Disposable cableless remote control underwater explosive-handling robot and design method thereof
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An anti-explosive robot, disposable technology, applied in the field of robotics
Active Publication Date: 2020-12-04
NAVAL UNIV OF ENG PLA
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[0004] Therefore, how to design a one-time cable-free remote-controlled underwater detonation robot has become the main direction of research for translators, and there are no relevant reports on the one-time cable-free remote-control underwater detonation robot.
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Embodiment 1
[0110] The design method of a one-off cable-free remote-controlled underwater detonation robot, including:
[0111] S1. Design the overall shape of the robot and the layout of the propulsion device
[0112] S101. For an underwater moving object, if only from the perspective of hydrodynamic performance, its ideal shape is a streamlined body of revolution with a length-to-diameter ratio of about 6. However, the actual underwater robot or robot shape, except for deep diving The lifeboat is relatively similar to the above-mentioned boat types, but most of them are far from each other, and their appearance is not streamlined. For the shape selection of the cable-free disposable robot, we can start with the shape resistance coefficient of the object in the water, and according to the shape resistance coefficient of different shapes , we choose the torpedo shape with the smallest drag coefficient as the overall shape of the robot;
[0113] S102. After the overall shape of the robot ...
Embodiment 2
[0186] See attached Figure 8-13 Shown: In order to illustrate the feasibility of the robot designed based on the theoretical calculation and reasoning hypothesis of the first embodiment, the prototype is designed in this embodiment to verify the method:
[0187] S1: Prototype accessories selection, the specific requirements for prototype selection are as follows:
[0188] (1) For the overall shape, since the size of the cable-free disposable robot itself is not very large, the prototype is directly made with a ratio of 1:1;
[0189] (2) The entire robot prototype adopts a single shell structure according to the design of the cableless disposable robot body, and the sealed electronic battery compartment in the middle and the flange covers at both ends of the compartment are made of aluminum alloy;
[0190] (3) In order to save costs and facilitate processing, 3D printing materials are planned to be used in the head and back sections;
[0191] (4) For the convenience of opera...
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Abstract
The invention discloses a disposable cableless remote control underwater explosive-handling robot and a design method thereof. The robot comprises a robot body and a communication buoy; the robot bodycomprises a detection head section, an electronic battery cabin section and a tail section; shells between the cabin sections are connected through flange plates, the two ends of the shell of the electronic battery cabin section are completely sealed, except the electronic battery cabin section, the other cabin sections are of water inlet structures, the tail section is detachably connected withthe communication buoy, and the communication buoy is in radio communication with a mother ship. The design method comprises the steps that S1, the overall appearance of the robot is designed, and a propelling device is arranged; S2, a functional sensor is designed; S3, related parameters of the robot are calculated; and S4, the communication buoy is designed; Experiments prove that compared witha traditional underwater explosive-handling tool, the robot designed through the method has the advantages of being long in control distance, small in size, light in weight, accurate in data transmission result and small in dragging force between the communication buoy and the robot body.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a disposable cable-free remote-controlled underwater explosion-discharge robot and a design method thereof. Background technique [0002] The underwater detonation robot is a special underwater robot that uses sound and light sensors to identify and confirm underwater explosives such as mines and bombs, and then directly destroys the explosives. The underwater detonation robot that mainly eliminates ordinary mines is called To destroy mines. [0003] Existing underwater detonation robots are mainly wire-controlled mine destroyers, that is, robots that are controlled by transmitting remote control telemetry information (and power) through optical cables, cables or umbilical cables. They are connected by an optical cable, cable or umbilical cable, through which remote control commands, underwater sonar, TV target images and other telemetry information are transmitted; A coaxial ca...
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