CN113697078B

CN113697078B - Underwater robot

Info

Publication number: CN113697078B
Application number: CN202111128370.XA
Authority: CN
Inventors: 张亮; 李树珍; 纪胜军; 石磊; 王绍龙; 曹盼盼
Original assignee: Hebei Normal University of Science and Technology
Current assignee: Hebei Normal University of Science and Technology
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-06-07
Anticipated expiration: 2041-09-26
Also published as: CN113697078A

Abstract

The invention aims to solve the problem that the deflection range of the existing propeller is relatively small, and provides an underwater robot which comprises a ship body and a propeller, wherein the propeller comprises a base frame, an input mechanism I, an input mechanism II, a middle connecting mechanism, an output mechanism and a propeller device, the base frame is fixedly connected with the ship body, the input mechanism I is rotatably connected with the base frame, the rotation axis a is parallel to the height direction of the ship body, the input mechanism II is rotatably connected with the base frame, the rotation axis b is parallel to the width direction of the ship body, the middle connecting mechanism is rotatably connected with the input mechanism II, the rotation axis c is vertical to the axis b, the output mechanism is rotatably connected with the middle connecting mechanism, the rotation axis d is vertical to the axis c, the output mechanism is rotatably connected with the input mechanism II, the rotation axis e is vertical to the axis a, the axis d is vertical to the axis e, and the axes a, b, c, d and e intersect at one point, the rotating axis of the propeller is perpendicular to the axis e, and the propeller has a large deflection range, good decoupling performance and is convenient to control.

Description

Underwater robot

Technical Field

The invention relates to the field of robots, in particular to an underwater robot.

Background

At present, when underwater research of shallow water areas is carried out, an underwater robot can be used for carrying out water sample collection, underwater image detection, water quality detection and other work. An underwater robot generally includes a hull and a driver for driving the hull to move, and equipment for performing operations such as water sampling, image detection, water quality detection and the like is mounted on the hull, and the hull is moved to a water area to be sampled and detected by a propeller.

Since the hull needs to advance and adjust the advancing direction, underwater robots driven by vector thrusters are currently on the market, and the vector thrusters provide advancing thrust and propelling forces and moments for pitching, yawing, rolling and thrusting the hull so as to drive and control the hull. The conventional vector thruster is, for example, the vector thruster of an underwater robot disclosed in chinese patent application publication No. CN109515666A, and the transmission principle thereof is that a propeller shaft is mounted on one bracket, the bracket rotates around the other bracket, the other bracket rotates around a box body, and the two rotation directions are orthogonal, so as to realize omnidirectional swinging of the propeller shaft, specifically, as shown in fig. 1, the bracket 5 mounted with the propeller shaft rotates around a Y axis, the other bracket 2 rotates around a Z axis, and drives the propeller shaft to rotate around the Z axis together, and the propeller shaft itself can rotate along a rotating pair of the bracket 5 mounted with the propeller shaft, so that the propeller shaft can rotate around the Y axis and the Z axis with O point as a center in space, and in order to realize transmission, two transmission chains are provided, one is a swinging shaft system transmission chain, so as to realize up and down swinging of a tail thruster, and a rolling shafting transmission chain is adopted to realize the integral left-right horizontal rolling of the tail propeller so as to adjust the posture of the tail propeller, so that the tail propeller generates vector thrust relative to the underwater vehicle. The transmission between the part 1 and the bracket 2 is realized by a swing shafting transmission chain through plane high-pair transmission, and the bracket 2 is connected with the bracket 5 through a revolute pair; the rolling shaft system transmission chain is transmitted through a bevel gear pair between the part 3 and the part 4, and the part 4 is fixedly connected with the bracket 5 and rotates around the Y axis. The transmission parts of the transmission chain of the swing shaft system and the transmission chain of the rolling shaft system are mutually nested, so that the structure is more complex; when the piece 4 rotates around the Y axis along with the piece 5, the piece 3 necessarily rotates along with the piece, so that the decoupling performance is poor and the control is inconvenient; the design can only obtain deflection in the range of-30 degrees to +30 degrees under any rotation angle, and the deflection range is relatively small.

Disclosure of Invention

The invention aims to provide an underwater robot aiming at the problem that the deflection range of the existing propeller is relatively small.

The technical purpose of the invention is realized by the following technical scheme:

an underwater robot comprises a ship body and propellers, wherein the propellers are arranged in pairs and symmetrically arranged on two sides of the ship body, each propeller comprises a base frame, a first input mechanism, a second input mechanism, a middle connecting mechanism, an output mechanism, a propeller device, a first driver and a second driver, the base frame is fixed on the side wall of the ship body, the first input mechanism and the second input mechanism are respectively and rotatably connected onto the base frame, the rotating axis a between the first input mechanism and the base frame is parallel to the height direction of the ship body, the rotating axis b between the second input mechanism and the base frame is parallel to the width direction of the ship body, the middle connecting mechanism is rotatably connected with the second input mechanism, the rotating axis c between the middle connecting mechanism and the input mechanism is perpendicular to the axis b, the output mechanism is rotatably connected with the middle connecting mechanism, the rotating axis d between the output mechanism and the middle connecting mechanism is perpendicular to the axis c, the output mechanism is rotatably connected with the second input mechanism, and the rotating axis e between the output mechanism and the input mechanism is perpendicular to the axis a, the axis d and the axis e are mutually perpendicular, the axis a, the axis b, the axis c, the axis d and the axis e intersect at a point, the first driver drives the first input mechanism to rotate around the axis a, the second driver drives the second input mechanism to rotate around the axis b, the propeller device is fixedly arranged on the output mechanism, and the rotation axis of the propeller is perpendicular to the axis e.

Preferably, the base frame comprises a fork seat and a U-shaped fork head, the fork seat and the bottom of the fork head are integrally connected, the fork seat and the bottom of the fork head are arranged on two sides of the bottom respectively, the fork head comprises two oppositely arranged fork arms, the fork seat is positioned between the two fork arms, the input mechanism I at least comprises a fork head I (221), the fork head I is U-shaped, the two fork arms I (2211) are oppositely arranged, a driver I (270) is fixedly arranged on one fork arm (2121), the output end of the driver I penetrates through a shaft hole II formed in the fork arm on the corresponding side and is fixedly connected with the fork arm I (2211) on the corresponding side, the output end of the driver I is in rotating fit with the shaft hole II, the other fork arm I is rotatably connected with the fork arm on the corresponding side, and the fork head I rotates relative to the fork arm around a shaft axis a under the driving of the driver I; the input mechanism II comprises a shaft-shaped fork seat II and a U-shaped fork head II, two fork arms II (2321) of the fork head II are oppositely arranged, the fork seat II and the fork head II are respectively positioned at two sides of a bottom II of the fork seat II, the fork seat II penetrates through a shaft hole I arranged on the bottom II to be connected with the shaft hole in a rotating matching manner, the fork head II and the fork head are positioned at the same side, the fork seat II is fixedly connected with an output end of a driver II, and the driver II drives the fork head II to rotate around a shaft axis b; output mechanism includes connector, output shaft, and the connector setting is in the one end of output shaft, and the other end of output shaft passes the shaft hole tee bend on the base one and crosses the screw connecting piece and be connected with the screw device, and the axis of output shaft is the e axis, is connected with an input mechanism normal running fit through shaft hole three, intermediate junction mechanism be located two yoke arms one, input mechanism two rotates through its yoke arm two and intermediate junction mechanism around axis c to be connected, the connector rotates around axis d with intermediate junction mechanism to be connected, the bed frame passes through fork seat and ship body coupling, driver one and driver two are the steering wheel respectively.

Preferably, the intermediate connection mechanism is annular and comprises two first connection portions arranged oppositely and two second connection portions arranged oppositely, the first connection portions and the second connection portions are arranged in a staggered mode and connected end to form an integral annular structure, the two fork arms of the second fork head are respectively connected to the first connection portions arranged oppositely in a rotating mode, and the connector is connected between the second connection portions arranged oppositely in a rotating mode.

Preferably, the connecting portion II is a notched ring with a central angle larger than 180 degrees, the end portion of the fork head II is provided with a notched annular shaft hole, an opening of the notched ring faces away from the fork seat II, the central angle of an opening of the notched ring is smaller than 180 degrees, the connecting portion II is rotatably arranged in the notched annular shaft hole, and the opening width m of the notched ring and the opening width n of the notched annular shaft hole are both larger than the diameter p of the output shaft.

Preferably, the propeller device comprises a guide pipe, a propeller bracket fixed in the guide pipe, a propeller hub rotatably connected to the propeller bracket, a plurality of blades uniformly fixed on the circumference of the propeller hub, and a propeller driver for driving the propeller hub to rotate, wherein the axis of a rotating shaft between the propeller hub and the propeller bracket coincides with the axis of the guide pipe, the propeller hub and the blades are both positioned in the guide pipe, and the output mechanism is fixedly connected with the outer circumferential wall of the guide pipe.

The preferred, the hull includes the shell and fixes the body in the shell both sides, the shell is streamlined structure and inside cavity, the fork seat is located inside the shell, the inside fixed power supply module that is provided with of shell, the master control board, water sampler, attitude sensor and inertial sensor, the shell outside is provided with depth gauge and water quality sensor, power supply module, water sampler, attitude sensor, inertial sensor, the depth gauge, the IO interface of water quality sensor and each driver is connected with the IO interface electricity that corresponds on the master control board, the opening all places of shell all sets up waterproof construction, water sampler's water inlet stretches out from the hull bottom.

Preferably, the upper surface of the housing is fixedly provided with a solar cell panel, and an I/O interface of the solar cell panel is electrically connected with a corresponding I/O interface on the main control panel.

Preferably, a first sealed cabin and a second sealed cabin are arranged inside the shell, the battery assembly is arranged in the first sealed cabin, the main control panel, the attitude sensor and the inertial sensor are arranged in the second sealed cabin, and openings of the first sealed cabin and the second sealed cabin are provided with waterproof structures.

The preferred, the inside front end of shell is provided with camera and light, and the shell front end is provided with transparent end cover, is provided with wireless signal transmitter on the hull outer wall, and wireless signal transmitter is connected with the camera electricity.

Preferably, the rotation axis of the propeller is perpendicular to the axis d, the first input mechanism further comprises a first fork seat, the first fork seat is integrally arranged on the first bottom of the first fork head and is respectively arranged at two sides of the first bottom together with the fork arm, the second shaft hole penetrates through the first fork seat, the first input mechanism is symmetrical with the axis e, the second input mechanism is symmetrical with the axis b, and the base frame is symmetrical with the axis b.

The invention has the following beneficial effects:

the underwater robot comprises a ship body and propellers symmetrically arranged at two sides of the ship body, each propeller comprises a base, a first input mechanism, a second input mechanism, a middle connecting mechanism, an output mechanism and a propeller device, the base is fixed on the ship body, a rotating axis a between the first input mechanism and the base is parallel to the height direction of the ship body, a rotating axis b between the second input mechanism and the base is parallel to the width direction of the ship body, a first driver drives the first input mechanism to rotate, a second driver drives the second input mechanism to rotate, the middle connecting mechanism is rotatably connected with the second input mechanism, a rotating axis c between the middle connecting mechanism and the second input mechanism is perpendicular to the rotating axis b, the output mechanism comprises a connecting head and an output shaft, the connecting head is rotatably connected to the middle connecting mechanism, a rotating axis d between the connecting head and the input mechanism is perpendicular to the axis c, the output shaft is rotatably connected with the second input mechanism, a rotating axis e between the connecting head and the input mechanism is perpendicular to the axis a, the propeller device is fixedly arranged on the output mechanism, the rotation axis of the propeller is perpendicular to the axis e, and the axis a, the axis b, the axis c, the axis d and the axis e are intersected at one point, so that the base, the input mechanism I, the input mechanism II, the middle connecting mechanism and the output mechanism form a spherical two-degree-of-freedom orthogonal parallel mechanism integrally; the base, the input mechanism I, the input mechanism II, the intermediate connecting mechanism and the output mechanism are connected through the revolute pair only, so that the structure is relatively simple, the decoupling performance is good, and the control is convenient; by adopting the structure, the first driver and the second driver can be fixedly arranged on the base, so that the increase of load of the drivers is avoided, and the improvement of the energy utilization efficiency and the ship body carrying efficiency of the underwater robot is facilitated.

Drawings

FIG. 1 is a transmission schematic diagram of a conventional vector thruster;

FIG. 2 is a schematic diagram of the underwater robot of the present invention;

FIG. 3 is a schematic view of the connection structure among the base frame, the first input mechanism, the second input mechanism, the intermediate connection mechanism and the output mechanism in the structure of the embodiment of the invention;

FIG. 4 is a schematic view of the base frame, the first input mechanism, the second input mechanism, the intermediate connecting mechanism and the output mechanism from another perspective of the structure of the embodiment of the present invention;

fig. 5 is a schematic view of a propeller of a structure of another embodiment of the invention, in which a propeller device is omitted;

FIG. 6 is a schematic view of the relationship between the opening width of the notched ring attachment portion, the opening width n of the notched annular shaft bore, and the diameter p of the output shaft according to another embodiment of the present invention;

FIG. 7 is a schematic view of the construction of the propeller arrangement;

fig. 8 is a schematic view of the internal structure of the hull.

The description of the reference numerals,

100. a hull; 110. a housing; 111. a front end cover; 112. a rear end cap; 130. a first sealed cabin; 140. a second sealed cabin;

200. a propeller;

210. a base frame; 211. a base frame seat; 212. a base frame head; 2121. a base frame arm; 213. a driver base;

220. a first input mechanism; 221. a fork head I; 2211. a first fork arm; 222. a first fork seat;

230. a second input mechanism; 231. a fork seat II; 232. a second fork head; 2321. a fork arm II;

2322. a notched ring;

240. an intermediate connection mechanism; 241. a first connecting part; 2411. an annular hole of the gap; 242. a second connecting part;

250. an output mechanism; 251. a connector; 252. an output shaft; 253. a propeller attachment;

260. a propeller device; 261. a conduit; 262. a propeller support; 263. a hub; 264. a blade; 265. a driver housing;

270. a first driver;

280. a second driver;

300. a camera; 301. an illuminating lamp;

400. a solar panel;

500. a water sample collector;

600. a wireless signal transmitter.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals. For the sake of illustration, the two mutually parallel free ends of the U-shaped structure will be referred to hereinafter as the arms of the U-shaped structure, and the structure between the two arms will be referred to as the base of the U-shaped structure.

An underwater robot, as shown in fig. 2, includes a hull 100 and a propeller 200. As shown in fig. 2, the propellers 200 are provided in two and symmetrically provided on both sides of the hull 100, which contributes to the improvement of the stability of the hull 100. Of course, it is also possible to provide 4 or 6 or more pairs of propellers in pairs, the propellers provided in pairs being symmetrically arranged on both sides of the hull, as required, for stability. For convenience of explanation, the position shown in fig. 2 is taken as the origin position. In the position shown in fig. 2, the hull is horizontal, the length direction of the hull coincides with the y-axis direction, the height direction of the hull coincides with the z-axis direction, and the width direction of the hull coincides with the x-axis direction. At this point O, the axis a is set in the z-axis direction, the axis b is set in the x-axis direction, the axis c is set in the y-axis direction, and the axis a, the axis b, and the axis c intersect at a point O. Axis c is perpendicular to axis b, axis d is perpendicular to axis c, and axis e is perpendicular to axis d and axis a.

Referring to fig. 2, 5 and 7, the propeller 200 includes a spherical two-degree-of-freedom orthogonal parallel mechanism composed of a base frame 210, a first input mechanism 220, a second input mechanism 230, an intermediate connection mechanism 240 and an output mechanism 250, a first driver 270 and a second driver 280 for driving the parallel mechanism to move, and a propeller device 260.

The base frame 210 serves as a bearing device of the parallel structure to support the parallel mechanism and the driver. The base frame 210 is fixedly disposed on the hull 100 and is stationary with respect to the hull. The first input mechanism 220 is a rigid piece and swings relative to the base frame 210 by taking the axis a as an axis under the driving action of the first driver 270, the first input mechanism is connected with the propeller through the first output mechanism 250, the first output mechanism is a rigid piece and is arranged along the direction of the axis e, and the axis a is parallel to the height direction of the ship body 100, and the axis e is consistent with the width direction of the ship body, so that the first driver drives the first input mechanism to rotate or swing around the axis a so as to drive the first output mechanism and the propeller to swing in a horizontal plane and adjust the forward and backward swinging angle of the propeller. As shown in fig. 4, the second input mechanism 230 rotates relative to the base frame 210 along the axis b under the driving of the second driver, the second input mechanism is connected with the second output mechanism through the intermediate connection mechanism 240 so as to be connected with the propeller, the second input mechanism 230 is driven by the second driver 280 to rotate relative to the base frame 210 around the axis b, the axis b is parallel to the width direction of the ship body 100, and the second input mechanism rotates around the axis b under the driving of the second driver so as to drive the second input mechanism, the second output mechanism and the propeller to rotate, so as to adjust the pitch angle of the propeller. In order to enable the first input mechanism and the second input mechanism to realize 360-degree dead-angle-free movement of the output mechanism when the first input mechanism and the second input mechanism move simultaneously, the second input mechanism 230 is rotatably connected with the intermediate connecting mechanism 240 around an axis c, the output mechanism 250 is rotatably connected with the intermediate connecting mechanism 240 around an axis d, and the axis d is perpendicular to the axis c and intersects at a point O.

The intermediate linkage 240 is rotatably coupled to both the second input member 230 and the second output member 250 for transmitting an input at the second input member 230 to the second output member 250, with the axis c being perpendicular to the axis b. Besides the intermediate connecting mechanism 240, the output mechanism 250 is also rotationally connected with the first input mechanism 220, the inputs of the first input mechanism 220 and the second input mechanism 230 act on the output mechanism 250 at the same time, the rotational axis between the output mechanism 250 and the second input mechanism 230 is an axis e, the axis e is perpendicular to the axis d, and the axis e is perpendicular to the axis a. The axis a, the axis b, the axis c, the axis d and the axis e intersect at a point, so that the base 210, the first input mechanism 220, the second input mechanism 230, the intermediate connecting mechanism 240 and the output mechanism 250 form a two-degree-of-freedom orthogonal parallel mechanism based on a spherical surface. The propeller arrangement 260 is fixedly arranged on the output mechanism 250 with the rotation axis of the propeller perpendicular to the axis e, preferably also perpendicular to the axis d, which helps to simplify the calculations in the control. By adopting the propeller 200 with the structure, the first driver 270 drives the first input mechanism 220 to rotate, so that the forward and backward swinging range of the propeller device 260 can be enabled to rotate around the z axis by nearly 180 degrees, the second driver 280 drives the second input mechanism to rotate, so that the pitching range of the propeller device can be enabled to rotate around the x axis by 360 degrees, the deflection range of the propeller is large, and accurate positioning in the up-down direction, the left-right direction and the forward and backward direction can be realized; the base frame 210, the first input mechanism 220, the second input mechanism 230, the middle connecting mechanism 240 and the output mechanism 250 are connected only through a revolute pair, so that the structure is relatively simple, the decoupling performance is good, and the control is convenient. The first driver 270 and the second driver 280 are both fixedly arranged on the base frame 210, which is beneficial to reducing the load of the drivers and improving the energy utilization efficiency of the underwater robot and the carrying efficiency of the ship body 100.

The base frame 210, the first input mechanism 220, the second input mechanism 230, the intermediate connection mechanism 240, and the output mechanism 250 are preferably configured as follows. The base frame 210 is a U-shaped fork rod, and includes a base frame base 211 and a base frame head 212, the base frame base 211 is used for supporting the input mechanism and is fixedly connected with the hull together, the base frame head 212 is a U-shaped, and includes two base frame arms 2121 and base frame head bottoms which are oppositely arranged, a connector (not shown in the figure) matched with the base frame base 211 is provided on the side wall of the hull 100, the base frame base 211 extends into the hull 100 from the connector, and the base frame base 211 is fixedly connected with the hull 100. The base frame seat 211 and the base frame arms 2121 are respectively located at two sides of the base frame head bottom, the base frame head bottom is arranged between the two base frame arms 2121 in the middle, and a first shaft hole is formed in the base frame head bottom between the two base frame arms 2121 along the axis b. The base frame 211 may be formed in a frame shape so as to house the second driver therein. The structure of the first input mechanism is substantially the same as that of the base frame 210, and comprises a first fork seat 222 and a first fork head 221, wherein the first fork head 221 comprises a first fork arm and a first bottom which are arranged oppositely, the first fork arm and the first fork seat 222 are respectively positioned at two sides of the first bottom, the first bottom is arranged between the first fork arms, a second shaft hole is formed in the first fork seat 222 and the first bottom, and the axis of the first shaft hole is an axis e. The two fork arms of the first fork head are rotatably connected to the two fork arms of the first fork head, the output end of the first driver is arranged along the axis a, the output end of the first driver penetrates through the lower fork arm of the first fork head and then is fixedly connected with the lower fork arm of the first fork head, and the output end of the first driver is rotatably connected with the lower fork arm of the first fork head.

The structure of the second input mechanism 230 is substantially the same as that of the first input mechanism 220, and comprises a second fork seat 231 and a second fork head 232, wherein the second fork head 232 comprises a second fork arm and a second bottom part which are arranged oppositely, the second fork arm and the second fork seat are respectively positioned at two sides of the second bottom part, the second fork head 232 is positioned in the middle of the second fork arm, and the second bottom part is positioned between the second fork arm 232. The second fork seat 231 axially penetrates through the first shaft hole, the second fork seat 231 and the base frame seat 211 are located on the same side, the second fork seat 231 is rotatably connected with the base frame 210 through the first shaft hole, the second fork seat 231 is coaxially and fixedly connected with an output end of the second driver 280, and the second driver 280 is fixedly arranged inside a frame of the base frame seat 211.

The first fork 221 is located between the two arms of the base frame head 212, the two arms of the first fork 221 are respectively connected with the two arms of the base frame head 212 in a rotating manner, and the rotating axes of the first fork 221 and the base frame head 212 are an axis a; the first fork seat 222 is provided with a second shaft hole for connecting with the output mechanism 250, and the axis of the second shaft hole is the axis e. The second prong 232 is positioned between the arms of the base frame head 212 for connection to the intermediate linkage 240. The middle connecting mechanism 240 is rectangular and annular and comprises two first connecting parts 241 used for connecting the second input mechanism 230 and two second connecting parts 242 used for connecting the second output mechanism 250, the first connecting parts 241 and the second connecting parts 242 are rectangular plate-shaped, the first connecting parts 241 are arranged oppositely, the second connecting parts 242 are arranged oppositely, the first connecting parts 241 and the second connecting parts 242 are arranged in a staggered mode and are connected end to form an integral annular structure, the first connecting parts 241 are respectively and rotatably connected with the second two fork arms of the second fork head 232 on the corresponding side, and the rotating axis between the first connecting parts 241 and the second fork head 232 is the axis c. The output mechanism 250 comprises a connecting head 251, an output shaft 252 and a propeller connecting piece 253, wherein the output shaft 252 passes through a second shaft hole on the first fork seat 222 to be rotatably connected with the second input mechanism 230 so as to be rotatably connected with the first input mechanism 220. The output shaft 250 is rotatably connected with the second connecting part 242 through a connector 251. The connecting head 251 is positioned between the two second connecting portions 242 and is rotatably connected with the two second connecting portions 242, and a rotation axis between the connecting head 251 and the second connecting portions 242 is an axis d. The output shaft is fixedly connected to the propeller device 260 by a propeller connection 253. The driver base 213 for the first driver 270 may be fixedly disposed on the lower base head 212, the first driver 270 is fixedly disposed on the driver base 213, and an output end of the first driver 270 passes through the base head 212 and is fixedly connected to the first fork 221. The base frame 210, the first input mechanism 220, the second input mechanism 230, the middle connecting mechanism 240 and the output mechanism 250 with the structure are simple in structure, and the connection between the frame bodies is clear and convenient to disassemble and assemble. The U-shaped configuration of the base frame head 212, the first fork 221 and the second fork 232, and the ring configuration of the intermediate linkage 240 all increase the support position of the revolute pair, which helps to improve the stability of the mechanism.

As shown in fig. 5 and 6, the intermediate connection mechanism 240 may also adopt another structure, the intermediate connection structure is configured as a notched ring structure, the first connection portion 241 is provided with an annular notch 2411, the second fork arm 232 of the second fork head is provided with a notched annular shaft hole 2322, an opening of the notched annular shaft hole faces away from the second fork base 231, the notched annular shaft hole is matched with the first connection portion 241 in shape, the notched annular shaft hole is rotatably connected with the first connection portion 241 through a half-moon bearing, a central angle of the notched ring of the first connection portion 241 is greater than 180 °, the central angle of the notched annular shaft hole is less than 180 °, it is ensured that the second connection portion cannot fall out from the opening of the notched annular shaft hole during rotation, and in addition, because the second fork arm 232 of the second fork head is in surface contact with the notched annular shaft hole, the structural stability can be increased. As shown in fig. 6, the width m of the opening of the notch ring, the width n of the opening of the annular shaft hole of the notch and the width of the opening on the circumference of the half-moon bearing are all larger than the diameter p of the output shaft 252, so that the output shaft 252 can enter the notch ring when rotating, the rotating range of the output mechanism around the axis d can be expanded, the rotating angle of the propeller device 260 around the z axis reaches or even exceeds 180 degrees, the deflection range of the propeller is further expanded, and no dead angle is generated in the operation process. In addition, the angle that the propeller devices 260 can rotate around the z-axis exceeds 180 degrees, so that the propeller devices 260 on both sides of the hull 100 can be opposite to each other or opposite to each other, and the thrust generated by the two propeller devices 260 can be completely offset at this time, so that the thrust generated by the propellers can be quickly eliminated, and the hull 100 can be quickly stabilized.

The propeller device can adopt any commercially available propeller device for underwater equipment, and the invention preferably adopts a guide pipe propeller, and the first driver and the second driver preferably adopt steering engines. As shown in fig. 7, the ducted propeller includes a duct 261, a propeller bracket 262, a hub 263, blades 264, a driver case 265, and a propeller driver (not shown in the drawings). The propeller driver is fixedly arranged in the driver shell 265, the driver shell 265 is positioned in the guide pipe 261, the propeller bracket 262 is used for supporting the driver shell 265, one end of the propeller bracket 262 is fixedly connected with the inner wall of the guide pipe 261, and the other end of the propeller bracket 262 is fixedly connected with the outer wall of the driver shell 265. Supporting a hub 263 and a propeller driver, wherein the hub 263 is rotatably connected to a driver shell 265, a plurality of blades 264 are uniformly fixed on the circumference of the hub 263, the propeller driver drives the hub 263 to rotate, the rotation axis between the hub 263 and the driver shell 265 is coincident with the axis of the guide pipe 261 and is perpendicular to the axis e, the hub 263 and the blades 264 are both positioned in the guide pipe 261, and the propeller connecting piece 253 is fixedly connected with the outer circumferential wall of the guide pipe 261. The guide pipe 261 can increase the thrust of the propeller device, effectively reduce the noise of the propeller, and simultaneously, is beneficial to preventing sundries such as underwater creatures and fishing nets from being wound on the blades 264.

As shown in fig. 2, the hull 100 is preferably provided with a streamline structure, which helps to reduce the flow resistance and is beneficial to enhancing the draught capacity of the shallow water of the robot. As shown in fig. 8, the hull 100 includes a housing 110 and floats, which increase the buoyancy of the hull 100, and are symmetrically disposed at both sides of the hull and at the outer sides of the hull, so that a large moment can be generated, which helps to increase the stability of the hull and reduce the possibility of capsizing. When the whole robot is immersed in water, the floating center is slightly higher than the gravity center, so that the ship can sail at a fixed depth. As shown in fig. 8, the inside of the casing 110 is hollow for installing a device for partial collection and detection, and the inside of the casing 110 is fixedly provided with a power supply assembly (not shown in the figure), a main control panel (not shown in the figure), a water sampler 500, an attitude sensor (not shown in the figure) and an inertial sensor (not shown in the figure), wherein the water inlet of the water sampler 500 extends out of the hull 100 from the bottom of the casing 110 so as to collect a water sample. The outer wall of the hull 100 is fixedly provided with a depth gauge and a water quality sensor (not shown in the figure), and the water quality sensor comprises a pH sensor for detecting the pH value of the water body, a turbidity sensor for detecting the turbidity of the water body and a dissolved oxygen sensor for detecting the content of dissolved oxygen in the water in the embodiment. The openings of the outer shell 110 are provided with waterproof structures, and the signal receiver is arranged at the bottom of the hull 100. In order to improve the cruising ability of the robot, a solar cell panel 400 may be fixedly installed on the upper surface of the housing 110 to supplement energy by solar energy. The front end of the inside of the shell 110 can be provided with a camera 300 and an illuminating lamp 301 for observing scenes in water, the front end of the shell 110 is provided with a transparent front end cover 111, so that the visual field of the camera 300 and the illuminating range of the illuminating lamp 301 can penetrate through the shell 110, and the rear end of the shell 110 is provided with a rear end cover 112 which is detachably and fixedly connected, so that the structure inside the ship body 100 can be conveniently installed and detached from the rear end cover 112. The power supply assembly, the water sampler 500, the attitude sensor, the inertial sensor, the water quality sensor, the depth gauge, the solar cell panel 400, the illuminating lamp 301, the camera 300 and the I/O interfaces of the drivers are respectively connected with the corresponding I/O interfaces on the main control panel. Preferably, the wireless signal transmitter 600 is fixedly disposed on the outer wall of the hull 100, and an input end of the wireless signal transmitter 600 is electrically connected to the image output interface of the camera 300, so that the camera 300 can transmit the photographed image to the user in real time through the wireless signal transmitted by the wireless signal transmitter 600. Preferably, a first sealed cabin 130 and a second sealed cabin 140 are arranged inside the casing 110, the battery assembly is arranged in the first sealed cabin 130, the main control board, the attitude sensor and the inertial sensor are arranged in the second sealed cabin 140, the casing 110 and the sealed cabin form a double-layer sealing structure, which is helpful for water proofing, and waterproof structures are arranged at openings of the casing 110, the first sealed cabin 130 and the second sealed cabin 140, wherein the electric connection part can be connected by adopting a watertight connector to realize water proofing.

According to the shallow water underwater robot, the steering engine serving as the driver is arranged on the base frame, so that the rotational inertia of the mechanism is reduced, the load of an actuating motor is reduced, the movement flexibility of the mechanism is improved, and the movement characteristic of the mechanism is further optimized.

Compared with a single-degree-of-freedom single-action motor in a series mechanism, the parallel mechanism propeller is compact in structure, and the two-degree-of-freedom motor simultaneously controls multiple degrees of freedom of the mechanism, so that the rigidity, the movement precision, the movement speed and the like of the mechanism are improved, the load of the motor under the same load is reduced, large parts are avoided being used, the size of the mechanism is reduced, the energy utilization efficiency and the carrying capacity of the underwater robot are improved, energy is saved, and the range is increased.

Due to the adoption of the orthogonal parallel mechanism, the motion decoupling performance of the propeller is good, the control algorithm is greatly simplified, the response speed of the system is increased, and the control difficulty is reduced.

The vector thruster with the structure can avoid the difficult problem of low-speed control and can realize good motion control at low speed. The technical problem that when an underwater robot adopting a conventional fin rudder type propeller does not adopt an auxiliary propeller, the sailing speed is lower than 2-3 kn, and the fin rudder cannot provide enough deflection torque for the underwater robot is solved.

The specific examples are merely illustrative of the invention and are not intended to be limiting.

Claims

1. An underwater robot comprising a hull (100) and a propeller (200), characterized in that: the propellers (200) are arranged in pairs and symmetrically arranged on two sides of the ship body (100), each propeller (200) comprises a base frame (210), a first input mechanism (220), a second input mechanism (230), a middle connecting mechanism (240), an output mechanism (250), a propeller device (260), a first driver (270) and a second driver (280), the base frame (210) is fixed on the side wall of the ship body (100), the first input mechanism (220) and the second input mechanism (230) are respectively and rotatably connected to the base frame (210), a rotating axis a between the first input mechanism (220) and the base frame (210) is parallel to the height direction of the ship body (100), a rotating axis b between the second input mechanism (230) and the base frame (210) is parallel to the width direction of the ship body (100), the middle connecting mechanism (240) is rotatably connected with the second input mechanism (230) and a rotating axis c between the two is perpendicular to the axis b, the output mechanism (250) is rotationally connected with the intermediate connecting mechanism (240) and a rotation axis d between the output mechanism and the intermediate connecting mechanism is perpendicular to an axis c, the output mechanism (250) is rotationally connected with the input mechanism II (230) and a rotation axis e between the output mechanism and the input mechanism II is perpendicular to an axis a, the axis d and the axis e are perpendicular to each other, the axis a, the axis b, the axis c, the axis d and the axis e intersect at one point, the driver I (270) drives the input mechanism I (220) to rotate around the axis a, the driver II (280) drives the input mechanism II (230) to rotate around the axis b, the propeller device (260) is fixedly arranged on the output mechanism (250), and the rotation axis of the propeller is perpendicular to the axis e; the base frame (210) comprises a base frame seat (211) and a U-shaped fork head (212), the base frame seat (211) and the bottom of the fork head (212) are integrally connected, the base frame seat (211) and the bottom of the fork head (212) are arranged on two sides of the bottom respectively, the fork head (212) comprises two oppositely arranged fork arms, the base frame seat (211) is positioned between the two fork arms, a first input mechanism at least comprises a first fork head (221), the first fork head is U-shaped, the first two fork arms (2211) are oppositely arranged, a first driver (270) is fixedly arranged on one fork arm (2121), an output end of the first driver penetrates through a second shaft hole (II) formed in the fork arm on the corresponding side and is fixedly connected with a first fork arm (2211) on the corresponding side, an output end of the first driver is in rotating fit with the second shaft hole, the other fork arm is in rotating connection with the fork arm on the corresponding side, and the first fork head rotates relative to the fork arm around a shaft axis a under the driving of the first driver; the second input mechanism (230) comprises a shaft-shaped fork seat II (231) and a U-shaped fork head II (232), two fork arms II (2321) of the fork head II are oppositely arranged, the fork seat II and the fork head II are respectively positioned at two sides of a bottom II of the fork seat II, the fork seat II (231) penetrates through a first shaft hole arranged on the bottom II to be connected with the shaft hole in a rotating matching manner, the fork head II and the fork head are positioned at the same side, the fork seat II is fixedly connected with an output end of a second driver (280), and the second driver drives the fork head II to rotate around a shaft axis b; the output mechanism (250) comprises a connector (251) and an output shaft (252), the connector is arranged at one end of the output shaft, the other end of the output shaft penetrates through a shaft hole tee joint on the first base and is connected with a propeller device through a propeller connecting piece, the axis of the output shaft is an e axis and is connected with the first input mechanism in a rotating fit mode through a third shaft hole, the middle connecting mechanism is located between the two first fork arms, the second input mechanism is connected with the middle connecting mechanism in a rotating mode around an axis c through a second fork arm, the connector is connected with the middle connecting mechanism in a rotating mode around an axis d, the base frame is connected with the ship body (100) through a base frame base (211), and the first driver and the second driver are steering engines respectively; the middle connecting mechanism (240) is annular and comprises two first connecting parts (241) which are arranged oppositely and two second connecting parts (242) which are arranged oppositely, the first connecting parts (241) and the second connecting parts (242) are arranged in a staggered mode and connected end to form an integral annular structure, two fork arms of the second fork head (232) are respectively connected to the first connecting parts (241) which are arranged oppositely in a rotating mode, and the connector (251) is connected between the second connecting parts (242) which are arranged oppositely in a rotating mode; the second connecting portion (242) is a notched ring with a central angle larger than 180 degrees, the end of the second fork head (232) is provided with a notched annular shaft hole, the opening of the notched ring faces away from the second fork seat (231), the central angle of the opening of the notched ring is smaller than 180 degrees, the second connecting portion (242) is rotatably arranged in the notched annular shaft hole, and the opening width m of the notched ring and the opening width n of the notched annular shaft hole are both larger than the diameter p of the output shaft (252).

2. An underwater robot as recited in claim 1, wherein: the propeller device (260) comprises a guide pipe (261), a propeller bracket (262) fixed in the guide pipe (261), a propeller hub (263) rotatably connected to the propeller bracket (262), a plurality of blades (264) uniformly fixed on the circumference of the propeller hub (263) and a propeller driver for driving the propeller hub (263) to rotate, wherein the axis of a rotating shaft between the propeller hub (263) and the propeller bracket (262) is coincident with the axis of the guide pipe (261), the propeller hub (263) and the blades (264) are both positioned in the guide pipe (261), and an output mechanism is fixedly connected with the outer circumferential wall of the guide pipe (261).

3. An underwater robot as recited in claim 1, wherein: hull (100) include shell (110) and fix the body in shell (110) both sides, shell (110) are streamlined structure and inside cavity, bed frame seat (211) are located inside shell (110), the inside fixed power supply module that is provided with of shell (110), the main control board, water sampler (500), attitude sensor and inertial sensor, shell (110) outside is provided with depth gauge and water quality sensor, power supply module, water sampler (500), attitude sensor, inertial sensor, the depth gauge, the IO interface that corresponds on water quality sensor and each driver and the main control board is connected, the opening all sets up waterproof construction everywhere of shell (110), the water inlet of water sampler (500) stretches out from hull (100) bottom.

4. An underwater robot as recited in claim 3, wherein: the upper surface of the shell (110) is fixedly provided with a solar cell panel (400), and an I/O interface of the solar cell panel (400) is electrically connected with a corresponding I/O interface on the main control panel.

5. An underwater robot as recited in claim 3, wherein: a first sealed cabin (130) and a second sealed cabin (140) are arranged in the shell (110), the battery assembly is arranged in the first sealed cabin (130), the main control panel, the attitude sensor and the inertial sensor are arranged in the second sealed cabin (140), and waterproof structures are arranged at openings of the first sealed cabin (130) and the second sealed cabin (140).

6. An underwater robot as recited in claim 3, wherein: the front end of the interior of the shell (110) is provided with a camera (300) and a lighting lamp (301), the front end of the shell (110) is provided with a transparent end cover, the outer wall of the ship body (100) is provided with a wireless signal transmitter (600), and the wireless signal transmitter (600) is electrically connected with the camera (300).

7. An underwater robot as recited in claim 1, wherein: the first input mechanism further comprises a first fork seat, the first fork seat is integrally arranged on the first bottom of the first fork head and is respectively arranged on two sides of the first bottom together with the fork arm, the second shaft hole penetrates through the first fork seat, the first input mechanism is symmetrical with the axis e, the second input mechanism is symmetrical with the axis b, and the base frame is symmetrical with the axis b.