阅读说明：本技术 一种小型超稳水上机器人 (Small-size superstable robot on water ) 是由 杜宇 付遥 申亚州 赵嘉凯 于 2021-09-17 设计创作，主要内容包括：本发明提供了一种小型超稳水上机器人。包括舱体、舵机架、中央承力柱、悬臂机构、支座和片体；所述舵机架套于所述中央承力柱之上；所述支座连接所述悬臂机构和所述片体,所述舱体安装并位于所述中央承力柱上端。是一种具备更佳耐波稳定性、安装组装更方便、运行更加稳定、适用面更广的小型水上超稳机器人。(The invention provides a small-sized super-stable water robot. Comprises a cabin body, a steering engine frame, a central bearing column, a cantilever mechanism, a support and a sheet body; the steering engine frame is sleeved on the central bearing column; the support is connected with the cantilever mechanism and the sheet body, and the cabin body is installed and positioned at the upper end of the central bearing column. The small-sized water ultrastable robot has better wave-resistant stability, more convenient installation and assembly, more stable operation and wider application range.)

1. The utility model provides a small-size superstable water robot which characterized in that: comprises a cabin body, a steering engine frame, a central bearing column, a cantilever mechanism, a support and a sheet body;

the steering engine frame is sleeved on the central bearing column; the support is connected with the cantilever mechanism and the sheet body, and the cabin body is installed and positioned at the upper end of the central bearing column;

the cantilever mechanism comprises a steering engine, a steering engine arm, a connecting rod, a parallel rod, a fixed seat and a spring; the steering engine frame is connected with and fixes the steering engine, the steering engine arm is arranged on the steering engine, the spring is connected with the connecting rod and the support, one end of the parallel rod is connected with the fixed seat, and the other end of the parallel rod is connected with the support;

an electric control system and a gyroscope attitude sensor are integrated in the cabin;

an acceleration sensor is arranged inside the sheet body;

the gyroscope attitude sensor and the acceleration sensor transmit signals to the electrical control system;

the electrical control system controls the blade and the cantilever mechanism.

2. A small hyperstable water robot as defined in claim 1, wherein: the cabin comprises a fan and a heat dissipation plate; and the heat dissipation plate is provided with a control circuit board mounting position.

3. A small hyperstable water robot as defined in claim 2, wherein: the fan is provided with a fan cover.

4. A small hyperstable water robot as claimed in claim 3, wherein: a camera head is arranged above the cabin body.

5. A small ultrastable water robot as defined in claim 4, wherein: the lamellar body outside is provided with screw propeller installation position.

6. A small ultrastable water robot as defined in claim 5, wherein: the rudder frame comprises a steering engine mounting position and an air inlet, and the air inlet is located above the steering engine mounting position.

7. A small ultrastable water robot as defined in claim 6, wherein: when the robot needs to adjust the balance state, the process is as follows:

s1, the gyroscope attitude sensor senses the horizontal state of the cabin and transmits information to the electrical control system;

s2, the acceleration sensor is used for monitoring the stress condition of the four sheets in the vertical direction and transmitting the information to the electric control system;

s3, the electric control system receives all the information and then runs an ultra-stable control algorithm to calculate the motion compensation parameters of all the steering engines;

and S4, the electric control system sends corresponding motion compensation instructions to each steering engine according to the motion compensation parameters to keep the cabin stable.

8. A small hyperstable water robot as claimed in claim 7, wherein: the process further includes S5, where the electrical control system predicts the motion trend and trend of the sheet and issues a prejudged motion compensation command.

9. A small hyperstable water robot as defined in claim 8, wherein: when the robot moves on the water surface, the operation flow of the robot is as follows,

n1, the electric control system receives an external operation instruction;

n2, the electric control system converts the external operation command into a sheet motion command;

n3, the electrical control system transmitting a sheet motion command to the sheet;

n4, the propeller on the sheet body correspondingly rotates to push the sheet body.

Technical Field

The invention relates to the field of water surface robots, in particular to a small-sized super-stable water robot.

Background

The invention aims to realize further breakthrough in the aspect of improving the wave resistance of the ship in an active displacement compensation mode. Wave resistance is always puzzled to practitioners in the fields of ship and ocean engineering, the wave resistance is mainly reflected by wave resistance calibration elements, the wave resistance is improved, namely, the wave resistance is generally called as the roll reduction, the roll reduction technology is mainly realized by improving the line type of a roll reduction hull and adding a roll reduction device at present, and the roll reduction device mainly comprises a roll reduction water tank, a stabilizing fin, a bilge keel, a gyro roll reducer, a T-shaped hydrofoil, a cut-off plate and the like. However, the prior art still has the following limitations:

the rolling reduction by the line-type design is usually designed for a specific sea condition, and the ship sails in a sea area under the specific sea condition, but the same rolling reduction effect is difficult to achieve under other sea condition conditions. Meanwhile, in order to balance the wave resistance during linear design, the bottom design is often properly adjusted, so that the rapidity of the ship is reduced, and the utilization of the space in the cabin and the economy are affected.

The development of the anti-rolling tank has been in the history for a hundred years, and the development is becoming mature at home and abroad till now, but the anti-rolling tank still has the defects of relatively low anti-rolling efficiency, large occupied space and easy rolling increase under low-frequency disturbance, so the anti-rolling tank is commonly used for medium and large ships, and small ships basically cannot adopt the technology due to the fact that the tank is tense and the main scale is small.

The fin stabilizer appears relatively late, and develops to the present gradually into the stabilizing mode which is necessary for small and medium-sized ships. With the development of the technology, a plurality of active fin stabilizers are available at present, and the stabilizing effect is achieved at low navigational speed. But fixed stabilizer fin can increase the navigation resistance as the hull bottom appendage, and the recovery mechanism of recoverable stabilizer fin maintains inconveniently and can occupy great under-deck space, and active stabilizer fin consumption is higher, can reduce the economic nature equally. However, the fin stabilizer has poor stabilizing effect at low speed and no stabilizing effect at zero speed because the generated stabilizing moment is in direct proportion to the speed.

The gyro stabilizer is mainly used for improving rolling and is mainly used for high-grade ship types. The ship pitching moment is large, and the gyro stabilizer has a limited effect on improving the pitching. Because the temperature control system is adopted, precise instruments such as a high-speed motor rotor, a leveling mechanism and the like are few in design and manufacture factories, and the cost is higher than that of other anti-rolling devices. The actual range of use is also limited due to the additional weight of the whole set of equipment.

The principle of the T-shaped hydrofoil and the cut-off plate is similar, and the water flow on the bottom surface of the ship is adjusted to achieve the purpose of stabilizing. The additional resistance increases much sailing resistance, and requires separate parameter adjustment and manufacturing, which is also expensive.

The scheme is based on a design scheme of an active displacement compensation type hyperstable four-body ship, the technical details of the scheme are shown in the content of a patent application number 202110114506.5, the design scheme provides an active displacement compensation type hyperstable design, but the design is mainly a wave resistance solution for medium and large ships, and more places to be improved and refined exist, such as larger load of a motion compensation execution mechanism, heat dissipation problems and the like. The scheme is more particularly a small-sized water ultrastable robot, and after differentiation and transformation, a further solution is provided for the existing problems.

Disclosure of Invention

In order to solve the technical problem, the invention discloses a small-sized ultrastable water robot, and the technical scheme of the invention is implemented as follows:

a small-sized ultra-stable water robot comprises a cabin body, a steering engine frame, a central bearing column, a cantilever mechanism, a support and a sheet body;

the steering engine frame is sleeved on the central bearing column; the support is connected with the cantilever mechanism and the sheet body, and the cabin body is installed and positioned at the upper end of the central bearing column;

the cantilever mechanism comprises a steering engine, a steering engine arm, a connecting rod, a parallel rod, a fixed seat and a spring; the steering engine frame is connected with and fixes the steering engine, the steering engine arm is arranged on the steering engine, the spring is connected with the connecting rod and the support, one end of the parallel rod is connected with the fixed seat, and the other end of the parallel rod is connected with the support;

an electric control system and a gyroscope attitude sensor are integrated in the cabin;

an acceleration sensor is arranged inside the sheet body;

the gyroscope attitude sensor and the acceleration sensor transmit signals to the electrical control system;

the electrical control system controls the blade and the cantilever mechanism.

Preferably, the cabinet includes a fan and a heat dissipation plate; and the heat dissipation plate is provided with a control circuit board mounting position.

Preferably, a fan cover is disposed on the fan.

Preferably, a camera head is arranged above the cabin.

Preferably, a propeller mounting position is arranged on the outer side of the sheet body.

Preferably, the rudder frame comprises a steering engine mounting position and an air inlet, and the air inlet is located above the steering engine mounting position.

When the robot needs to adjust the balance state, the robot flow is as follows:

s1, the gyroscope attitude sensor senses the horizontal state of the cabin and transmits information to the electrical control system;

s2, the acceleration sensor is used for monitoring the stress condition of the four sheets in the vertical direction and transmitting the information to the electric control system;

s3, the electric control system receives all the information and then runs an ultra-stable control algorithm to calculate the motion compensation parameters of all the steering engines;

s4, the electric control system sends out corresponding motion compensation instructions to each steering engine according to the motion compensation parameters to keep the cabin stable;

preferably, the robot process further comprises S5, the electrical control system predicting the motion trend and trend of the sheet and issuing a prejudice motion compensation command.

When the robot moves on the water surface, the operation flow of the robot is as follows,

n1, the electric control system receives an external operation instruction;

n2, the electric control system converts the external operation command into a sheet motion command;

n3, the electrical control system transmitting a sheet motion command to the sheet;

n4, the propeller on the sheet body correspondingly rotates to push the sheet body.

The advantages of the invention are as follows:

compared with the traditional ship process, the ultra-stable water robot adopts modularization and componentization design, and the whole structure building can be completed through modular assembly.

The stability of the active compensation system adopted by the small-sized ultra-stable robot is superior to that of a common passive type stabilization system.

The small-sized super-stable water robot adopts a multi-hull design, the wave resistance is generally superior to that of a single-hull ship, and the rolling and pitching amplitude values are smaller under the same-proportion condition.

The main cabin can be adjusted according to actual application scenes or customer requirements, and has the characteristic of customization. The application scenario is different from that of a medium-large ship.

Compared with a medium-large ship type in an active compensation type, the small-sized super-stable water robot adopts the steering engine as an actuating mechanism for controlling the cantilever, and is more convenient and accurate to control in a small-sized design.

A heat dissipation air conditioning system can be built in the cabin body of the small-sized super-stable water robot, so that heat dissipation of the steering engine, the circuit board and the electronic speed regulator is facilitated, and the operation is more stable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

FIG. 1 is a schematic structural diagram of an embodiment;

FIG. 2 is a schematic view of the internal structure of the cabin of the present invention;

FIG. 3 is a schematic view of the external structure of the cabin in the embodiment;

FIG. 4 is a schematic structural view of the cabin frame in the embodiment;

FIG. 5 is a schematic structural diagram of a cantilever mechanism in the embodiment;

FIG. 6 is a schematic view of the external structure of the sheet body in the embodiment;

FIG. 7 is a schematic diagram of an ultra-stable control flow of a robot;

fig. 8 is a robot motion control flow diagram.

In the above drawings, the reference numerals denote:

1, cabin body

2, steering engine frame

3, central bearing column

4, cantilever mechanism

5, support base

6, tablet body

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

In a specific embodiment, as shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, a small-sized hyperstable water robot comprises a cabin body 1, a rudder frame 2, a central bearing column 3, a cantilever mechanism 4, a support 5 and a sheet body 6;

the rudder frame 2 is sleeved on the central bearing column 3; the support 5 is connected with the cantilever mechanism 4 and the sheet body 6, and the cabin body 1 is installed and positioned at the upper end of the central bearing column 3;

the cantilever mechanism 4 comprises a steering engine, a steering engine arm, a connecting rod, a parallel rod, a fixed seat and a spring; the steering engine frame 2 is connected with and fixes a steering engine, a steering engine arm is arranged on the steering engine, a spring is connected with a connecting rod and a support 5, one end of a parallel rod is connected with a fixed seat, and the other end of the parallel rod is connected with the support 5;

an electric control system and a gyroscope attitude sensor are integrated in the cabin body 1;

an acceleration sensor is arranged inside the sheet body 6;

the gyroscope attitude sensor and the acceleration sensor transmit signals to the electrical control system;

the electrical control system controls the blade 6 and the cantilever mechanism 4.

The cabin 1 comprises a fan and a heat dissipation plate; the heat dissipation plate is provided with a control circuit board mounting position.

The fan is provided with a fan cover.

A camera head is arranged above the cabin body 1.

The outer side of the sheet body 6 is provided with a mounting position of a propeller.

The rudder frame 2 comprises a steering engine mounting position and an air inlet, and the air inlet is positioned above the steering engine mounting position.

When the robot needs to adjust the balance state, the robot flow is as follows:

s1, the gyroscope attitude sensor senses the horizontal state of the cabin 1 and transmits information to the electric control system;

s2, the acceleration sensor is used for monitoring the stress condition of the four sheet bodies 6 in the vertical direction and transmitting the information to the electric control system;

s3, after receiving all the information, the electric control system operates an ultra-stable control algorithm to calculate the motion compensation parameters of all the steering engines;

s4, the electric control system sends corresponding motion compensation instructions to each steering engine according to the motion compensation parameters to keep the cabin 1 stable;

s5, the electric control system predicts the movement trend and trend of the sheet 6 and sends a prejudgment movement compensation command.

When the robot moves on the water surface, the operation flow of the robot is as follows,

n1, the electric control system receives an external operation instruction;

n2, converting an external operation command into a motion command of the sheet body 6 by an electric control system;

n3, the electric control system transmits the motion command of the sheet body 6 to the sheet body 6;

n4, the pusher on the sheet 6 correspondingly rotates to push the sheet 6.

In this embodiment, the cabin 1 mainly contains an electrical control system and various electrical devices, including a heat dissipation device, a central control device, a data transmission device, and other devices; the central bearing column 3 is mainly used as a bearing part of the cabin body 1, the whole propulsion system is installed on the sheet body 6, a propeller thruster (common technology, not shown in the figure, only the installation position of the propeller thruster is shown) is adopted in the embodiment, and a cooling system and an adjusting system (the system is a water cooling system, common technology in the field, not shown in the figure) can be arranged in the blade body.

As shown in figure 2, the internal structure of the capsule body 1 comprises a heat dissipation plate, a fan, a steering engine control plate, a central control plate and a data transmission device.

External air is sucked by the fan and enters the cabin body 1 through the heat dissipation plate, various electrical devices are distributed on the heat dissipation plate, and meanwhile, cold air entering from the fan cools electrical equipment so as to achieve the purpose of heat dissipation; and residual cold air enters the rudder rack 2 from an air outlet below the bottom of the cabin body 1 to cool the rudder.

As shown in fig. 3, a fan cover is installed outside the cabin 1 for waterproof treatment, and a camera head is erected for raising the camera head for installation and detection.

As shown in fig. 4, a cabin body 1 is connected to the upper part of a cabin body frame 2 and sleeved on a central bearing column 3, four mounting positions of a steering engine are arranged on the side of the cabin body frame, the four steering engines respectively control the movement of four cantilever mechanisms 4, and cold air flow formed by a cooling system in the cabin body 1 passes through an air inlet to cool the steering engines. The cabin frame 2 is provided with a connecting hole for connecting the cabin 1.

The central bearing column 3 mainly bears the weight of the upper part cabin body 1 and the rudder machine frame 2, the upper part of the central bearing column is connected with the rudder machine frame 2 through bolts, and the side part of the central bearing column is connected with the cantilever mechanism 4.

The super steady technical essential lies in cantilever mechanism 4: the steering engine drives the steering engine arm to rotate to drive the connecting arm to move, so that the parallel rod is driven to rotate, one end of the parallel rod is fixed on one surface of the central bearing column 3 through the fixing seat, and the other end of the parallel rod is connected with the support 5. Finally, the conversion from the rotation of the steering engine to the up-and-down movement of the support 5 is achieved.

One end of the support 5 is rigidly connected with the sheet body 6, a fixed seat is fixed on the side surface, and the support is connected with one end of a parallel rod in the cantilever mechanism 4 through a rotating shaft.

When the support 5 moves, the blade 6 follows the simultaneous movement. According to the ultra-stable control requirement, an acceleration sensor is respectively arranged in the 4 sheet bodies 6.

The sheet body 6 is provided with a support 5 mounting position.

In this embodiment, the installation position of the sensor is not unique, and the installation of the sensor is not conventional in the art, and therefore is not shown in the figure.

The electric control system comprises an ultra-stable control system and a motion control system.

The hyperstable control system includes:

and the central control board is used for acquiring and processing the data of the sensor, generating a control instruction through an integrated ultra-stable control algorithm and sending the control instruction to the steering engine control board.

And the steering engine control panel receives and processes the instruction of the central control panel and drives the steering engine to act according to the instruction.

The steering engine and an execution mechanism in the hyperstable control system receive a control instruction of a steering engine control panel and act according to the instruction.

And the sensors comprise a gyroscope attitude sensor and an acceleration sensor. The device is used for acquiring three-axis attitude parameters of the main hull, including angle, angular velocity and acceleration, and transmitting the parameters to the central control board. (not shown in the figure.)

1 gyroscope attitude sensor has been installed at the middle part of the cabin body, has installed 1 acceleration sensor respectively in four lamellar bodies 6, and the sensor can increase, reduce according to actual conditions. The gyroscope attitude sensor is used for sensing whether the cabin body 1 is in a horizontal state, the acceleration sensor is used for monitoring the stress condition of the four sheet bodies 6 in the vertical direction, data of all the sensors are transmitted to the central control panel, corresponding instructions are sent to all the steering engines through obtained data through an ultra-stable control algorithm, the cabin body 1 is kept horizontal and stable through an active compensation mode, meanwhile, the movement trend and the trend of the sheet bodies 6 are predicted, and a prejudgment instruction is sent in advance. The principle is shown in fig. 7.

The motion control system includes: data transmission device, electronic regulator, propeller, central control panel, battery, cooling device.

And the data transmission device receives an operation signal from external equipment, such as a mobile phone end, a PC end and the like. The operation signals are as follows: forward, reverse, accelerate, turn, etc.

And the central control board acquires an external instruction transmitted by the data transmission device and respectively sends the control instruction to the four electronic regulators through a motion control algorithm.

And the electronic regulator receives the instruction of the central control board and drives the propeller. (in the present embodiment, the electronic regulator is used to control the propeller, located inside the blade 6, and this structure is conventional in the art and not shown)

The propeller is used for receiving instructions from the electronic regulator to correspondingly rotate so as to propel the sheet body 6 to move. (for common technique, not shown in the figure, only the installation position of the propeller is shown.)

Battery, energy supply device. (the structure is conventional in the art and is not shown.)

And the cooling device reduces the temperature of the electronic regulator to ensure that the electronic regulator works normally. (the structure is conventional in the art and not shown.) the principle is shown in FIG. 8.

It should be understood that the above-described embodiments are merely exemplary of the present invention, and are not intended to limit the present invention, and that any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.