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A dual-mode robot for underwater cruise and wall climbing

A robot and dual-mode technology, applied in 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, strong applicability, and flexible movement

Active Publication Date: 2022-07-05
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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  • A dual-mode robot for underwater cruise and wall climbing
  • A dual-mode robot for underwater cruise and wall climbing
  • A dual-mode robot for underwater cruise and wall climbing

Examples

Experimental program
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Embodiment

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

[0034] Among them, various control hardware and sensor modules are placed inside the accommodating cavity 200 , and the camera module is installed inside the dome cover area of ​​the accommodating cavity 200 , and the viewing angle is controlled by the gimbal steering gear.

[0035] The drive module includes two sets of first thrusters 300 symmetrically arranged along the center line of the frame 100 , and each set of first thrusters includes two sets of first thrusters 300 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 propellers 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 se...

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Abstract

The invention relates to an underwater cruising wall-climbing dual-mode robot, which belongs to the technical field of underwater robots. It includes a frame, an accommodating cavity for carrying control hardware and sensors, a drive module and an adsorption module arranged on the frame; the drive module includes a first pusher arranged at the front and rear ends of the frame along the horizontal direction The adsorption module includes a Bernoulli suction cup arranged on the frame, and the Bernoulli suction cup is provided with a second propeller arranged in the vertical direction; the frame is placed on the Bernoulli suction cup There is a support structure for generating a Bernoulli gap in the adsorption direction of the . By setting the drive module and the adsorption module, two functions of underwater cruise and underwater wall climbing can be realized. All the motion processes are realized by the underwater propeller, without adding additional motor control, and the mode conversion mainly depends on the attitude transformation. , the underlying driver control is relatively simple.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater cruising 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. Wall climbing robot. [0003] Underwater cruise 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 in the turbid and dark underwater ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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