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A six-degree-of-freedom spherical underwater robot bionic eye

A technology of underwater robot and degree of freedom, which is applied in underwater operation equipment, ship propulsion, ship parts, etc. It can solve the problems of ordinary underwater robots, such as being large, unable to pass normally, and small in size, and achieving excellent working performance and light weight , small size effect

Active Publication Date: 2018-03-06
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of ordinary underwater robots that cannot normally pass through due to their large size and limited work in the case of small pipelines and underwater narrow areas. A six-degree-of-freedom spherical underwater robot bionic eye that can change its posture by combining with a valve

Method used

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  • A six-degree-of-freedom spherical underwater robot bionic eye
  • A six-degree-of-freedom spherical underwater robot bionic eye
  • A six-degree-of-freedom spherical underwater robot bionic eye

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] see Figure 1~Figure 7 , the six-degree-of-freedom spherical underwater robot bionic eye, including upper hemispherical shell 1, lower hemispherical shell 4, diverter valve 2-A, diverter valve 2-B, diverter valve 2-C, diverter valve 2-D, bidirectional centrifugal pump 5-A, bidirectional centrifugal pump 5-B, bidirectional centrifugal pump 5-C, control motor 6-A, control motor 6-B, control motor 6-C, control motor 6-D and a camera 7, characterized in that: The four diverter valves 2-A, 2-B, 2-C, 2-D and three bidirectional centrifugal pumps 5-A, 5-B, 5-C pass through the Y-shaped plastic conduit 3-A, the Y-shaped plastic conduit The conduits 3-B are combined to form a multi-axis water spray system with 12 water spray ports 8, and the cooperation between two water spray ports 8 realizes 6 degrees of freedom movement.

Embodiment 2

[0025] This implementation is basically the same as Example 1, and the features are as follows:

[0026] The specific structure of the multi-axis water spray system is as follows: the output ports of the first bidirectional centrifugal pump 5-A are respectively connected with the first diverter valve 2-A and the second diverter valve 2-B, and the second bidirectional centrifugal pump 5-B outputs The ports are respectively connected to the third diverter valve 2-C and the fourth diverter valve 2-D, and the third bidirectional centrifugal pump 5-C is connected to the first Y-shaped plastic conduit 3-A and the second Y-shaped plastic conduit 3-B; The first control motor 6-A controls the two spray ports of the first diverter valve 2-A through a small plastic baffle, and the second control motor 6-B controls the two nozzles of the second diverter valve 2-B through a small plastic baffle. Water spray port, the second control motor 6-C controls the two water spray ports of the third ...

Embodiment 3

[0034]A bionic eye device for a six-degree-of-freedom spherical underwater robot, comprising an upper hemispherical shell 1, a diverter valve 2-A, a diverter valve 2-B, a diverter valve 2-C, a diverter valve 2-D, and a Y-shaped plastic conduit 3-A , Y-shaped plastic conduit 3-B, lower hemispherical shell 4, two-way centrifugal pump 5-A, two-way centrifugal pump 5-B, two-way centrifugal pump 5-C, control motor 6-A, control motor 6-B, control motor 6 -C, control motor 6-D, camera 7 and water spout 8. The diverter valve 2-A, diverter valve 2-B, diverter valve 2-C and diverter valve 2-D adopt Coanda effect valves, and the control motors 6-A, 6-B, 6-C and 6-D adopt small DC motor; the diverter valve 2-A, diverter valve 2-B, diverter valve 2-C, diverter valve 2-D and bidirectional centrifugal pump 5-A, bidirectional centrifugal pump 5-B, bidirectional centrifugal pump 5-C, The Y-shaped plastic conduit 3-A and the Y-shaped plastic conduit 3-B are combined into a multi-axis water spr...

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Abstract

The invention relates to a six-degree-of-freedom spherical underwater robot bionic eye. The bionic eye is mainly composed of an upper hemisphere shell, a shunt valve, a Y-shaped plastic conducting pipe, a lower hemispherical shell, a bidirectional centrifugal pump, a control motor, a camera 7 and water spraying ports. The lower hemisphere shell and the upper hemisphere shell are combined to form an outer shell of the six-degree-of-freedom spherical underwater robot bionic eye, the upper hemisphere shell is provided with four water spraying ports (namely water inlets), and the lower hemisphere shell is provided with eight water spraying ports (namely water inlets); the upper hemispherical shell is provided with control and sensing devices; the lower hemispherical shell is provided with other parts. The problems that a common underwater robot vision device is too large to be unable to pass through normally and has the work limited in cases of small pipelines, underwater narrow areas and the like can be solved.

Description

technical field [0001] The invention relates to an underwater robot bionic eye device, in particular to a spherical underwater robot bionic eye with six degrees of freedom. technical background [0002] As a special-purpose robot, underwater robots can maintain and repair basic equipment in various waters (lakes, oceans, sewers, small ditches, etc.) and play a great role in the exploration of unknown waters. Its application prospect is quite extensive. At present, there are two main types of underwater spherical robots according to attitude control methods: one is mainly to change the attitude of the flywheel, using the torque balance of multiple flywheels, and the differential torque of the flywheels to rotate the spherical shell, thereby changing the spherical shell. The posture of the shell is realized by a single water spray to realize the motion transformation of the robot; the other is to change the posture of the robot by using a combination of external propeller pro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52B63H11/04
CPCB63C11/52B63H11/04
Inventor 李恒宇董毅郭石磊杨毅饶进军谢少荣罗均
Owner SHANGHAI UNIV
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