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Underwater propulsion device, underwater work equipment and movement control method thereof

A technology for underwater operations and propulsion devices, applied in the field of robotics, can solve problems such as increased power consumption, bulky propulsion devices, and inconvenient movement of underwater robots, and achieve the goals of reduced volume, flexible actions, and reduced power consumption Effect

Pending Publication Date: 2018-12-21
深圳鳍源科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the setting of 8 propulsion motors, the propulsion device of the underwater robot is bulky, which in turn causes the underwater robot to move inconveniently and increases power consumption

Method used

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  • Underwater propulsion device, underwater work equipment and movement control method thereof
  • Underwater propulsion device, underwater work equipment and movement control method thereof
  • Underwater propulsion device, underwater work equipment and movement control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Figure 1a It is a schematic structural diagram of an underwater propulsion device provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the underwater operation equipment performs multi-degree-of-freedom movement, and the underwater propulsion device 1 provided in this embodiment includes: a propulsion mechanism and a steering mechanism.

[0037] Wherein, the propulsion mechanism includes a first propulsion motor 11 and a second propulsion motor 12, the propulsion mechanism is arranged on the underwater operation equipment body 2, and is used to push the underwater operation equipment body 2 to move; the steering mechanism includes: steering gear 21 and a connecting rod 22, the steering gear 21 is connected to the first propulsion motor 11 and the second propulsion motor 12 through the connecting rod 22; the steering gear 21 is used to drive the propulsion mechanism to rotate around the output shaft of the steering gear ...

Embodiment 2

[0050] figure 2 It is a schematic structural diagram of an underwater control system provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments, and an optional underwater control system is provided. Specifically, the steering mechanism is further optimized.

[0051] The steering mechanism may specifically include: a fifth steering gear 215, a sixth steering gear 216 and a third connecting rod 223, the output shaft of the fifth steering gear 215 is fixedly connected to the sixth steering gear 216, and the output shaft of the fifth steering gear 215 Perpendicular to the output shaft of the sixth steering gear 216; the third connecting rod 223 runs through the output shaft of the sixth steering gear 216, and the axis of the third connecting rod 223 is arranged parallel to the output shaft of the sixth steering gear 216; the fifth steering gear The output shaft of 215 is arranged perpendicular to the axis of the third c...

Embodiment 3

[0063] image 3It is a schematic flowchart of a method for controlling movement of underwater operation equipment provided by Embodiment 3 of the present invention. The method is applicable to the situation of controlling the moving direction of the underwater working equipment, the method can be applied to the underwater working equipment described in the above embodiments, and is executed by a corresponding movement control module in the underwater working equipment. Specifically include the following:

[0064] S310. Obtain the target moving position of the underwater operation equipment.

[0065] In this embodiment, the target moving position may be the position information carried in the movement control command issued by the user, or the position information carried in the movement control command generated by other functional modules in the underwater operation equipment, which is not limited here. Wherein, the target moving position may be a designated destination pos...

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PUM

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Abstract

The embodiment of the invention discloses an underwater propulsion device, an underwater operation device and a movement control method thereof. The device comprises a propulsion mechanism and a direction adjusting mechanism; The propulsion mechanism comprises a first propulsion motor and a second propulsion motor. The propulsion mechanism is arranged on the underwater work equipment body and is used for pushing the underwater work equipment body to move. The direction adjusting mechanism comprises a steering gear and a connecting rod, wherein the steering gear is drivingly connected with thefirst propulsion motor and the second propulsion motor through the connecting rod; The steering gear is configured to drive the propulsion mechanism to rotate about an output shaft of the steering gear to adjust a propulsion direction of the propulsion mechanism. Through the technical proposal of the invention, a small number of propulsion motors can be utilized to realize the multi-degree-of-freedom motion posture of the underwater operation equipment, reduce the volume of the propulsion device, make the underwater operation equipment move more flexibly and reduce the power consumption.

Description

technical field [0001] Embodiments of the present invention relate to robot technology, and in particular to an underwater propulsion device, underwater operation equipment and a movement control method thereof. Background technique [0002] The richness and variety of marine resources has prompted people to explore the ocean more and more frequently, and underwater robots have been widely used as an important exploration tool. [0003] In order to enable the underwater robot to achieve a multi-degree-of-freedom motion posture in water, at least four horizontal propulsion motors and four vertical propulsion motors need to be installed at four direction angles of the underwater robot, among which, the four horizontal propulsion motors are used for To control the up and down movement of the underwater robot, the four vertical propulsion motors are used to control the forward and backward movement and left and right movement of the underwater robot. Since 8 propulsion motors a...

Claims

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Application Information

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IPC IPC(8): B63G8/00B63H5/08B63H5/125B63H21/17
CPCB63G8/001B63H5/08B63H5/125B63H21/17B63G2008/002
Inventor 黄军金泉许海梅
Owner 深圳鳍源科技有限公司