CN112894845A

CN112894845A - Underwater robot

Info

Publication number: CN112894845A
Application number: CN202110069351.8A
Authority: CN
Inventors: 魏建仓; 张永强; 陈超; 谢翠芳
Original assignee: Deepinfar Ocean Technology Inc
Current assignee: Deepinfar Ocean Technology Inc
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-06-04
Anticipated expiration: 2041-01-19
Also published as: CN112894845B

Abstract

The application relates to the technical field of underwater equipment, and mainly provides an underwater robot which comprises a robot body; the body includes: the cabin bodies are detachably connected in sequence; the propellers are respectively and telescopically arranged in each cabin body; and a plurality of controllers respectively configured on each thruster to control the extension and retraction of the thruster. When the underwater robot is used, the underwater robot has a variable shape so as to adapt to different underwater state requirements.

Description

Underwater robot

Technical Field

The application relates to the field of underwater electronic equipment, in particular to an underwater robot.

Background

The Underwater robot is also called an Autonomous Underwater Vehicle (AUV). The autonomous underwater robot is a new-generation underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks. For example, in the civil field, the system can be used for pipeline laying, submarine investigation, data collection, drilling support, submarine construction, maintenance and repair of underwater equipment and the like; in the military field, the mine-clearing and life-saving device can be used for reconnaissance, mine laying, mine sweeping, rescue and rescue, and the like.

The AUV on the market today is a fixed profile, because the main dimension and the linetype of the AUV are its most basic features, which determine its use, energy efficiency and range. The line type has the advantages that the rapidity and the maneuverability are directly influenced, the excellent line type can obviously reduce the water resistance in the specified sailing speed range, the valuable boat-borne energy is favorably saved, and the reasonable balance between the motion stability and the maneuverability can be achieved by additionally arranging a well-designed longitudinal plane.

Most AUVs employ a single axisymmetric solid of revolution linear, especially the pirley linear. In appearance, they are generally relatively slender, have large L/D values, and have small resistance to motion control by means of a propeller and a wing set arranged at the tail of the boat.

In order to make up for the defects, some AUVs are externally connected with propellers, so that the line type of the AUV is damaged, the water resistance is increased, and the endurance is reduced.

Disclosure of Invention

In order to solve the technical problems that the external propeller in the prior art damages the linear type of the AUV, increases the water resistance and reduces the endurance, the application provides an underwater robot with a variable appearance.

The application provides an underwater robot, includes: a body; the machine body comprises; the cabin bodies are sequentially detachably connected; at least one propeller respectively and telescopically arranged in each cabin body; and a plurality of controllers respectively configured in each cabin body to control the extension and retraction of the propeller.

Optionally, the machine body includes four thrusters, and when the four thrusters all extend out of the cabin body, an orthographic projection along the axial direction of the machine body is in an X-shaped structure; wherein two of the thrusters are disposed on the same hull, and the other two thrusters are disposed on the other hull.

Optionally, an electronic cabin is formed in the cabin body, and the propeller is telescopically configured in the electronic cabin.

Optionally, the pusher comprises a first driving member, a second driving member and a main body; the fixed end of the first driving piece is connected with the electronic bin, and the propelling end of the first driving piece is connected with the main body to drive the main body to stretch; the second driving piece is in transmission connection with the main body so as to drive the main body to rotate to generate thrust.

Optionally, the pusher further comprises a guide member, and the pushing end of the first driving member and the guide member are respectively connected to two sides of the main body.

Optionally, the guide member comprises a guide rod, a push rod and an elastic member; the guide rod is of a hollow structure, the elastic piece is arranged in the hollow structure, one end of the push rod is connected in the hollow structure in a sliding mode and is abutted against the elastic piece, and the other end of the push rod is connected with the main body.

Optionally, the main body comprises a fixed part and a rotating part; the rotating part is rotatably installed in the fixing part, the guide piece and the first driving piece are respectively installed on two sides of the fixing part, and the second driving piece is installed on the fixing part and can drive the rotating part to rotate.

Optionally, the electronic cabin comprises a detection device; the detection device is electrically connected with the first driving piece through the controller; when the detection device detects that the first driving piece extends to a first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop advancing; when the detection device detects that the first driving piece contracts to the second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop contracting; when the detection device detects that the first driving piece extends to a position between a first position and a second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stretch.

Optionally, the body further includes: the propeller is arranged at the tail of the machine body so as to push the machine body to advance; and the rudder is arranged at the tail part of the machine body so as to control the machine body to lift or turn.

Optionally, the body further includes: the watertight heads are respectively arranged at the two connecting ends of each cabin body so as to hermetically connect the cables between the two adjacent cabin bodies; and the plurality of fast-assembling structures are respectively buckled at the joint of two adjacent cabin bodies.

The beneficial effect of this application:

according to the underwater robot, the propeller is telescopically arranged in the cabin body, so that the underwater robot has a variable appearance, when fast navigation is needed, the propeller is contracted in the cabin body, the overall streamline is not influenced, the underwater robot has a good line shape, the water resistance is small, and the navigation range is long; when the static or low-speed posture is required to be kept and suspended, the propeller extends out of the cabin body, and the posture can be adjusted or suspended; the underwater robot can keep the posture at a high speed, successfully overcomes the defects of the underwater robot in the current market, and has an excellent linear shape.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

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, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a retracted state of an underwater robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a first view angle of an extended state of an underwater robot according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a second view angle of an extended state of an underwater robot according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a first view angle of the underwater robot in an extended state of the same cabin according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second view angle of the underwater robot in an extended state of the same cabin according to the embodiment of the present application;

fig. 6 is a perspective view of an underwater robot provided in an embodiment of the present application;

fig. 7 is a rotation schematic diagram of a propeller of an underwater robot according to an embodiment of the present application;

fig. 8 is a force analysis diagram of a lifting state of an underwater robot according to an embodiment of the present disclosure;

fig. 9 is a force analysis diagram of a horizontal movement state of an underwater robot according to an embodiment of the present application;

fig. 10 is a force analysis diagram of a pitch state of an underwater robot provided in an embodiment of the present application;

fig. 11 is a force analysis diagram of a horizontal rolling state of an underwater robot according to an embodiment of the present disclosure;

fig. 12 is a connection structure diagram of two adjacent cabins of an underwater robot according to an embodiment of the present application.

Wherein, 1, a cabin body; 11. an electronic bin; 2. a propeller; 21. a main body; 211. a support; 212. a pod; 213. a paddle; 22. a push rod motor; 23. a guide member; 231. a hollow structure; 232. a push rod; 3. a rudder; 4. a propeller; 5. a watertight head; 51. a cable; 6. a quick-mounting structure; 7. an antenna.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.

Referring to fig. 1-3, the present application provides an underwater robot comprising: a body; the body comprises; the cabin bodies 1 are detachably connected in sequence; at least one propeller 2 respectively and telescopically arranged in each cabin body 1; and a plurality of controllers respectively configured in each of the pods 1 to control extension of the propeller 2 to adjust a posture or hover of the underwater robot, or to control contraction of the propeller 2 to maintain linearity of the underwater robot.

The underwater robot is provided with at least one extensible deformable propeller 2, when the posture is not required to be adjusted or the underwater robot hovers, the propeller 2 is hidden in the cabin body 1, so that the whole underwater robot can keep a good linear type, and when the posture is required to be adjusted or the underwater robot hovers, the propeller 2 extends out of the cabin body 1, so that the posture is adjusted.

In this embodiment, as shown in fig. 6, the machine body includes four propellers 2, and when the four propellers 2 all extend out of the cabin 1, the orthographic projection along the axial direction of the machine body is an "X" type structure; wherein, two propellers 2 are arranged on the same cabin 1, and the other two propellers 2 are arranged on the other cabin 1.

As for the cabin 1, as shown in fig. 4 to 5, an electronic cabin 11 is formed in the cabin 1, and the propeller 2 is telescopically disposed in the electronic cabin 11. The propeller 2 comprises a first driving member, a second driving member and a main body 21; the fixed end of the first driving piece is connected with the electronic bin 11, and the propelling end main body 21 of the first driving piece is connected to drive the main body 21 to stretch; the second driving member is in transmission connection with the main body 21 to drive the main body 21 to rotate to generate thrust.

The first driving part is a push rod motor 22 or a hydraulic rod, and the push rod motor 22 is fixed on the electronic bin 11 and sealed with the electronic bin 11 through a sealing ring; the second driving member is an outer rotor motor, specifically, a brushless motor, and the controller controls the thrust by controlling the torque and the rotating speed of the brushless motor.

Preferably, the pusher 2 further comprises a guide member 23, and the pushing end of the first driving member and the guide member 23 are respectively connected to both sides of the main body 21. Specifically, the guide member 23 includes a guide rod, a push rod 232, and an elastic member; the guiding rod is a hollow structure 231, an elastic member is disposed in the hollow structure 231, one end of the pushing rod 232 is slidably connected in the hollow structure 231 and abuts against the elastic member, and the other end is connected with the main body 21. The elastic piece is a telescopic spring spiral line which is a three-phase motor line of the second driving piece.

The present embodiment mainly has the above two schemes, one of which is to push the main body 21 to contract through the pushing end of the push rod motor 22, and the other of which is to push the main body 21 to contract through the cooperation of the guiding member 23 and the push rod motor 22. Because main part 21 volume and quality are great to can receive very big resistance under water, if only adopt push rod motor 22 drive, main part 21 can appear breaking away from the problem of predetermineeing the track, consequently, the cooperation sets up a guide 23, and its extending direction is parallel with push rod motor 22 extending direction, fixes main part 21 from both sides respectively, has improved the accuracy of main part 21 motion stroke.

As for the main body 21, the main body 21 includes a fixed portion and a rotating portion; the rotating part is rotatably installed in the fixing part, the guide piece 23 and the first driving piece are respectively installed on two sides of the fixing part, and the second driving piece is installed on the fixing part and can drive the rotating part to rotate.

Specifically, the fixing part comprises a bracket 211 and a guide cover 212, the guide cover 212 is arranged on the bracket 211, the second driving part is arranged between the bracket 211 and the guide cover 212, and the first driving part and the guide part 23 are respectively connected to two sides of the guide cover 212; the rotating part comprises a rotating shaft and a blade 213, the blade 213 is rotatably arranged in the air guide sleeve 212, the blade 213 is connected with the second driving part through the rotating shaft, and the blade 213 and the rotating shaft are both subjected to waterproof treatment.

In this embodiment, the electronic compartment 11 includes a detection device; the detection device is electrically connected with the first driving piece through the controller; when the detection device detects that the first driving piece extends to the first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop propelling; when the detection device detects that the first driving piece contracts to the second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop contracting; when the detection device detects that the first driving piece extends to a position between the first position and the second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stretch.

Wherein, detection device includes longest limit switch and the shortest limit switch of shrink, and push rod motor 22 is inside to have to stretch out longest limit switch and the shortest limit switch of shrink, and push rod motor 22 triggers longest limit switch after extending the longest, and push rod motor 22 stops this moment, and the extension is confirmed to target in place after the inside controller of electron bin 11 detects longest limit switch, and guide 23 is dragged long equally under push rod motor 22's drive. On the contrary, when the thruster 2 needs to be retracted, the push rod motor 22 retracts to the position of the shortest limit switch, the guide piece 23 retracts accordingly, and the thruster 2 retracts to the right position.

Further, the body still includes: the propeller 4 is arranged at the tail of the machine body to push the machine body to advance; the rudder 3 is arranged at the tail of the machine body to control the machine body to lift or turn; and the antenna 7 is arranged on one of the cabins 1 and is used for transmitting communication signals.

Optionally, the body further includes: a plurality of watertight joints 5 respectively provided at two connection ends of each of the capsule bodies 1 to hermetically connect a plurality of cables 51 between adjacent two capsule bodies 1; and the fast-assembling structures 6 are respectively buckled at the connecting parts of the two adjacent cabin bodies 1.

As shown in fig. 12, the fast-assembling structure 6 includes a first fastening member and a second fastening member, the first fastening member and the second fastening member are hinged to each other, the joints of two adjacent cabin bodies 1 are mutually butted through the watertight head 5, and the butted cabin bodies are in fit clamping connection with the first fastening member and the second fastening member to fix the two adjacent cabin bodies 1, so that the fast-assembling structure is simple and can be installed by fast plugging and locking.

The cables 51 include an ethernet bus, a CAN bus, a power line, and the like, and each cable 51 has a fixed end located in each watertight head 5 and a free end connected to each component, and is butted against each watertight head 5 of two adjacent watertight heads 5 to seal and waterproof the cables 51.

The propeller 2 is arranged as shown in fig. 6-7, the blades 213 of the left two propellers 2 rotate clockwise, the blades 213 of the right two propellers 2 rotate anticlockwise, so that the torque of the propeller 4 of the propeller 2 on the body can be counteracted when the underwater robot operates, and the underwater robot mainly has the following four states:

as shown in figure 8, the underwater robot goes up and down, wherein F1 is the thrust direction of the No. 1 propeller 2, F2 is the thrust direction of the No. 2 propeller 2, F3 is the thrust direction of the No. 3 propeller 2, F4 is the thrust direction of the No. 4 propeller 2, F and F' are the resultant force directions of the front propeller 2 and the rear propeller 2, and the whole underwater robot goes down. In the same way, the ascending operation can be realized.

As shown in fig. 9, the underwater robot moves horizontally; f1 is the thrust direction of the No. 1 propeller 2, F2 is the thrust direction of the No. 2 propeller, F3 is the thrust direction of the No. 3 propeller 2, F4 is the thrust direction of the No. 4 propeller 2, wherein F and F' are the resultant force direction of the front propeller 2 and the rear propeller 2, and at the moment, the whole underwater robot moves leftwards. The right lateral movement can be realized by the same method.

As shown in fig. 10, the underwater robot pitches: f1 is the thrust direction of No. 1 propeller 2, F2 is the thrust direction of No. 2 propeller 2, F3 is the thrust direction of No. 3 propeller 2, F4 is the thrust direction of No. 4 propeller 2, wherein F and F 'are the resultant force direction of two front and back propellers 2, F acts on the head of the underwater robot downwards, F' acts on the tail of the underwater robot upwards, the in-situ head-lowering overlooking action of the underwater robot is realized under the combined action, and the upward looking action of the underwater robot can be realized by the same principle, so that the pitching attitude is realized.

As shown in fig. 11, the underwater robot rolls horizontally: f1 is the thrust direction of propeller 2 No. 1, F2 is the thrust direction of propeller 2 No. 2, F3 is the thrust direction of propeller 2 No. 3, F4 is the thrust direction of propeller 2 No. 4, wherein F and F' are the resultant force direction of two propellers 2 in front and back, because four propellers 2 distribute on the underwater robot not the front two above, two behind are below, through adjusting the direction and the size of the thrust of different propellers 2, can realize the roll to the left as the figure, can realize the roll to the right on the same reason.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underwater robot, comprising: a body;

the body includes:

the cabin bodies (1) are sequentially detachably connected;

at least one propeller (2) respectively and telescopically arranged in each cabin body (1); and the number of the first and second groups,

and the controllers are respectively arranged in the cabins (1) to control the extension and contraction of the propellers (2).

2. An underwater robot as claimed in claim 1, characterized in that said body comprises four thrusters (2), and when said four thrusters (2) are extended out of said tank (1), the orthographic projection of said body in the axial direction is an "X" configuration; wherein two of the thrusters (2) are arranged on the same nacelle (1), and the other two thrusters (2) are arranged on the other nacelle (1).

3. An underwater robot as claimed in claim 1 or 2, characterized in that an electronic cabin (11) is formed in said hull (1), and said thruster (2) is telescopically arranged in said electronic cabin (11).

4. An underwater robot as claimed in claim 3, characterized in that the thruster (2) comprises a first drive, a second drive and a body (21);

the fixed end of the first driving piece is connected with the electronic bin (11), and the propelling end of the first driving piece is connected with the main body (21) so as to drive the main body (21) to stretch;

the second driving piece is in transmission connection with the main body (21) so as to drive the main body (21) to rotate to generate thrust.

5. Underwater robot according to claim 4, characterized in that the thruster (2) further comprises a guide (23), the thrust end of the first drive element and the guide (23) being connected to both sides of the main body (21), respectively.

6. Underwater robot according to claim 5, characterized in that the guide (23) comprises a guide bar, a push rod (232) and a resilient member;

the guide rod is a hollow structure (231), the elastic piece is arranged in the hollow structure (231), one end of the push rod (232) is connected in the hollow structure (231) in a sliding mode and abuts against the elastic piece, and the other end of the push rod is connected with the main body (21).

7. An underwater robot as claimed in claim 4, characterized in that said body (21) comprises a fixed part and a rotating part;

the rotating part is rotatably installed in the fixing part, the guide piece (23) and the first driving piece are respectively installed on two sides of the fixing part, and the second driving piece is installed on the fixing part and can drive the rotating part to rotate.

8. An underwater robot as claimed in claim 4, characterized in that said electronic cabin (11) comprises detection means;

the detection device is electrically connected with the first driving piece through the controller;

when the detection device detects that the first driving piece extends to a first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop advancing;

when the detection device detects that the first driving piece contracts to the second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop contracting;

when the detection device detects that the first driving piece extends to a position between a first position and a second position, a signal is transmitted to the controller, and the controller controls the first driving piece to stretch.

9. An underwater robot as recited in claim 1, wherein said body further comprises:

the propeller (4) is arranged at the tail of the machine body and used for pushing the machine body to advance; and the number of the first and second groups,

and the rudder (3) is arranged at the tail part of the machine body so as to control the machine body to lift or turn.

10. An underwater robot as recited in claim 1, wherein said body further comprises:

the watertight heads (5) are respectively arranged at the two connecting ends of each cabin body (1) so as to hermetically connect a plurality of cables (51) between two adjacent cabin bodies (1);

and the fast-assembling structures (6) are respectively buckled at the joint of the two adjacent cabin bodies (1).