CN112894845B

CN112894845B - Underwater robot

Info

Publication number: CN112894845B
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: 2023-08-11
Anticipated expiration: 2041-01-19
Also published as: CN112894845A

Abstract

The application relates to the technical field of underwater equipment, and mainly provides an underwater robot, which comprises a machine body; the organism includes: the cabin bodies are detachably connected in sequence; the plurality of propellers are respectively and telescopically arranged in each cabin; and a plurality of controllers respectively arranged on the propellers to control the stretching and retraction of the propellers. When in use, the underwater robot has a variable appearance 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 (Autonomous Underwater Vehicle, AUV for short). The autonomous underwater robot is a new generation of underwater robots, 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, it can be used for laying pipelines, submarine investigation, data collection, drilling support, submarine construction, maintenance and repair of underwater equipment, etc.; the method can be used for reconnaissance, mine laying, mine sweeping, rescue and diving, lifesaving and the like in the military field.

The AUV on the market is currently of a fixed shape, since the main dimensions and the line shape of the AUV are the most fundamental features, which determine its use, energy efficiency and range. The rapidity and the maneuverability are directly affected by the advantages and disadvantages of the line type, the water resistance can be obviously reduced within a specified sailing speed range by the excellent line type, precious boat energy sources are saved, and reasonable balance between the movement stability and the maneuverability can be achieved by the addition of a carefully designed longitudinal surface.

Most AUVs use a single axisymmetric gyrorotor profile, particularly a torpedo profile. In terms of appearance, the three-dimensional control device is generally longer, has larger L/D value, has smaller resistance, relies on a propeller and a wing set arranged at the tail of the boat to control the motion, has six degrees of freedom, but can not be independently controlled in each degree of freedom, and cannot flexibly perform roll, pitch gesture, hovering and the like at zero speed.

In order to make up for the defects, some AUVs are externally hung with a propeller, so that the line type of the AUVs is damaged, the water resistance is increased, and the cruising time is reduced.

Disclosure of Invention

The application provides an underwater robot with a variable appearance, which aims to solve the technical problems that an externally hung propeller in the prior art damages the line type of an AUV, increases water resistance and reduces cruising.

The application provides an underwater robot, comprising: a body; the machine body comprises; the cabin bodies are detachably connected in sequence; the at least one propeller is respectively and telescopically arranged in each cabin; and a plurality of controllers respectively arranged in the cabins for controlling the expansion and contraction of the propeller.

Optionally, the machine body comprises four propellers, and when the four propellers extend out of the cabin body, the orthographic projection along the axial direction of the machine body is of an X-shaped structure; wherein two propellers are arranged on the same cabin, and the other two propellers are arranged on the other cabin.

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

Optionally, the propeller 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 pushing end of the first driving piece is connected with the main body so as 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 propeller further comprises a guide member, and the propelling end of the first driving member and the guide member are respectively connected to two sides of the main body.

Optionally, the guide member includes 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 abuts against the elastic piece, and the other end of the push rod is connected with the main body.

Optionally, the main body includes a fixed portion and a rotating portion; 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 bin 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 stretches to the first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop pushing; when the detection device detects that the first driving piece is contracted 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 stretches 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 and retract.

Optionally, the machine body further includes: the propeller is arranged at the tail part of the machine body 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 steer.

Optionally, the machine body further includes: the watertight heads are respectively arranged at two connecting ends of each cabin body so as to be in sealed connection with a plurality of cables between two adjacent cabin bodies; the plurality of fast-assembling structures are respectively buckled at the connecting positions of the two adjacent cabin bodies.

The application has the beneficial effects that:

according to the underwater robot provided by the application, the propeller is telescopically arranged in the cabin body, so that the underwater robot has a variable appearance, and when the underwater robot needs to navigate quickly, the propeller is contracted in the cabin body, so that the integral streamline is not influenced, the underwater robot has good line shape, small water resistance and long navigation distance; when static or low-speed gesture maintenance and hovering are required, the propeller extends out of the cabin body, so that the gesture or hovering can be regulated; of course, the application can also keep the gesture at high speed, successfully overcomes the defects of the underwater robots in the market at present, and has excellent line type.

Drawings

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

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic structural view of a contracted state of an underwater robot according to an embodiment of the present application;

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

fig. 3 is a schematic structural view 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 same cabin extension state of an underwater robot according to an embodiment of the present application;

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

fig. 6 is a projection view of an underwater robot according to 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 application;

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 stress analysis chart of a pitching state of an underwater robot according to 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 application;

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, the cabin body; 11. an electronic bin; 2. a propeller; 21. a main body; 211. a bracket; 212. a guide cover; 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

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1-3, the present application provides an underwater robot comprising: a body; the machine body comprises; the plurality of cabins 1, each cabin 1 is connected in sequence in a detachable manner; at least one propeller 2 which is respectively and telescopically arranged in each cabin 1; and a plurality of controllers respectively arranged in the cabins 1 to control the extension of the propeller 2, so that the underwater robot can adjust the posture or hover, or to control the contraction of the propeller 2, so that the underwater robot can maintain linearity.

The application has at least one expandable deformable propeller 2, when the posture is not required to be adjusted or hovered, the propeller 2 is hidden in the cabin 1, so that the whole underwater robot can keep good linear, and when the posture is required to be adjusted or hovered, the propeller 2 extends out of the cabin 1, thereby adjusting the posture.

In this embodiment, as shown in fig. 6, the machine body includes four thrusters 2, and when the four thrusters 2 extend out of the cabin 1, the orthographic projection along the axial direction of the machine body is an "X" 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 shown in fig. 4 to 5, for the cabin 1, 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 includes a first driving piece, a second driving piece, and a main body 21; the fixed end of the first driving piece is connected with the electronic bin 11, and the pushing end main body 21 of the first driving piece is connected to drive the main body 21 to stretch and retract; 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 piece is a push rod motor 22 or a hydraulic rod, and the push rod motor 22 is fixed on the electronic bin 11 and is sealed with the electronic bin 11 through a sealing ring; the second driving piece is an external rotor motor, specifically, a brushless motor, and the controller controls the thrust by controlling the moment 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 23 includes a guide rod, a push rod 232, and an elastic member; the guide rod is a hollow structure 231, an elastic member is disposed in the hollow structure 231, one end of the push 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, and the spring spiral line is a three-phase motor line of the second driving piece.

The present embodiment mainly has two schemes, one is to push the main body 21 to retract through the pushing end of the push rod motor 22, and the other is to push the main body 21 to retract through the matching of the guide piece 23 and the push rod motor 22. Because the main body 21 has larger volume and mass and can be subjected to great resistance under water, if the main body 21 is driven by the push rod motor 22 only, the main body 21 can be separated from a preset track, so that the guide piece 23 is matched and arranged, the extending direction of the guide piece is parallel to the extending direction of the push rod motor 22, the main body 21 is fixed from two sides respectively, and the accuracy of the movement stroke of the main body 21 is improved.

For the main body 21, the main body 21 includes a fixed portion and a rotating portion; the rotation part is rotatably installed in the fixed part, the guide piece 23 and the first driving piece are respectively installed at two sides of the fixed part, and the second driving piece is installed on the fixed part and can drive the rotation 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 piece is arranged between the bracket 211 and the guide cover 212, and two sides of the guide cover 212 are respectively connected with the first driving piece and the guide piece 23; 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 piece 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 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 stretches to the first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop pushing; when the detection device detects that the first driving piece is contracted 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 stretches 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 and retract.

The detecting device comprises a longest limit switch and a shortest limit switch, the longest limit switch and the shortest limit switch extend out of the push rod motor 22, the longest limit switch is triggered after the push rod motor 22 extends to the longest limit switch, at this time, the push rod motor 22 stops, the controller in the electronic bin 11 detects the longest limit switch and confirms that the push rod motor extends in place, and the guide piece 23 is also lengthened under the drive of the push rod motor 22. Conversely, when retraction is required, the push rod motor 22 is retracted to the position of the shortest limit switch, and the guide member 23 is retracted accordingly, at which time the pusher 2 is retracted into position.

Further, the body further 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 part of the machine body to control the lifting or steering of the machine body; an antenna 7 is provided on one of the tanks 1 to transmit communication signals.

Optionally, the machine body further comprises: a plurality of watertight heads 5 respectively arranged at two connecting ends of each cabin 1 to seal and connect a plurality of cables 51 between two adjacent cabins 1; the plurality of quick-mounting structures 6 are respectively buckled at the connecting positions of the two adjacent cabin bodies 1.

As shown in fig. 12, the fast-assembling structure 6 includes a first fastener and a second fastener, where the first fastener and the second fastener are hinged and connected, and the connection part of two adjacent cabins 1 is mutually butted by the watertight head 5, and then is matched and clamped with the first fastener and the second fastener to fix two adjacent cabins 1, so that the fast-assembling structure is simple in structure and capable of being quickly pulled out, plugged and locked.

In addition, the plurality of cables 51 include ethernet bus, CAN bus, power cord, etc., each cable 51 stiff end is located each watertight head 5, and the free end is connected with each components and parts respectively to dock with the watertight heads 5 of two adjacent watertight heads 5, seal waterproof to above-mentioned plurality of cables 51.

The arrangement of the propellers 2 is 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, thus torque for counteracting the rotation of the propellers 4 of the propellers 2 to the body can be given when the underwater robot runs, and the underwater robot mainly has the following four states:

as shown in FIG. 8, the underwater robot is lifted, wherein F1 is the thrust direction of a No. 1 propeller 2, F2 is the thrust direction of a No. 2 propeller 2, F3 is the thrust direction of a No. 3 propeller 2, F4 is the thrust direction of a 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 is lowered at this time. Similarly, 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 2, 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 directions of the front propeller 2 and the rear propeller 2, and the whole underwater robot is transversely moved leftwards at the moment. And the right transverse movement can be realized in the same way.

As shown in fig. 10, the underwater robot is pitched: the device comprises a first propeller (2), a second propeller (2), a third propeller (2), a fourth propeller (2), a fifth propeller (2), a sixth propeller (4), a seventh propeller (2), a eighth propeller (3), a seventh propeller (4), a seventh propeller (2), a eighth propeller (2), a seventh propeller (4), a seventh propeller (2), a seventh propeller (F) and a seventh propeller (F').

As shown in fig. 11, the underwater robot horizontally scrolls: f1 is the thrust direction of the number 1 propeller 2, F2 is the thrust direction of the number 2 propeller 2, F3 is the thrust direction of the number 3 propeller 2, F4 is the thrust direction of the number 4 propeller 2, wherein F and F' are the resultant force directions of the front propeller 2 and the rear propeller 2, and since the four propellers 2 on the underwater robot are not distributed in the front two at the top and the rear two at the bottom, the left roll as shown in the figure can be realized by adjusting the directions and the magnitudes of the thrust of the different propellers 2, and the right roll can be realized in the same way.

It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. 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 application. Thus, the present application 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 machine body comprises:

the cabin bodies (1) are detachably connected in sequence;

the four propellers (2) are respectively and telescopically arranged in each cabin body (1), and when the four propellers (2) extend out of the cabin bodies (1), the orthographic projection along the axial direction of the machine body is of an X-shaped structure; wherein two propellers (2) are arranged on the same cabin body (1) and distributed along the same circumferential direction, and the other two propellers (2) are arranged on the other cabin body (1) and distributed along the same circumferential direction; the method comprises the steps of,

a plurality of controllers respectively arranged in the cabins (1) for controlling the expansion and contraction of the propeller (2);

the propeller (2) comprises a first driving piece, a second driving piece and a main body (21);

the fixed end of the first driving piece is connected with the electronic bin (11), and the pushing 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;

the propeller (2) further comprises a guide piece (23), and the propelling end of the first driving piece and the guide piece (23) are respectively connected to two sides of the main body (21);

the guide piece (23) comprises a guide rod, a push rod (232) and an elastic piece;

the guide rod is of 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).

2. An underwater robot according to claim 1, characterized in that an electronic cabin (11) is formed in the cabin (1), and the propeller (2) is telescopically arranged in the electronic cabin (11).

3. An underwater robot according to claim 1, characterized in that the body (21) comprises a fixed part and a rotating part;

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

4. An underwater robot as claimed in claim 1, characterized in that the 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 stretches to the first position, a signal is transmitted to the controller, and the controller controls the first driving piece to stop pushing;

when the detection device detects that the first driving piece is contracted 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 stretches 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 and retract.

5. The underwater robot of claim 1, wherein the body further comprises:

the propeller (4) is arranged at the tail part of the machine body so as to push the machine body to advance; the method comprises the steps of,

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

6. The underwater robot of claim 1, wherein the body further comprises:

a plurality of watertight heads (5) respectively arranged at two connecting ends of each cabin body (1) for

A plurality of cables (51) between two adjacent cabins (1) are connected in a sealing way;

the plurality of quick-mounting structures (6) are respectively buckled at the connecting positions of the two adjacent cabin bodies (1).