mechanism includes a tail fin propulsion sealed cabin, a steering gear, a transmission shaft, a mechanical seal and a tail fin;

A steering gear is provided in the tail fin propulsion sealing compartment, and one side of the steering gear is connected to a bearing, and the other side is connected to a transmission shaft. The transmission shaft is provided with a mechanical seal, and the transmission shaft on the upper part of the mechanical seal is provided with a with bearings;

The tail fin is fixedly connected with a connecting piece, one end of the connecting piece is connected to the bearing connected to one side of the steering gear, and the other side is connected to the transmission shaft;

The tail fin propelling airtight cabin is fixedly connected to the rear end of the glider shell.

The tail fin propelling sealed cabin includes an upper sealed cover and a lower sealed cabin fixedly connected.

The front end of the glider housing is provided with a fish mouth, and the glider housing is provided with a fixing frame for fixing the propeller propeller;

The fish mouth, the glider shell, the fixing frame of the propeller propeller, the tail fin swing propulsion sealed cabin, the connector and the tail fin form a fish-like sealed shell.

The pair of forward and reverse propeller propellers are symmetrically distributed on both sides of the glider housing.

The glider cabin section also includes glider wings arranged on both sides of the glider housing; the propeller propeller is located between the glider wings and the tail fin swing propulsion mechanism.

The glider housing is provided with a bracket, and the bracket is used to fix the hang glider and the circuit board. One side of the bracket is provided with a net buoyancy adjustment mechanism, and the other side is provided with a pitch angle adjustment mechanism; the circuit board is used for Control net buoyancy adjustment mechanism, pitch angle adjustment mechanism, tail fin swing propulsion mechanism and propeller motion. The pitch angle adjustment mechanism includes executive motor, ball screw, screw nut, coupling, bearing fixing seat, guide rail, slide blocks and counterweights;

The actuator motor is fixedly connected to the ball screw through a coupling, the two ends of the ball screw are arranged on bearings, the bearings are fixed on the corresponding bearing fixing seats, and the ball screw is provided with a screw nut , the screw nut is fixedly connected to the counterweight, the lower part of the counterweight is fixedly connected to the slider, and the slider is arranged on the guide rail.

The counterweight is composed of a lithium battery pack, and the lithium battery pack is used to provide power to the actuator motor.

The net buoyancy adjustment mechanism includes a built-in piston oil cylinder, an external deformable oil bag, an oil pump, a touch switch and a distance sensor;

The oil pump is respectively connected to the oil bag and the piston cylinder, and the oil pump is used to adjust the position of oil or water between the oil cylinder and the oil bag, and then adjust the volume of the oil bag. The oil cylinder is provided with a touch switch and a distance sensor , the touch switch is used to limit the maximum stroke of the piston in the oil cylinder, when the piston touches the touch switch, the maximum stroke of the piston is marked at this time; the distance sensor is used to detect the position of the piston in the oil cylinder in real time , as the input parameters of the motion control system.

Compared with prior art, the beneficial effect of the present invention is:

Compared with the traditional glider that only uses the hang glider and the buoyancy system, the present invention has multiple working modes, can effectively enhance its maneuverability, and has the ability of zero-radius steering and high-speed motion turning. Compared with the glider simply driven by the propeller and turbine, the present invention can make the robot adapt to more complicated and difficult environment and reduce the failure rate of the robot. Compared with the bionic robotic fish that simply performs bionic propulsion, the underwater robot of the present invention can effectively use its working process of floating and diving to advance forward, and has a higher energy utilization rate than a single bionic robotic fish system, and the battery life and working time are much higher. Mileage is longer.

Description of drawings

Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the structural representation of the hybrid underwater robot provided by the embodiment of the present invention;

Fig. 2 is a structural sectional view of a hybrid underwater robot provided by an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of the tail fin swing propulsion mechanism provided by the embodiment of the present invention;

Fig. 4 is a partially exploded schematic diagram of Fig. 3;

Fig. 5 is the front view of Fig. 1;

FIG. 6 is a schematic structural diagram of a pitch angle adjustment mechanism provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a counterweight provided by an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a net buoyancy adjustment mechanism provided by an embodiment of the present invention.

In the picture:

1 glider cabin section, 2 tail fin swing propulsion mechanism, 3 propeller propulsion mechanism, 4 glider shell, 5 pitch angle adjustment mechanism, 6 net buoyancy adjustment mechanism, 7 propeller propeller, 8 sealed cabin, 9 steering gear, 10 transmission shaft, 11 mechanical seal, 12 tail fin, 13 bearing, 14 connector, 15 upper sealing cover, 16 lower sealing cabin, 17 fish mouth, 18 fixed frame, 19 hang glider, 20 bracket, 21 motor, 22 ball screw, 23 wire Rod nut, 24 coupling, 25 bearing fixing seat, 26 guide rail, 27 slider, 28 counterweight, 29 piston cylinder, 30 oil bag, 31 oil pump, 32 touch switch, 33 distance sensor.

Detailed ways

The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Referring to Fig. 1 and Fig. 2, a hybrid underwater robot includes a glider cabin section 1, a tail fin swing propulsion mechanism 2 and a propeller propulsion mechanism 3;

The glider compartment 1 includes a glider housing 4 and a glider actuator;

The glider actuator is arranged in the glider housing 4. The glider actuator includes a pitch angle adjustment mechanism 5 and a net buoyancy adjustment mechanism 6. The net buoyancy adjustment mechanism 6 is used to make the glider housing 4 float or dive underwater, and adjust the pitch angle. The mechanism 5 is used to make the glider shell 4 form an angle with the fluid during the floating and diving process, so as to realize the gliding forward;

Tail fin swing propulsion mechanism 2 is arranged on the rear end of glider housing 4;

The propeller propulsion mechanism 3 includes a pair of forward and reverse propeller propellers 7 , and the propeller propellers 7 are arranged on the glider housing 4 .

The underwater robot of the present invention adopts three kinds of hybrid power sources, and has three operating modes of underwater glider, propeller propulsion and tail fin swing propulsion. It can adapt to various water environments. On the one hand, the underwater glider’s low energy consumption and long battery life work mode enables the robot to achieve large-scale and long-term underwater operations. On the other hand, the propeller propulsion mode and tail fin swing propulsion mode Ability to adapt the robot to more complex water environments.

Referring to Fig. 1, Fig. 3 and Fig. 4, in this embodiment, the tail fin swing propulsion mechanism 2 includes a tail fin propulsion sealed cabin 8, a steering gear 9, a transmission shaft 10, a mechanical seal 11 and a tail fin 12;

Steering gear 9 is arranged in tail fin propulsion sealing cabin 8, and one side of steering gear 9 is connected with bearing 13, and the other side is connected with transmission shaft 10, and transmission shaft 10 is provided with mechanical seal 11, and on the transmission shaft 10 on the top of mechanical seal 11 Bearing 13 is provided;

The tail fin 12 is fixedly connected with a connecting piece 14, one end of the connecting piece 14 is connected to the bearing 13 connected to one side of the steering gear 9, and the other side is connected to the transmission shaft 10;

The tail fin propels the sealed cabin 8 and is fixedly connected to the rear end of the glider housing 4 .

Preferably, the tail fin propulsion sealing compartment 8 includes an upper sealing cover 15 and a lower sealing compartment 16 fixedly connected.

The lower airtight cabin and the mechanical seal realize the static sealing and dynamic sealing of the tail fin swing propulsion mechanism, so that it can work underwater. The invention utilizes the steering gear to swing to drive the tail fin to rotate with the transmission shaft as the central axis, so as to realize the swing and propulsion of the tail fin.

Referring to Fig. 1 and Fig. 5, preferably, the front end of the glider housing 4 is provided with a fish mouth 17, and the glider housing 4 is provided with a fixing frame 18 for fixing the propeller propeller 7;

The fixed frame 18 of fish mouth 17, glider shell 4, propeller propeller 7, caudal fin swing propulsion sealing cabin 8, connector 14 and caudal fin 12 form imitation fish-shaped sealed shell.

The underwater robot of the present invention adopts a bionic fish-shaped fluid design, and combines three propulsion methods with a bionic fish-shaped shell. The shape of the fish presents a streamlined structure. Moreover, the hydrodynamic resistance is very small and has good hydrodynamic performance. Therefore, the present invention adopts the bionic fish-shaped structure designed as the shell of the robot. The fixed frame of the fish mouth and the propeller is connected with the water, and the cavity of the glider and the swing propulsion sealing chamber of the tail fin have the function of sealing and anti-pressure.

In this embodiment, a pair of forward and reverse propeller propellers 7 are symmetrically distributed on both sides of the glider housing 4 .

The propeller propeller is a kind of propulsion system, which adopts a pair of forward and reverse propeller propellers so that it can quickly obtain the propulsion speed in the forward direction and will not roll over due to the torque generated by the propeller. The bionic fluid shell transitions from the glider cabin section through a streamlined shell, and then connects with the tail fin swing propulsion mechanism.

Referring to FIG. 1 , in this embodiment, the glider cabin section 1 also includes glider wings 19 arranged on both sides of the glider housing 4 ;

Referring to Fig. 2, in the present embodiment, glider housing 4 is provided with bracket 20, and bracket 20 is used for fixing hang glider and circuit board, and one side of bracket 20 is provided with net buoyancy adjustment mechanism 6, and the other side is provided with pitch angle. The adjustment mechanism 5, the circuit board is used to control the net buoyancy adjustment mechanism 6, the pitch angle adjustment mechanism 5, the movement of the tail fin swing propulsion mechanism 2 and the propeller propeller 7

In the present invention, the circuit board is the control board of the robot, which is used to control each movement structure of the robot. The circuit board is fixedly connected with the bracket. The circuit board is fixed above the support, and the net buoyancy adjustment mechanism and the pitch angle adjustment mechanism are on both sides of the support. The two and the three sets of mechanisms of the bracket are on a horizontal plane, and the circuit board is fixed on the plane above this line. The two planes are parallel.

Referring to FIG. 6 , in this embodiment, the pitch angle adjustment mechanism 5 includes an actuator motor 21 , a ball screw 22 , a screw nut 23 , a shaft coupling 24 , a bearing holder 25 , a guide rail 26 , a slider 27 and a counterweight 28 ;

The executive motor 21 is fixedly connected with the ball screw 22 through the coupling 24, and the two ends of the ball screw 22 are arranged on bearings, and the bearings are fixed on the corresponding bearing fixing seats 25, and the ball screw 22 is provided with a screw nut 23 , the screw nut 23 is fixedly connected to the counterweight 28 , and the lower part of the counterweight 28 is fixedly connected to the slider 27 , and the slider 27 is arranged on the guide rail 26 .

Counterweight 28 is made up of lithium battery pack, and the structure of lithium battery pack is shown in Figure 7, and described lithium battery pack is used for providing power to executive motor.

The slide block of the pitch angle adjustment mechanism can perform linear motion on the slide rail. The bearing fixing seat connects the two ends of the ball screw through the rotating pair. The bearing fixing seat, the motor fixing seat and the guide rail are fixed in the glider cabin section. The rotation of the executive motor is transmitted to the counterweight of the lithium battery pack through the cooperation of the ball screw and the screw nut, thereby moving the position of the counterweight of the lithium battery in the cavity, realizing the functions of changing the center of gravity of the glider and adjusting the pitch angle.

Referring to Fig. 8, in this embodiment, the net buoyancy adjustment mechanism 6 includes a built-in piston cylinder 29, an external deformable oil bag 30, an oil pump 31, a touch switch 32 and a distance sensor 33;

The oil pump 31 is respectively connected to the oil bag 30 and the piston type oil cylinder 29. The oil pump 31 is used to adjust the position of oil or water between the oil cylinder 29 and the oil bag 30, and then adjust the volume of the oil bag 30. The oil cylinder 29 is provided with a touch switch 32 With the distance sensor 33, the touch switch 32 is used to limit the maximum stroke of the piston in the oil cylinder. When the piston touches the touch switch, the marking piston is the maximum stroke at this time; the distance sensor 33 is used to detect the piston in the cylinder in real time. The position of is used as the input parameter of the motion control system.

The net buoyancy adjustment mechanism controls the volume of the oil bag through the oil pump, thereby changing the buoyancy of the robot as a whole, and then realizing floating and diving.

The present invention combines an underwater glider, a traditional underwater propeller propeller, a tail fin swing propulsion, and a fish-like fluid shell to provide a hybrid underwater robot, which has multiple tasks suitable for different working conditions. In this mode, when the robot is cruising up and down in the water, the propeller and tail fin swing propulsion are both in the standby state, which can minimize the energy consumption of the robot and increase the battery life. When the robot encounters an emergency or task and needs to be advanced quickly, the propeller propeller and tail fin swing propulsion can enhance its maneuverability. The tail fin swings and propels in an environment with many aquatic plants or fishing nets, which can greatly reduce the probability of the robot being entangled.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principle. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but should also cover the technical solutions made by the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, a technical solution formed by replacing the above-mentioned features with technical features with similar functions disclosed in (but not limited to) this application.

Claims (10)

1. a kind of hybrid power underwater robot, which is characterized in that including aerodone bay section, undulate propulsion mechanism and spiral Paddle propulsive mechanism；

The aerodone bay section includes aerodone shell and aerodone executing agency；

The aerodone executing agency is arranged in aerodone shell, and the aerodone executing agency includes pitching angle adjusting mechanism With net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism is for making aerodone shell float under water or dive, the pitching Angle adjusting mechanism realizes that gliding is advanced for making aerodone shell generate angle with fluid during floating dive；

The undulate propulsion mechanism is arranged in the rear end of aerodone shell；

The propeller propulsive mechanism includes a pair of of forward-reverse spiral paddle propeller, and the screw propeller is arranged in the gliding On casing body.

2. hybrid power underwater robot according to claim 1, which is characterized in that undulate propulsion mechanism packet It includes tail fin and promotes sealed compartment, steering engine, transmission shaft, mechanical sealing member and tail fin；

The tail fin promotes and is equipped with steering engine in sealed compartment, and the steering engine side connects bearing, and the other side connects transmission shaft, the biography Moving axis is equipped with mechanical sealing member, and the transmission shaft on the mechanical sealing member top is equipped with bearing；

The tail fin is fixedly connected with connector, the bearing of connector one end connection steering engine side connection, other side connection Transmission shaft；

The tail fin propulsion sealed compartment is fixedly connected with the rear end of aerodone shell.

3. hybrid power underwater robot according to claim 2, which is characterized in that the tail fin promotes the sealed compartment to include The top cover labyrinth and lower sealed compartment being fixedly connected.

4. hybrid power underwater robot according to claim 2 or 3, which is characterized in that before the aerodone shell End is equipped with fish mouth, and the aerodone shell is equipped with the fixed frame of fixed screw propeller；

The fish mouth, aerodone shell, the fixed frame of screw propeller, undulate propulsion sealed compartment, connector and tail fin Composition imitates fish shape sealing shell.

5. hybrid power underwater robot according to claim 4, which is characterized in that the pair of forward-reverse spiral paddle promotes Device is symmetrically distributed in aerodone shell both sides.

6. hybrid power underwater robot according to claim 5, which is characterized in that the aerodone bay section further includes setting Set the hang gliding in aerodone shell both sides；The screw propeller is located at the hang gliding and the undulate propulsion machine Between structure.

7. hybrid power underwater robot according to claim 6, which is characterized in that be equipped with branch in the aerodone shell Frame, the holder are equipped with net buoyancy adjustment mechanism for fixing hang gliding and circuit board, the side of the holder, and the other side is equipped with Pitching angle adjusting mechanism, the circuit board are used for controlling net buoyancy adjustment mechanism, pitching angle adjusting mechanism, undulate propulsion machine The movement of structure and screw propeller.

8. hybrid power underwater robot according to claim 7, which is characterized in that the pitching angle adjusting mechanism includes Actuating motor, ball screw, feed screw nut, shaft coupling, bearing fixed seat, guide rail, sliding block and clump weight；

The actuating motor is fixedly connected by shaft coupling with ball screw, and the ball screw both ends are arranged on bearing, institute It states bearing to be fixed on corresponding bearing fixed seat, the ball screw is equipped with feed screw nut, and the feed screw nut, which fixes, to be connected Clump weight is connect, sliding block is fixedly connected with below the clump weight, the sliding block is arranged on the guide rail.

9. hybrid power underwater robot according to claim 8, which is characterized in that the clump weight is by lithium battery group Composition, the lithium battery group are used to provide power to actuating motor.

10. hybrid power underwater robot according to claim 9, which is characterized in that the net buoyancy adjustment mechanism packet Include oil sac, oil pump, touching switch and the range sensor of built-in ram cylinder, outer deformable；

The oil pump is separately connected oil sac and ram cylinder, and the oil pump is for adjusting oil or water between oil cylinder and oil sac Position, so adjust oil sac volume, the oil cylinder be equipped with touching switch and range sensor, the touching switch for pair The range of oil cylinder inner carrier plays restriction effect, and it is range that piston is marked when piston encounters touching switch at this time； The range sensor for detecting position of the piston in oil cylinder, the input parameter as kinetic control system in real time.