Omnidirectional underwater robot

Abstract

The invention discloses an omnidirectional underwater robot which comprises an open-frame type robot, which comprises a frame, wherein top propellers are arranged at the four corners of the top end of the frame; a mechanical arm which is arranged at the front end of the frame; a rotating holder which is arranged in the frame, and comprises a motor fixing plate, a bearing upper fixing plate and a bearing lower fixing plate which are sequentially and fixedly connected from top to bottom, wherein a cylindrical roller bearing is fixed between the bearing upper fixing plate and the bearing lower fixing plate, and two bearing clamping inner plates are sequentially arranged on the inner edge of the cylindrical roller bearing from top to bottom; a servo motor is fixed to the motor fixing plate, a steering engine fixing plate is fixedly connected to the bottom end of the bearing clamp inner plate located at the bottom, a plurality of full-waterproof steering engines are arranged at the top end of the steering engine fixing plate, and underwater propellers are installed on the full-waterproof steering engines. The robot is high in realizability, safe and reliable in operation, high in portability, high in carrying performance, simple in structure and capable of providing reliable performance improvement and achieving the effects of energy conservation and emission reduction.

Description

technical field [0001] The invention relates to the technical fields of marine engineering and seabed resource development, in particular to an omnidirectional underwater robot. Background technique [0002] Marine engineering refers to new construction, reconstruction and expansion projects aimed at the development, utilization, protection and restoration of marine resources, and the main body of the project is located on the seaward side of the coastline. It is generally believed that the main content of marine engineering can be divided into two parts: resource development technology and equipment and facility technology, specifically including: sea reclamation, offshore dam engineering, artificial islands, offshore and submarine material storage facilities, cross-sea bridges, and submarine tunnel projects. Submarine pipelines, submarine electric (optical) cable projects, exploration and development of marine mineral resources and its subsidiary projects, marine energy de...

AI Technical Summary

Problems solved by technology

[0003] Restricted by the harsh environment of the seabed, deep-sea large-scale ocean engineering mainly relies on underwater operating robots to carry out work. However, traditional open-frame underwater robots are mainly used for observation functions, while working-level underwater robots currently mostly have underwater propellers fixed on the robot itself. On the frame of the robot, this cannot make full use of the propeller, which not only reduces the working efficiency of the propeller, consumes a lot of energy, but also limits the flexibility of the robot, and cannot adjust the best direction of the propeller according to the direction of the seabed ocean current. Seriously restrict the sustainable development of marine engineering and damage the safety of underwater robots

[0004] In view of the waste of electric energy and economic loss caused by the current fixed propeller, after an in-depth investigation and study of relevant domestic papers and patents, only the design of omnidirectional underwater robots in China was published by the School of Mechanical and Electrical Engineering of Hohai University. Thesis "Design of Disc-type Four-propeller Omnidirectional Underwater Robot"

However, due to its low degree of freedom, it only exists in theory, and there are a series of problems that are difficult to control, so it cannot be widely applied to industrial technology.

Therefore, there is an urgent need for a new type of omnidirectional underwater robot to solve the technical problems of traditional open-frame underwater robots such as high energy consumption, low degree of freedom, poor flexibility, and low level of intelligence

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