Biped propulsion device and propulsion method for near-bottom propulsion of submersible
A near-bottom, submersible technology, applied in the direction of transportation and packaging, special-purpose vessels, underwater operation equipment, etc., can solve problems such as unsuitable for underwater walking, complicated control, complex system, etc., and achieve compact structure and low environmental disturbance The effect of propulsion and easy operation
Active Publication Date: 2022-04-12
CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Most of the existing underwater robots transplant land-based multi-legged crawling mechanisms, such as hexapods or eight-legged crawling robots, directly to the underwater environment; the multi-legged crawling mechanism has the advantages of large load and stable operation, and can handle complex terrains. Better adaptation, but its system is complicated, each foot has multiple degrees of freedom that can move independently, and the control is more complicated, so it is not suitable for underwater walking
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0036] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.
[0037] like figure 1 As shown, a bipedal walking device used for near-bottom propulsion of a submersible in this embodiment includes a load frame 3 on which an underwater submersible 6 is fixed; 5. The supporting legs 4 are rotatably installed, and the rear end of the load frame 3 is installed with two supporting legs 1 at intervals. feet;
[0038] The structure of a single strut leg 1 is as follows: including a strut upper limb 13 rotatably connected to the load frame 3 at one end, and a strut lower limb 11 is installed at the other end of the strut upper limb 13 through the leg kick joint 12 rotatably;
[0039] Both the row joint 2 and the leg kick joint 12 are swing mechanisms powered by independent hydraulic systems.
[0040] like figure 1 and figure 2 , image 3 As shown, the supporting leg 4 and the two supporting legs 1 are in contact wi...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a biped propulsion device and a propulsion method for propulsion of a submersible near the bottom, comprising a load frame on which an underwater submersible is fixed; the middle part of the front end of the load frame is rotatably installed with a Supporting legs, two supporting legs are installed at intervals at the rear end of the load frame, and the two supporting legs are respectively rotated and installed on both sides of the rear end of the load frame through the supporting joints to form the supporting legs; when parking, the supporting legs and the two The two supporting legs are respectively in contact with the water bottom to form a three-point support structure so that the submersible is stable near the bottom; when moving, the supporting legs are retracted, and the two supporting legs are pushed back simultaneously to exert a forward reaction on the submersible. The invention has a simple and ingenious structure, a novel and reasonable concept, effectively relies on the gravity, buoyancy and fluid resistance near the seabed, and realizes the high-efficiency and low-environment disturbance propulsion of the underwater submersible near the seabed, greatly assisting the lifting The working efficiency of the underwater submersible is good, and the practicability is good.
Description
technical field [0001] The invention relates to the technical field of underwater walking robots, in particular to a biped walking device used for near-bottom propulsion of a submersible vehicle and a walking method thereof. Background technique [0002] Rope-operated vehicles (ROVs) are essential platforms for observation, sampling and other operations in deep-sea biological research. In the prior art, most cable-controlled submersibles use propeller-type propellers to provide the force required for underwater movement, but when some need to observe or operate near the bottom, the water flow generated by the propellers can easily scour the seabed silt, The local fouling state caused by this seriously affects the observation and related operations. It often takes a long time to stand still to make the foulant precipitate again and restore the clear environment, which greatly affects the efficiency of biological research. [0003] In view of this situation, some underwater r...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB63C11/52B63G8/001B63G8/08
Inventor 谢基榕朱忠李新光孙功武张军
Owner CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)