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Portable underwater robot

An underwater robot and robot technology, applied in the field of robots, can solve the problems of small size, convenience, and complicated manipulation, and achieve the effects of simple structure, small volume, and small number of parts.

Active Publication Date: 2017-05-31
NORTHEAST GASOLINEEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if multiple propellers work, the underwater robot itself will have a larger volume, requiring more motors to work, and the controller also needs to control more motors at the same time, making the control more complicated and failing to meet the requirements of compactness and convenience.

Method used

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing:

[0027] At first introduce the part that belongs to conventional technology in this technical scheme:

[0028] Such as figure 1 to combine figure 2 , 3 As shown in and 4, this kind of portable underwater robot includes an illuminating device 1, a manipulator operating device 3, a gyroscope sensing device 5, an imaging device 6 and a controller 8.

[0029] Among them, such as Figure 8 As shown, the lighting device 1 is composed of an LED lamp 17. The bottom end of the LED lamp is threaded, and the LED lamp is connected to the left half body 22 of the main body shell of the underwater robot and the right half body 24 of the main body shell of the underwater robot through the thread. Connected, the connection remains sealed.

[0030] Such as Figure 9 As shown, the manipulator operating device 3 is composed of a load-bearing frame 18 , a manipulator mechanism 19 and a m...

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Abstract

The invention provides a portable underwater robot. The portable underwater robot is provided with hollow housings, a horizontal propeller device and a gear transmission counterweight changing device, wherein the hollow housing is convenient to realize free hovering; an underwater robot interior space formed by the left and right hollow housings can provide a buoyancy force in the water; an electric motor in the gear transmission counterweight changing device is connected with a small gear through a belt to control the small gear to rotate, the small gear is internally engaged with a big gear to drive the big gear to rotate, the center-of-gravity position is changed through changing the position of the big gear, and then a vertical motion direction is adjusted; a left propeller and a right propeller are arranged in the horizontal propeller device; driving motors of the two propellers are controlled by a controller to have different left and right rotation speeds so as to realize that the underwater robot rotates towards the left or the right; when the rotation speeds of the two propellers are as same as each other, the robot goes straight; when the propellers are controlled to rotate forwardly, the robot moves forwards; and when the propellers are controlled to rotate reversely, the robot moves backwards. The portable underwater robot has the advantages of simple structure, small volume and convenient carrying and is suitable for operations in shallow water areas.

Description

technical field [0001] The invention relates to a robot applied in the field of underwater engineering or underwater operation. Background technique [0002] In the field of underwater robots, different underwater robots need to be used according to different operating depths. The deeper the underwater robot is, the larger the volume, the heavier the mass, and the more complex the structure is. The shallower the robot, the smaller the volume, the lighter the weight, and the relatively simple structure. However, in order to solve the problem that the robot can move in 6 degrees of freedom underwater, most small underwater robots choose to carry 4 or more propellers, installed in different directions, and provide different directions for the underwater robot when working. Underwater thrust, so as to realize the function of various degrees of freedom underwater. However, the work of multiple propellers makes the underwater robot itself have a larger volume, requiring more mot...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63H5/08
CPCB63C11/52B63H5/08
Inventor 任福深张铎胡庆张宝良杨帅王宝金范涛李建民高胜
Owner NORTHEAST GASOLINEEUM UNIV
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