A Flexible Underactuated Spherical Underwater Robot

Abstract

The invention discloses an underactuated spherical underwater robot with flexible movement: the novel spherical underwater robot mainly includes a straight-line propelled duct propeller mechanism, a horizontal plane flywheel steering mechanism, a vertical plane heavy pendulum pitching mechanism and a pressure-resistant sealed spherical shell Structure; the robot has a novel steering mechanism, which enables it to turn with zero radius in water; the single propeller design meets the requirements of low cost and high operating efficiency; the round transparent shell with support frame can resist certain deep water pressure, and can also The sensors installed inside are convenient for monitoring water information; the robot can be used as a carrier for reconnaissance equipment, underwater and underwater operating systems, and communication systems to perform various tasks in offshore areas that humans cannot directly complete.

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...

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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 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

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