Multi-degree-of-freedom water-jet propulsion cable remote underwater robot

Abstract

The invention discloses a multi-degree-of-freedom water-jet propulsion cable remote underwater robot. The robot comprises a main cavity, a floating body device and two multi-degree-of-freedom water-jet propulsors, wherein the floating body device is fixed on the upper surface outside the main cavity; the two multi-degree-of-freedom water-jet propulsors are fixed on the two sides of the main cavity through circular rods respectively; cylinders of the multi-degree-of-freedom water-jet propulsors are cylindrical cavities; parts of the middle parts of the cylinders are cut to serve as water flow outlets during lateral water jetting of the propulsors; the two sides of the cut parts of the cylinders are provided with a plurality of ball bearings along the circumference respectively; one end in the cylinder is provided with a propeller motor bracket for fixing a propeller motor; the propeller motor is connected with a propeller through a propeller shaft; a lantern ring which is thin-walled and cylindrical is connected with the cylinders through the ball bearings; and the surface on the middle part of the lantern ring in the axial direction is provided with a water jet port for producing lateral water jetting. The robot has the advantages of high attitude stabilization, high autonomous stabilizing capability, wide operating range, multi-degree of freedom, capability of loading more scientific instruments and wide application range.

Description

technical field [0001] The invention relates to a carrier of an underwater detection device, in particular to a multi-degree-of-freedom water jet propulsion belt cable remote control underwater robot. Background technique [0002] An underwater robot is an underwater observation mechanism for marine environment research. It usually uses a surface working mothership to send power and control signals to the underwater robot through an umbilical cable to manipulate a specific control mechanism to implement trajectory and attitude control and The underwater detection information obtained by the observation sensor attached to the underwater robot is transmitted back to the working mother ship. With the continuous development of human underwater observation and development activities, the demand for the use of underwater robots for underwater detection operations continues to increase. The nature of the underwater robot's operation requires its attitude to be stable during the op...

AI Technical Summary

Problems solved by technology

The main defect of this type of control method is that multiple control propellers and complex manipulation actions are required to achieve trajectory and attitude stability control of the robot with different degrees of freedom.

This undoubtedly increases the complexity of the design of the robot control system and the difficulty of the user's manipulation, which limits the scope of application of these robots due to their complex control mechanism, large structure and difficulty in having good attitude stability.

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