Six-degree-of-freedom underwater robot

Abstract

The invention relates to a six-degree-of-freedom underwater robot. The six-degree-of-freedom underwater robot consists of a sealed cabin, a power system, a control system, an image acquisition system, an illuminating system and a cooling system. By virtue of a cooperative effect of a left propeller, a right propeller and a tail propeller, the six-degree-of-freedom movement such as front-back movement, up-down movement, left-right movement, pitching movement, deflection movement and rolling movement can be realized, i.e. the movement in any direction in the water is realized; power supply and information transmission are performed on the six-degree-of-freedom underwater robot by virtue of a waterproof plug bank, so that the universality and expandability are higher, and the multi-field and multifunctional requirement can be met; by adjusting positions of a left weight block and a right weight block, the center of gravity is disposed right below a buoyant center; by adopting a fixed camera and movable camera set, the peripheral environment is convenient to observe, and the operability is higher; a storage battery is used for supplying power, so that the autonomous control is realized; and by adopting a cooling system, the overheat damage of electronic elements and devices can be effectively prevented. The six-degree-of-freedom underwater robot is simple in structure, flexible in motion, high in expandability, and capable of meeting the requirements on controllability and adaptability in a complicated environment.

Description

technical field [0001] The invention belongs to the technical field of underwater equipment, in particular to a six-degree-of-freedom underwater robot. Background technique [0002] When conducting underwater operations such as underwater search and rescue, dam and port maintenance, manual operations have a high risk factor, high cost, and limited range of activities. These difficulties can be overcome by using underwater robots instead of divers for underwater operations. Traditional underwater robots usually use multiple fixed propellers arranged in different directions or a combination of propellers and rudders to realize the movement of underwater robots such as front and rear, snorkeling, and turning. Inflexible and unable to meet the working needs in a complex environment. Increasing the freedom of movement of underwater robots can improve their controllability and flexibility. [0003] Chinese Invention Patent Application Publication CN101003300A discloses a six-de...

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Problems solved by technology

[0003] Chinese Invention Patent Application Publication CN101003300A discloses a six-degree-of-freedom underwater robot rotating shaft propeller in disguise. degree of motion; however, the yaw motion control of this scheme is difficult and inefficient

CN101565095A discloses a six-degree-of-freedom underwater spherical robot. This underwater robot drives the counterweight to rotate around the long axis and the short axis through the first and second motors, so as to realize the omni-directional motion of six degrees of freedom in water; however, this scheme Relying on the counterweight to change the direction of the propeller, it is impossible to achieve steering in the horizontal plane

CN101596931A discloses a method for three-propeller active vector propulsion. Three sets of propeller active vector thrusters are installed on this underwater vehicle, which can realize the forward, backward, turning, floating, diving, yaw, Pitching, underwater suspension, lateral translation, and controllable roll; however, the active vector propeller used in this scheme has a complex structure and low transmission efficiency

CN104960650A discloses a six-degree-of-freedom underwater robot. This underwater robot uses six attitude adjustment devices for propulsion, which can realize the six-degree-of-freedom movement of the underwater robot in the movement space; however, this scheme uses six propulsion device, resulting in complex structure of underwater robot and large water resistance

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