CN116691970A - Multifunctional underwater robot based on node cabin structure expansion method - Google Patents

Abstract

The invention discloses a multifunctional underwater robot based on a method for expanding the structure of the node cabin. The motor positioning frame is connected with the node cabin as the center, and eight propulsion motors are fixed on the propeller frame; the connecting cables and the basic function control Part of the circuit, complete the assembly of the power supply cabin and control cabin and connect them to the node cabin; then connect the circuit of the functional module part, set up independent module cabins for different functions, and connect them to the node cabin according to the job task requirements; complete After the circuit is connected and the cabin is assembled, each hatch is detachably sealed and waterproofed; finally, the subsea support frame and buoyancy material of the underwater robot are assembled. The present invention uses the structure of the node cabin to realize the expansion of the modular cabin of the underwater robot to meet the requirements of multifunctional integration of the underwater robot, and can also replace different modular cabins according to the needs of different operation scenarios, which greatly improves the performance of the underwater robot. The robot is functionally integrated and easy to disassemble.

Description

A multi-functional underwater robot based on the node cabin structure expansion method

technical field

The invention belongs to the field of underwater intelligent operations, and in particular relates to a multifunctional underwater robot based on a node cabin structure expansion method.

Background technique

With the development of intelligent technology and the increasing demand for underwater operations, underwater robots appear more and more frequently in the fields of underwater exploration, underwater salvage, aquaculture and other fields. Multifunctional underwater robots are increasingly valued by researchers at home and abroad. . However, the existing multifunctional underwater robot cabins mostly adopt the form of whole cabin or end-to-end subdivided cabins. This structure has problems such as difficult maintenance and poor function expansion.

There are two main types of cabin structures for traditional underwater robots:

1. Spherical structure: The spherical structure is a relatively common cabin structure, and its appearance presents a spherical shape, which can accommodate relatively large equipment and sensors. The design of the spherical structure enables the underwater robot to have better maneuverability underwater, and can effectively resist the influence of external factors such as water flow and water pressure.

2. Rectangular structure: Rectangular structure is a common cabin structure, mainly composed of hull, cabin and hatch cover. The structure is simple in design, can adapt to different types of underwater robots, and can accommodate different kinds of equipment and sensors. The maneuverability of the rectangular structure is slightly worse than that of the spherical structure, but its rigidity is stronger, which can protect the equipment inside the robot from the damage of external impact.

Whether it is a spherical or rectangular structure, the cabin of an underwater robot needs to be waterproof, pressure-resistant, and corrosion-resistant, and it needs to be able to withstand water pressure at different depths and the corrosion of long-term immersion in seawater. At the same time, the cabin structure also needs to fully consider the safety of the robot operator to ensure that the personnel will not suffer accidental injuries when the robot performs tasks.

The multi-functional underwater robot cabin structure is based on the traditional underwater robot cabin structure, adding some new equipment and sensors, so that it has a wider range of application capabilities and a higher level of intelligence. Generally speaking, the cabin structure of a multifunctional underwater robot has the following characteristics:

1. Ensure the orderly storage of multiple types of equipment and sensors: The structure of the multi-functional underwater robot cabin will carry different types of equipment and sensors according to different tasks. It is necessary to ensure storage space while making these equipment and sensors effective. Collaborative work.

2. Improve navigation and positioning capabilities: In addition to traditional sonar, GPS and other navigation and positioning equipment, multi-functional underwater robots will also be equipped with advanced equipment such as inertial navigation systems and laser range finders, so that they can more accurately perceive the environment and Its own position, thereby improving its navigation and positioning capabilities.

3. Enhanced ocean observation capabilities: The multi-functional underwater robot cabin will be equipped with various types of cameras, physical parameter sensors and other equipment, so that it can not only conduct comprehensive observation of the ocean environment, but also can be used in oceanography, biology and other fields. Carry out various scientific research tasks.

4. Increase the robot control and operation terminal: the robot control and operation terminal will be added in the cabin of the multi-functional underwater robot, so that the robot can be controlled and managed remotely more conveniently. The multifunctional underwater robot will also be equipped with high-speed communication equipment, so that the robot and the outside world can transmit data and instructions in real time through a network connection.

In general, the cabin structure of a multi-functional underwater robot is more complex and refined than that of a traditional underwater robot. The various devices and sensors carried inside it need to achieve a high degree of collaborative work and precise control. control.

In view of the above problems, the present invention proposes a method for expanding the cabin structure based on the node cabin, and transfers the node cabin structure originally used for space station connection to the cabin connection method of the underwater robot. The node cabin structure can realize the multi-directional connection function sealing cabin, which improves the maintainability and functional scalability of the underwater robot.

Contents of the invention

The purpose of the present invention is to provide a multifunctional underwater robot based on the expansion method of the node cabin structure, which can meet the requirements of multifunctional integration of underwater robots, and can replace different module cabins according to the needs of different operation scenarios, greatly improving The robot is functionally integrated and easy to disassemble.

The present invention adopts the following technical solutions for solving the problems of the technologies described above:

A multifunctional underwater robot based on a node cabin structure expansion method, comprising the following steps:

Step 1: Connect the motor positioning frame with the node cabin as the center, and fix the eight propulsion motors on the propeller frame;

Step 2: Connect the cables and the circuit of the basic function control part, including the field-oriented control drive board, the power supply board, and the basic control board, complete the assembly of the power supply compartment and the control compartment and connect them to the node compartment;

Step 3: Connect the circuits of the functional modules, including cameras and various sensors, and set up independent module cabins for different functions, and connect them to the node cabin according to the job task requirements;

Step 4: After the circuit connection and cabin assembly are completed, detachable sealing and waterproof treatment is performed on each hatch;

Step 5: Assemble the subsea support frame and buoyancy material of the underwater robot, and after debugging, it can be launched into the water to complete the specified tasks.

Further, the node cabin is a detachable combined eight-hatch connection structure, through the detachable connection between the node cabin and each independent cabin body, the multi-functional expansion can be better completed; the node cabin The connection part with the functional cabin mainly includes two structures, one is sealed by the acrylic tube of the cabin body with two sealing rings, and the other is the structure of the acrylic end cover with screws to compress the sealing ring; for the cable underwater robot (ROV ), the cable is connected through the upper part of the node cabin, and then forms a center inside the node cabin to complete the energy supply and information transmission between each cabin.

Further, the main structure of the node cabin adopts a square prism type, the side length of the square bottom surface is 120mm, the height of the square prism is 240mm, the hatch connecting the functional cabin is circular, and the outer diameter is 100mm; considering the high pressure at the bottom, Highly corrosive working environment, the material of the node compartment is made of 7075 aluminum alloy, and treated with corrosion-resistant coating; the wiring ports on both sides of the node compartment are sealed with waterproof threading screws and epoxy resin potting glue, and the upper cable is sealed with waterproof Joint connection.

Further, the power system of the underwater robot is composed of eight propellers arranged in full vector, with the geometric center of the robot as the coordinate origin, the positive direction of the Z direction above the normal working posture of the robot, and the positive direction of the X direction on the right , the front is the positive direction of the Y direction to establish a space Cartesian coordinate system, and the position coordinates and vector directions of the eight propellers are as follows:

Eight propeller position coordinates:

Eight propeller vector directions:

Among them, L, W, and H are the length, width, and height of the robot, respectively;

By using eight propellers, the layout enables the underwater robot to realize maneuvering in three directions of rolling, pitching and heading and translational movement in three directions of X, Y and Z, and the eight propellers are DC brushless external rotor motors With the propeller, it adopts the field oriented control driver board.

Further, the expansion method of the functional cabin of the underwater robot is connection. The functional cabin mainly includes a power supply cabin, a control cabin, a lens cabin, and a functional cabin equipped with various sensors; Considering the light transmittance requirements of the functional cabin, after checking the allowable stress of the cabin material and the strength of the maximum working pressure of the cabin, the final cabin material is made of plexiglass, and its structural shape is selected with low fluid movement resistance and simple processing technology. Ribbed cylindrical cabin, the inner diameter of the cabin is designed to be 100mm, the wall thickness of the cabin is designed to be 5mm, and the front of the lens cabin uses a hemispherical cover to increase its field of view.

Compared with the prior art, the present invention has the following beneficial effects:

(1) Compared with the underwater robot in the traditional compartment mode, the expansion method of the node compartment of the present invention improves the expandability of functions.

(2) The present invention divides each module into cabins, which improves the maintainability of each functional module compared with the traditional full-cabin underwater robot.

(3) The field-oriented control driving method adopted by the present invention improves the stability of low-speed navigation and hovering compared with the electric control driving method of the traditional underwater robot.

Description of drawings

Fig. 1 is a structural schematic diagram of a multi-functional underwater robot based on a node cabin structure expansion method according to the present invention.

Fig. 2 is a structural diagram of a multifunctional underwater robot node compartment based on a node compartment structure expansion method according to the present invention.

Figure 3 is a schematic diagram of the position and direction of propeller arrangement.

In the figure: 1 is the positioning frame of the motor; 2 is the threading screw; 3 is the buoyancy material; 4 is the flange ring; 5 is the sealed cabin; 6 is the hanging cable structure; 7 is the sealing end cover; Propeller; 10 is a magnetic field oriented control driving board; 11 is a lens cover; 12 is a fixing flange of the lens cover.

Detailed ways

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

The invention discloses a multifunctional underwater robot based on a node cabin structure expansion method, as shown in FIG. 1 . Specifically include the following steps:

Step 1: Connect the motor positioning frame with the node cabin as the center, and fix the eight propulsion motors on the propeller frame;

Step 2: Connect the cables and the circuit of the basic function control part, including the field-oriented control drive board, the power supply board, and the basic control board, complete the assembly of the power supply compartment and the control compartment and connect them to the node compartment;

Step 3: Connect the circuits of the functional modules, including cameras and various sensors, and set up independent module cabins for different functions, and connect them to the node cabin according to the job task requirements;

Step 4: After the circuit connection and cabin assembly are completed, detachable sealing and waterproof treatment is performed on each hatch;

Step 5: Assemble the subsea support frame and buoyancy material of the underwater robot, and after debugging, it can be launched into the water to complete the specified tasks.

The structure of the node cabin is shown in Figure 2. The node cabin is a detachable combined eight-hatch connection structure. Through the detachable connection between the node cabin and each independent cabin, it can be better completed. Multi-functional expansion; the connecting part of the node cabin and the functional cabin mainly includes two structures, one is sealed by the acrylic tube of the cabin body with two sealing rings, and the other is the structure of the acrylic end cover with screws to compress the sealing ring. On the premise of ensuring airtightness, convenient disassembly and assembly can be achieved to the greatest extent; for the cabled underwater robot (ROV), the cable is connected through the upper part of the node cabin, and then forms a center inside the node cabin to complete the connection between each cabin. The supply of energy and the transmission of information.

The main structure of the node cabin adopts a regular square prism, the side length of the square bottom is 120mm, the height of the square prism is 240mm, the hatch connecting the functional cabin is circular, and the outer diameter is 100mm; considering the underwater high pressure and high corrosion working environment The material of the node compartment is high strength, light weight, and corrosion-resistant 7075 aluminum alloy, and it is treated with a corrosion-resistant coating to prolong its service life; the wiring ports on both sides of the node compartment are made of waterproof threading screws and epoxy resin potting glue To achieve sealing, the upper cable is connected with a waterproof sealing joint.

The power system of the underwater robot is composed of eight propellers arranged in full vector, with the geometric center of the robot as the coordinate origin, the positive direction of the Z direction above the normal working posture of the robot, the positive direction of the X direction to the right, and the Y direction in front The space Cartesian coordinate system is established in the positive direction, and the position coordinates and vector directions of the eight propellers are shown in Figure 3:

Eight propeller position coordinates

Eight propeller vector directions:

Among them, L, W, and H are the length, width, and height of the robot, respectively;

By using eight propellers, the layout enables the underwater robot to realize maneuvering in three directions of rolling, pitching and heading and translational movement in three directions of X, Y and Z, and the eight propellers are DC brushless external rotor motors Equipped with a propeller, it adopts a magnetic field oriented control drive board, which has the advantages of stable speed, smooth reversing, and low noise, ensuring the stability of the underwater robot's low-speed navigation and fixed-depth hovering, and laying the foundation for the robot to complete a variety of underwater tasks. .

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only to illustrate the specific embodiments of the present invention, and the present invention cannot be limited thereto. Any modification made on the basis of the technical solution of the present invention according to the technical ideas proposed in the present invention shall be included in the protection scope of the present invention.

Claims (5)

1. A multifunctional underwater robot based on a node cabin structure expansion method, characterized in that: comprising the following steps: Step 1: Connect the motor positioning frame with the node cabin as the center, and fix the eight propulsion motors on the propeller frame; Step 2: Connect the cables and the circuit of the basic function control part, including the field-oriented control drive board, the power supply board, and the basic control board, complete the assembly of the power supply compartment and the control compartment and connect them to the node compartment; Step 3: Connect the circuits of the functional modules, including cameras and various sensors, and set up independent module cabins for different functions, and connect them to the node cabin according to the job task requirements; Step 4: After the circuit connection and cabin assembly are completed, detachable sealing and waterproof treatment is performed on each hatch; Step 5: Assemble the subsea support frame and buoyancy material of the underwater robot, and after debugging, it can be launched into the water to complete the specified tasks. 2. The multi-functional underwater robot based on a node cabin structure expansion method according to claim 1, characterized in that: the node cabin is a detachable combined eight-hatch connecting structure, through The detachable connection between the node cabin and each independent cabin body completes the multi-functional expansion; the connecting part of the node cabin and the functional cabin mainly includes two structures, one is sealed by the acrylic tube of the cabin body and two sealing rings, and the other is The first is the structure of the acrylic end cover and the screw to compress the sealing ring; for the cabled underwater robot (ROV), the cable is connected through the upper part of the node cabin, and then forms a center inside the node cabin to complete the supply of energy between each cabin. Transmission of Information. 3. The multi-functional underwater robot based on a node cabin structure expansion method according to claim 1, characterized in that: the main structure of the node cabin adopts a square prism type, the side length of the square bottom is 120mm, and the square prism prism The height is 240mm, and the hatch connecting the functional cabin is circular with an outer diameter of 100mm; the material of the node cabin is made of 7075 aluminum alloy, and treated with corrosion-resistant coating; the wiring ports on both sides of the node cabin are made of waterproof threading screws and rings Oxygen resin potting glue is used to achieve sealing, and the upper cable is connected with a waterproof sealing joint. 4. A kind of multifunctional underwater robot based on the node compartment structure expansion method according to claim 1, characterized in that: the power system of the underwater robot is composed of eight propellers arranged in full vector, with The geometric center of the robot is the origin of the coordinates, the upper part of the normal working posture of the robot is the positive direction of the Z direction, the right side is the positive direction of the X direction, and the front is the positive direction of the Y direction to establish a space Cartesian coordinate system. The coordinates and vector directions of the eight propeller positions are as follows: Eight propeller position coordinates: Paddle 1: (W/2, -L/2, H/2) Paddle 2: (-W/2, L/2, H/2) Paddle 3: (W/2, -L/2, H/2 ) Paddle 4: (-W/2, L/2, H/2) Paddle 5: (-W/2, L/2, H/2) Paddle 6: (W/2, L/2, H/2 ) Propeller 7: (-W/2, L/2, H/2) Propeller 8: (W/2, L/2, H/2) Eight propeller vector directions: Paddle 1: (W/2,L/2,H/2) Paddle 2: (-W/2,L/2,H/2) Paddle 3: (W/2,L/2,-H/2) Paddle 4: (-W/2, L/2, -H/2) Paddle 5: (W/2, -L/2, H/2) Paddle 6: (-W/2, -L/2, H /2) Paddle 7: (W/2, -L/2, -H/2) Paddle 8: (-W/2, L/2, -H/2) where L, W, and H are the length of the robot ,Width Height; By using eight propellers, the layout enables the underwater robot to realize maneuvering in three directions of rolling, pitching and heading and translational movement in three directions of X, Y and Z, and the eight propellers are DC brushless external rotor motors With the propeller, it adopts the field oriented control driver board. 5. A multi-functional underwater robot based on a node cabin structure expansion method according to claim 1, wherein the expansion method of the functional cabin of the underwater robot is connection, and the functional cabin mainly includes a power supply cabin , control cabin, lens cabin, and functional cabins equipped with various sensors; based on the layout of control components inside the cabin and the light transmittance requirements of special functional cabins, after the strength check of the allowable stress of the cabin material and the maximum working pressure of the cabin , the final cabin material is made of plexiglass, and its structural shape is a ribless cylindrical cabin. The inner diameter of the cabin is designed to be 100mm, and the wall thickness of the cabin is designed to be 5mm. The front of the lens cabin uses a hemispherical cover to increase its field of view.