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Underwater cruise wall-climbing dual-mode robot

A robot, dual-mode technology, applied to underwater operation equipment, motor vehicles, ships, etc., can solve the problem of single function of underwater robots, and achieve the effects of high energy utilization efficiency, flexible movement and strong applicability

Active Publication Date: 2021-03-12
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a dual-mode underwater cruising and wall-climbing robot. Additional equipment to achieve adsorption wall climbing function

Method used

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  • Underwater cruise wall-climbing dual-mode robot
  • Underwater cruise wall-climbing dual-mode robot
  • Underwater cruise wall-climbing dual-mode robot

Examples

Experimental program
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Embodiment

[0033] see Figure 1 to Figure 5 , the underwater cruising and wall-climbing dual-mode robot of this embodiment includes a frame 100, a housing cavity 200, a driving module and an adsorption module.

[0034] Among them, various control hardware and sensor modules are placed inside the accommodation cavity 200, and the camera module is installed inside the dome cover area of ​​the accommodation cavity 200, and the viewing angle is controlled by the pan-tilt servo.

[0035] The driving module includes two groups of first propellers 300 arranged symmetrically along the center line of the frame 100 , and each group of first propellers includes two groups arranged at the front and rear ends of the frame 100 . The propulsion direction of the first propeller 300 is the horizontal direction. The first thrusters are arranged at an angle of 45 degrees with the central axis of the robot in the horizontal direction.

[0036] The adsorption module includes two groups of Bernoulli suction...

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Abstract

The invention relates to an underwater cruise wall-climbing dual-mode robot, and belongs to the technical field of underwater robots. The robot comprises a rack, a containing cavity used for carryingcontrol hardware and a sensor, a driving module and an adsorption module, wherein the driving module and the adsorption module are arranged on the rack; the driving module comprises first propellers arranged at the front end and the rear end of the rack in the horizontal direction; the adsorption module comprises a Bernoulli sucker arranged on the rack, and the Bernoulli sucker is provided with asecond propeller arranged in a vertical direction; and the rack is provided with a supporting structure used for generating a Bernoulli gap in the adsorption direction of the Bernoulli sucker. By arranging the driving module and the adsorption module, two functions of underwater cruising and underwater wall climbing can be realized, all movement processes are realized by the underwater propeller,additional motor control is not needed, mode conversion mainly depends on attitude conversion, and bottom-layer driving control is relatively simple.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater cruising and wall-climbing dual-mode robot. Background technique [0002] As a branch of special robots, underwater robots play an extremely important role in the marine field. At this stage, they have been refined into many specific application directions in actual scientific research and engineering projects, such as underwater cruise robots and underwater robots. A wall-climbing robot. [0003] Underwater cruising robots are usually used for water observation, structure exploration and detection and other tasks. The common Remote Operate Vehicle (ROV) is a typical robot system for underwater observation operations. However, due to the limitation of its own structural safety, it is difficult to get too close to the structure when detecting the surface defects of the structure, and the detection efficiency of some small defects is relatively low in the t...

Claims

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Application Information

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IPC IPC(8): B62D57/024B63C11/52
CPCB62D57/024B63C11/52
Inventor 陈燕虎郑佩阳刘斯悦李佳
Owner ZHEJIANG UNIV
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