Under-actuated spherical underwater robot with flexible movement

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...

AI Technical Summary

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 the flywheel steering mechanism to improve the heading control ability of this kind of robot; this patent also specially designed The spherical shell support structure and sealing structure improve the deep water motion adaptability of the robot; the structural design of this patent pays more attention to the motion flexibility, safety and reliability of the robot

Images