Movement mode of multi-segment combined and wing-span folding underwater robot

Abstract

The invention relates to a motion mode of a multi-segment combined and wingspan-folding underwater robot, which belongs to the technical field of underwater robots. The underwater robot consists of bow section (A), left and right pump thrust section (B), upper and lower pump thrust section (C), counterweight section (2), wingspan section (D), control section (E) and propeller propulsion section ( F) Composition, the rubber ring (1) between the front section and the back section is sealed and waterproof; the camera (4) is installed in the bow section (A), the wireless communication module (24), the GPS / Beidou positioning module (23) , gyroscope (25) and other modules are installed in the control section (E). The underwater robot of the present invention can be self-charging, and at the same time adapt to high-speed fixed-depth navigation, floating up and down, vertical up and down, turning left and right, turning left and right in place, gliding up and down, and self-charging, realizing underwater A variety of motion postures and long-term work of the robot.

Description

technical field [0001] The invention belongs to the technical field of application of underwater robots, and specifically relates to a movement mode of a multi-segment combined and wingspan-folding underwater robot, mainly according to application requirements through the flexible combination of the robot through the segmented structure and through the folding of the wingspan section. The wingspan structure allows the robot to freely switch between high maneuverability mode and gliding mode, and self-charging is realized through the action of piezoelectric materials on the wingspan and ocean currents. Background technique [0002] In recent years, with the attention and utilization of marine resources in various countries, underwater robots have been widely used. In terms of civilian use, underwater surveys, rescue and salvage, and data collection are mainly used; in terms of military use, as aircraft carrier groups and submarines The bridge connecting the fleet to expand th...

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Problems solved by technology

[0004] Researchers at Tianjin University have designed a hybrid drive underwater glider (PETREL) with buoyancy drive and propeller drive system, which combines an underwater glider (Autonomous Underwater Glider, AUG) and an underwater autonomous robot (Autonomous Underwater Vehicle) , AUV), but the wingspan is a non-foldable fixed wingspan, which has an impact on its maneuverability and flexibility. Relying on buoyancy and center of gravity adjustment to change the attitude of the fuselage is too slow and has low anti-interference ability, and it is not It is conducive to high-speed navigation, and the integrated structure is not conducive to free combination (Wu Jianguo. System design and performance analysis of hybrid drive underwater glider [D]. Tianjin University, 2010.)

The researchers of Sanya University have carried out relevant design research on the structure of the new underwater robot. It can float up, dive and hover through the net buoyancy adjustment device. Although the type wingspan can increase the stability when sailing at low speed, it has a great influence on the maneuverability. It is too slow to change the attitude of the fuselage by relying on buoyancy and center of gravity adjustment, and the anti-interference ability is low (Xin Guanghong, Zhou Mi, Yang Bo, etc. New type Research on the design of composite underwater robots [J]. Modern Electronic Technology, 2020, 43 (17): 180-186)

Researchers from The Memorial University of Newfoundland (MUN) in Canada, National Research Council Canada and TWR in the United States installed a foldable propeller on the tail of the Slocum underwater glider produced by Webb Research in the United States to enhance maneuverability in shallow seas and expand applications. Range and sea area, but non-foldable wingspan reduces maneuverability and flexibility, and one-piece structure is not conducive to free combination (Claus B, Bachmayer R, Cooney L. Analysis and development of a buoyancy-pitch based depthcontrol algorithm for a hybrid underwater glider[C]. Autonomous Underwater Vehivles (AUV), 2012 IEEE / OES. IEEE, 2012:1-6.)

Researchers from Tianjin University have conducted research on the variant wing system of the variable-wing hybrid drive underwater glider, which realizes the expansion and contraction of the wings through the linkage mechanism, but the deformed wing needs to be driven by two motors on each side and is The deployment of rotation and linear motion is complicated, and the pitch angle of the wing cannot be changed. After the wing shrinks to the position, it still occupies a large space. However, the wing in the present invention only needs one motor and one steering gear to circle the fixed point. Expanding, contracting and changing the pitch angle, the retracted wing is closer to the rear of the fuselage and has a higher stiffness (Zhang Mingming. Research on the variant wing system of variable-wing hybrid drive underwater glider [D]. Tianjin University, 2015.)

[0005] At present, there is no report on the overall design research of the multi-section combined underwater robot and the underwater robot with the wingspan horizontally folded and turned up and down.

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