Under-actuated spherical underwater robot with flexible movement

An underwater robot and robot technology, which is used in underwater operation equipment, transportation and packaging, rotary propellers, etc., to achieve the advantages of compression resistance and sealing, good stability, and the effect of improving compression resistance.

Active Publication Date: 2013-12-25
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] Related technologies are disclosed in the prior art. For example, the patent application number 200910084791 discloses a six-degree-of-freedom underwater spherical robot. The deep dynamic control is realized by adjusting the pitch angle by using the heavy swing. There is no long-axis motor, and it is an underactuated robot; this patent also specially designs

Method used

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  • Under-actuated spherical underwater robot with flexible movement
  • Under-actuated spherical underwater robot with flexible movement
  • Under-actuated spherical underwater robot with flexible movement

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Embodiment Construction

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0015] figure 1 Schematic diagram of the appearance of the small spherical underwater robot invented by Wei: From the figure, you can see the spherical shell 1, which is the part with the largest contact area with the water body. The spherical structure can reduce the steering resistance and enhance the flexibility of movement. Guarantee; the spherical shell 1 seals all the internal parts of the robot, and only the propeller 3 and the conduit 2 can be seen, which can effectively protect the internal parts from water corrosion and prolong the service life; even the propeller 3 is installed on the conduit 2 The middle, which is the center of the sphere, protects the propeller from entanglement of aquatic plants and contact with hard objects, improving the safety factor of the propeller.

[0016] figure 2 It is an axonometric view of the internal structure of the sma...

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Abstract

The invention discloses an under-actuated spherical underwater robot with flexible movement. The novel spherical underwater robot mainly comprises a ducted propeller mechanism with linear propulsion, a horizontal plane flywheel steering mechanism, a vertical plane pendulum pitching mechanism and a compression resistant sealing spherical shell structure. The robot is provided with the novel steering mechanism, so that the robot can realize no-radius turning in water; the design of the single propeller meets the requirements on low production cost and high running efficiency; a circular transparent shell with a supporting frame can resist certain deep water pressure, and also can be convenient for an internally installed sensor to detect water area information; the robot can be used as a carrier of reconnaissance equipment, aquatic and underwater operation systems and communication systems to perform various near sea operation tasks which cannot be completed by human being directly.

Description

technical field [0001] The invention relates to an improved structural design of an underwater spherical robot. Specifically, a small spherical underwater robot with a flywheel and a heavy pendulum mechanism is designed. The robot can flexibly turn and keep heading in the horizontal and vertical planes, and has a strong ability to resist pressure in deep water. It belongs to a miniature underwater robot. field of robotics. Background technique [0002] With the increase of the earth's population and the improvement of the quality of human life, human production and life need more natural resources to meet, but the current land resources have been over-exploited, and the energy crisis has become increasingly prominent. The ocean covers two-thirds of the earth, and contains a large amount of solid mineral resources and oil and gas resources. It will be the largest resource provider for human survival and development. However, so far, human exploration of the ocean has just s...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63H1/04B63H1/14B63H1/30
Inventor 张延恒孙汉旭褚明贾庆轩李艳生陈亮张鑫星
Owner BEIJING UNIV OF POSTS & TELECOMM
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