CN110920843A

CN110920843A - An observation-level portable underwater robot

Info

Publication number: CN110920843A
Application number: CN201911424330.2A
Authority: CN
Inventors: 徐敏义; 孟昭辰; 李文祥; 刘建航; 程亮
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-03-27

Abstract

The invention discloses an observation-grade portable underwater robot, which comprises a pressure-resistant control cabin, a central main body, a buoyancy cabin and a propeller, wherein the central main body is respectively connected with the pressure-resistant control cabin, the buoyancy cabin and the propeller; the propeller comprises a left propeller, a right propeller and a floating and diving propeller, wherein the left propeller and the right propeller are vector propellers, and each vector propeller comprises a fairing, a propulsion unit, a rudder cabin and a vector nozzle. The left propeller and the right propeller are respectively provided with a vector nozzle, and the vector nozzles can deflect left and right and up and down, so that the underwater robot has two degrees of freedom: pitching and rolling, so that the whole underwater robot has five degrees of freedom: advance and retreat, bow turning, floating and submerging, longitudinal inclination and rolling are more flexible, and the propelling effect of eight propellers of the open-frame type underwater robot is realized by using three propellers. The problems that the open-frame type underwater robot needs more propellers, occupies large design space, is high in manufacturing cost and the like are solved.

Description

Observation-level portable underwater robot

Technical Field

The invention relates to an underwater robot, in particular to an observation-grade portable underwater robot.

Background

The 7103 boat (with cable and person), the I-type lifesaving clock (with cable and person), the QSZ single normal-pressure submersible (with cable and person), the 8A4 underwater robot ROV (with cable and person) and the HR-01ROV, the RECONIVROV and the CR-01A6000m underwater robot AUV (without cable) which are mainly used for rescue and lifesaving are successively developed in China. The I-type lifesaving bell is a first-generation diving bell in China, mainly implements marine rescue, mainly takes wet rescue as a main part, gives consideration to dry rescue and submergence depth of 130m, and can rescue 6-8 persons of a boatler at one time. Under good sea conditions, when the submarine seat of the crash boat sinks to a small sea bottom inclination angle, the crash boat can be in butt joint with the rescue platform of the crash boat for dry rescue.

The positioning of the 8A4 underwater robot developed by the two schools of the organization of the China Ship industry, which is a local intelligent unmanned cable-controlled operation type underwater robot-ROV, mainly takes military rescue and lifesaving as main consideration for ocean oil and gas development. It has three significant technical characteristics; the overall performance is better than that of various cable-controlled submersibles developed at home at that time, and the technical level is different from that of a cable-free 863 underwater robot; absorbing the advanced technology of the introduced AMETEK2006ROV, and improving the defects according to the operation requirement; the intelligent rescue and lifesaving robot is mainly used for rescue and lifesaving, the working depth of an 8A4 underwater robot is 600m, a relay station is arranged, the cruising radius is 150m, and the intelligent rescue and lifesaving robot is provided with a five-function anchoring hand, a six-function operating hand and six operating tool supports. 8A4 Underwater robot passed the sea test in 1993.

Another representative ROV in China: the RECON IV underwater robot is put into commercial application in the operation of a south-sea oil platform and is prepared and used by various salvage teams of navy.

The RECON-IV-300-SIA underwater robot is automatically researched and simulated by introducing the RECON underwater robot technology from PERRY corporation in the United states during the seven five times of Shenyang automation research institute of Chinese academy of sciences, the maneuverability and the radius of motion are larger during underwater work, and the localization rate is more than 90%.

The typical representatives of the development of the deep submersible vehicle are an explorer 1000m unmanned cable-controlled submersible vehicle and a CR-01A6000m unmanned cable-free remote-controlled submersible vehicle AUV, the explorer 10 months in 1994 successfully submerges to the depth of 1000 meters in the offshore area of the Xisha island, becomes a pioneer of China reaching the deep sea, and experts agree that the functions and main technical performance indexes of the explorer 1000m unmanned underwater robot reach the level of the most advanced underwater robot in the international 90 s. "CR-01A" was designed to a depth of 6000m in Russia by Russian related technical force, month 10 in 1995, and was successfully submerged to 5300m in the waters near Hawaii.

The underwater robot is technically characterized by being a multi-propeller powered underwater robot, namely, the underwater robot moves and the self posture of the underwater robot is adjusted by the counterforce in a plurality of fixed directions given by a plurality of fixed propellers. The object has 6 degrees of freedom in movement in space, and the underwater robot at least needs to have 3 degrees of freedom of advancing, swinging bow and submerging and surfacing if the underwater robot is to complete the conventional underwater movement. Therefore, the current underwater robot powered by the propeller at least has 3 propellers. The arrangement is generally two after and one after. A greater number of propellers would be required if more degrees of freedom of movement were to be achieved. The aviation field is commonly used for changing the degree of freedom by a thrust vector technology, and the thrust vector technology is a technology for obtaining additional control moment by deflecting the direction of jet flow of an engine. The aircraft can be ensured to control the aircraft maneuver by utilizing the extra maneuvering torque provided by the thrust vector when the maneuvering control surface is nearly failed when the aircraft is in low-speed and large-attack-angle maneuvering flight. However, the vector propulsion technology in the air is not applied to underwater robots.

At present, most of underwater robots adopt an open-frame design, power systems of the underwater robots are distributed around the underwater robots, and the number of required propellers is large. For example: in order to have the above-mentioned 6 degrees of freedom, at least six propellers with fixed propulsion directions are needed, and in a single displacement direction, the six propellers are not all in working state, which causes the waste of the propellers in unit time, and become useless equipment at this moment, in order to balance the gravity of a plurality of propellers, a buoyancy block is needed to be added, which causes the space volume of the underwater robot to be increased, and simultaneously, in order that the water flow propelled by the plurality of propellers does not seriously interfere, enough distance is needed among the plurality of propellers, which causes the underwater robot to be difficult to be designed into a compact appearance, and the too loose appearance causes the problem that the open-shelf type underwater robot is difficult to obtain a streamline shape.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to design an observation-grade portable underwater robot which can obtain more degrees of freedom while the number of propellers is less and can design the underwater robot into a streamline shape under the condition of unchanged volume.

In order to achieve the purpose, the technical scheme of the invention is as follows: an observation-grade portable underwater robot comprises a pressure-resistant control cabin, a central main body, a buoyancy cabin and a propeller, wherein a control module and a power module are installed in the pressure-resistant control cabin. The central main body is respectively connected with the pressure-resistant control cabin, the buoyancy cabin and the propeller; the buoyancy cabin is used for placing a counterweight and adjusting the balance of the underwater robot; the buoyancy cabin comprises a front buoyancy cabin and a rear buoyancy cabin, the front buoyancy cabin and the rear buoyancy cabin are respectively positioned at the front part and the rear part of the central main body, and the rear buoyancy cabin is also used for accommodating a control cable led out from the pressure-resistant control cabin, so that the underwater robot is more attractive; the propellers are divided into a left propeller, a right propeller and a floating and diving propeller and provide power for the underwater robot; the left propeller is installed in the left part of central authorities ' main part, and the right propeller is installed in the right part of central authorities ' main part, floats latent propeller and installs the lower part at the central authorities ' main part.

The left propeller and the right propeller are both vector propellers, each vector propeller comprises a fairing, a propulsion unit, a rudder cabin and a vector nozzle, a screw propeller is arranged in the propulsion unit, and the inclination angle of blades of the screw propeller is 60 degrees; the screw propeller comprises a stator and a rotor, the stator and the screw propeller shell are integrated, the power of the rotor is provided by a star-shaped speed reducer set driven by a brushless motor arranged on the central axis of the stator, and the star-shaped speed reduction ratio is 10 to 1; the vector nozzle is composed of four guide vanes and four waterproof steering engines, and the waterproof steering engines correspond to the guide vanes one by one. The waterproof steering engine is arranged in the rudder cabin, and the jet flow direction is changed by controlling the flow deflectors, so that the movement direction of the underwater robot is finally changed; the floating and diving propeller adopts a six-blade small-pitch propeller, and the thrust is provided by a low-rotating-speed brushless motor.

Furthermore, the central main body is connected with the pressure-resistant control cabin through bolts, the front buoyancy cabin and the rear buoyancy cabin are respectively connected with the central main body through bolts, and the propellers are respectively connected with the central main body through bolts; the front buoyancy cabin, the rear buoyancy cabin and the cowling of the propeller are all 3D printing pieces.

Furthermore, the pressure-resistant control cabin consists of a glass ball cover at the head, an aluminum alloy waterproof flange at the head, an acrylic sealed cabin at the middle and an aluminum alloy waterproof flange at the tail.

Furthermore, an interface for installing a mechanical arm is reserved at the lower part of the front buoyancy chamber.

Compared with the prior art, the invention has the following beneficial effects:

1. the left propeller and the right propeller are respectively provided with a vector nozzle, and the vector nozzles can deflect left and right and up and down, so that the underwater robot has two degrees of freedom: pitching and rolling, so that the whole underwater robot has five degrees of freedom: advance and retreat, bow turning, floating and submerging, longitudinal inclination and rolling are more flexible, and the propelling effect of eight propellers of the open-frame type underwater robot is realized by using three propellers. The problems that the open-frame type underwater robot needs more propellers, occupies large design space, is high in manufacturing cost and the like are solved.

2. The floating and submersible propeller blades adopt six-blade small-pitch propellers, and under the condition of generating the same thrust, the rotating speed of the multi-blade propeller relative to the two-blade propeller is lower, and the generated aquatic noise is lower.

3. The pressure-resistant control cabin, the central main body, the front buoyancy cabin, the rear buoyancy cabin and the propeller are all formed by connecting bolts, so that the pressure-resistant control cabin has good maintainability; the parts which are easy to collide and damage such as the buoyancy cabin and the propeller fairing are 3D printed parts and are connected with the central main body through bolts, so that the quick replacement is convenient.

4. The invention adopts compact appearance design, compared with the traditional underwater robot, the fairing formed by the buoyancy cabin is arranged at the head part and the tail part of the pressure-resistant control cabin, the advancing resistance of the underwater robot can be reduced, and the front end of the propeller is provided with the water inlet channel to separate water flow, so that the viscous resistance between the water flow sucked by the propeller and the central main body is reduced. The underwater robot has a streamline shape and has fluid characteristics far superior to those of the existing underwater robot.

5. The underwater robot of the invention adopts the vector nozzle to enhance the controllability, has higher underwater controllable attack angle and is convenient for the underwater robot to be used in narrow and complex space.

Drawings

Fig. 1 is an overall exploded view of the present invention.

Fig. 2 is a side view of fig. 1.

Fig. 3 is a top view of fig. 1.

Fig. 4 is a front view of fig. 1.

Fig. 5 is a top perspective view of fig. 1.

Fig. 6 is a bottom perspective view of fig. 1.

Fig. 7 is a view showing the structure of the propeller.

Fig. 8 is a schematic view of a screw pusher.

FIG. 9 is a cross-sectional view of a waterproof steering engine.

In the figure: 1. pressure-resistant control cabin, 2, front buoyancy cabin, 3, central main body, 4, propeller, 5, fairing, 6, propulsion unit, 7, rudder cabin, 8, vector nozzle, 9, waterproof bearing, 10, output rod, 11, waterproof shell, 12, steering engine, 13 and rear buoyancy cabin.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1-6, the buoyancy chamber, the central body 3 and the propeller 4 of the present invention are all made by 3D printing, and the printed product has better survivability by adopting a more crash-resistant PLA + consumable. The front buoyancy chamber 2 and the rear buoyancy chamber 13 are fixed by countersunk bolts after being inserted into the central main body 3 by embedding copper mother flowers in key grooves. The pressure control cabin 1 is fixed with the central main body 3 through bolts by means of flange mounting holes of the head. The propeller 4 and the center body 3 are fixed by four bolts, and then the intake cowling 5 is fixed to the front upper side of the propeller 4. The diving and floating propeller is positioned at the lower part of the central main body 3 and is driven by a brushless motor to have six propellers. The water flow enters from the lower part and is discharged from the two sides of the upper part, and the water flow is Y-shaped and is close to the underwater robot adopting two submerging and surfacing propellers in the propelling force effect. The two illuminating lamps are positioned below the water inlet fairing 5 and integrated with the propeller 4, so that the space is utilized to the maximum extent.

As shown in fig. 7, the propeller 4 is composed of a fairing 5, a propulsion unit 6, a rudder cabin 7 and a vector nozzle 8, the fairing 5 and the rudder cabin 7 are positioned by pin joint, then the fairing 5, the rudder cabin 7 and the propulsion unit 6 are connected and fixed together by three bolts, four waterproof steering engines are placed in the rudder cabin 7, and four guide vanes are respectively driven to form the vector nozzle 8. The maximum deflection angle of the four guide vanes is 30 degrees, the pitching and steering of the underwater robot can be realized through linkage of four guide vanes, and the rolling of the underwater robot can also be realized through differential motion.

Fig. 8 is a schematic view of the self-made underwater screw propeller of the present invention, the screw propeller uses the blades inclined by 60 degrees with the best underwater navigation characteristics as the rotor blades, as shown in the figure, the screw propeller is composed of a stator and a rotor, the stator and the screw propeller casing are designed integrally, and the brushless motor passes through four fixing holes of the stator through bolts to be fixedly installed. The power of rotor is provided by the brushless motor who installs stator axis department drives star type speed reducer group, and star type speed reducer group speed reduction ratio is 10 to 1.

Fig. 9 is a cross-sectional view of a self-made waterproof steering engine, which is composed of a waterproof bearing 9, an output rod 10, a waterproof shell 11 and a steering engine 12, and is different from expensive aluminum alloy shell waterproof steering engines on the market, the self-made waterproof steering engine adopts a unique process to modify a common steering engine into the waterproof steering engine, adopts a light shell formed by laser curing polymer resin to wrap the common steering engine 12, a gap is reserved between the light shell and the steering engine 12 inside, lubricating grease is filled in the light shell to form an oil seal effect, a shaft outlet of the steering engine 12 is connected with a rocker arm made of the same material, the inner diameter of the rocker arm and the waterproof bearing 9 is bonded by epoxy resin, the waterproof bearing 9 is placed on a flange table formed by the shell, and the steering engine 12 passes a 24-hour two-meter water depth test at present.

The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.

Claims

1. An observation-grade portable underwater robot is characterized in that: comprising a pressure-resistant control cabin (1), a central main body (3), a buoyancy cabin and a propeller (4), in the described pressure-resistant control cabin (1) A control module and a power supply module are installed; the central main body (3) is respectively connected with the pressure-resistant control cabin (1), the buoyancy cabin and the propeller (4); the buoyancy cabin is used for placing counterweights and adjusting underwater The balance of the robot; the buoyancy cabin includes a front buoyancy cabin (2) and a rear buoyancy cabin (13), and the front buoyancy cabin (2) and the rear buoyancy cabin (13) are located at the front and rear of the central body (3) respectively. , the rear buoyancy cabin (13) is also used to accommodate the control cable drawn from the pressure-resistant control cabin (1), so that the underwater robot is more beautiful; the thruster (4) is divided into a left thruster, a The right thruster and the snorkeling thruster provide power for the underwater robot; the left thruster is mounted on the left part of the central body (3), the right thruster is mounted on the right part of the central body (3), and the snorkeling thruster is mounted on the the lower part of the central body (3);

The left thruster and the right thruster are both vector thrusters (4), and the vector thruster (4) includes a fairing (5), a propulsion unit (6), a steering engine compartment (7) and a vector nozzle ( 8), the screw propeller is installed in the described propulsion unit (6), and the inclination angle of the blade of the screw propeller is 60 degrees; the screw propeller includes a stator and a rotor, and the stator and the screw propeller casing are integrated, and the power of the rotor is installed The brushless motor at the central axis of the stator drives the star-shaped reduction unit to provide the star-shaped reduction ratio of 10 to 1; the vector nozzle (8) is composed of four deflectors and four waterproof steering gears. The waterproof steering gear and the steering gear The pieces correspond one by one; the waterproof steering gear is placed in the steering gear cabin (7), and the direction of the jet flow is changed by controlling the deflector, and finally the movement direction of the underwater robot is changed; Thrust is provided by a low-speed brushless motor.

2. An observation-grade portable underwater robot according to claim 1, characterized in that: the central main body (3) is connected with the pressure-resistant control cabin (1) by bolts, and the front buoyancy cabin (2) and the rear The buoyancy cabins (13) are respectively connected with the central main body (3) through bolts, and the thrusters (4) are respectively connected with the central main body (3) through bolts; the front buoyancy cabins (2) and the rear buoyancy cabins (13) ) and the fairing (5) of the thruster (4) are 3D printed parts.

3. A kind of observation grade portable underwater robot according to claim 1, is characterized in that: described pressure-resistant control cabin (1) is composed of the glass dome cover of the head, the aluminum alloy waterproof flange of the head, the Acrylic sealed cabin and aluminum alloy waterproof flange at the tail.

4. An observation-level portable underwater robot according to claim 1, characterized in that: the lower part of the front buoyancy cabin (2) reserves an interface for installing a mechanical arm.