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Pendulum type three-propeller underwater spherical robot

A spherical robot and thruster technology, which is applied in the direction of propulsion device engines, ship propulsion, propulsion components, etc., can solve the problems of restricting underwater robots, large turning radius, complex structure, etc., and achieve simple structure, improved flow resistance, and direction Adjustable and flexible effects

Inactive Publication Date: 2014-06-04
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common problems of current underwater robots are large size, complex structure, large turning radius and high cost, which largely limit the application of underwater robots. How to improve the structure so that underwater robots can overcome the above become a new topic for applicants to pay attention to and study

Method used

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  • Pendulum type three-propeller underwater spherical robot
  • Pendulum type three-propeller underwater spherical robot
  • Pendulum type three-propeller underwater spherical robot

Examples

Experimental program
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Embodiment Construction

[0021] Such as figure 1 As shown, a three-propeller underwater spherical robot has a spherical shell and three propellers on the left, middle and right. When the robot walks in a straight line, the three propellers can be controlled to run with the same propulsion force, thereby The robot can move linearly along the predetermined direction. If the robot needs to turn, the thrust of the right thruster 1 and the left thruster 3 can be controlled so that there is a thrust difference between the left and right thrusters, and a steering moment will be generated for the robot, thereby turning the robot.

[0022] Such as figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 As shown, the robot controls the steering through the right thruster 1 and the left thruster 3, and controls the pitching attitude of the robot through the swing of the heavy pendulum 16. When the swing of the heavy pendulum 16 is controlled, the heavy pendulum 16 will give the robot a reaction force, there...

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Abstract

The invention relates to the field of research on underwater robots, and in particular relates to a novel spherical underwater robot provided with three propellers and a heavy pendulum. The spherical underwater robot is capable of steering by the propellers and adjusting the pitch attitude by the heavy pendulum. The spherical underwater robot adopts a transparent shell made of organic glass, the three propellers pass through a spherical shell, the robot can steer by the thrust difference of the propellers respectively arranged on the two sides, the pitch attitude can be changed by the counter-acting force of the heavy pendulum generated in the rotating process, and the heavy pendulum is also used for adjusting the center of gravity of the robot so as to enable the attitude of the robot to be stable. The depth of the robot can be adjusted by adjusting the attitude change of the robot when the robot is pushed forward. The weight of the robot is enabled to be equal to the buoyancy by adjusting the weight of the heavy pendulum, so that the robot can suspend in water.

Description

technical field [0001] The invention relates to the research field of an underwater robot, in particular to a novel spherical underwater robot with three propellers and a heavy pendulum. Background technique [0002] With the continuous deepening of human exploration of the ocean, underwater robots have become the most important means for human ocean development. Underwater robots can realize the detection of seabed terrain. For some seabeds that require construction (such as submarine tunnels and cross-sea bridges), robots can detect the seabed area to be constructed. Through the seabed image sent by the robot, Engineers can find the areas with relatively least construction difficulties, so as to find the best construction route. At the same time, the underwater robot can detect some oil pipelines and oil shafts on the seabed. If the pipeline leaks, the robot can sail along the pipeline. Through the camera or fixed oil detection sensor, the location of the pipeline failure...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63H21/17
Inventor 孙汉旭张延恒褚明刘家伦李艳生左权
Owner BEIJING UNIV OF POSTS & TELECOMM
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