CN113697078B - Underwater robot - Google Patents

Abstract

The purpose of the present invention is to solve the problem that the deflection range of the existing propeller is relatively small, to provide an underwater robot, which includes a hull and a propeller, and the propeller includes a base frame, an input mechanism 1, an input mechanism 2, an intermediate connection mechanism, an output Mechanism and propeller device, the base frame is fixedly connected with the hull, the input mechanism 1 is rotatably connected with the base frame and the rotation axis a is parallel to the height direction of the hull, the input mechanism 2 is rotatably connected with the base frame and the rotation axis b is parallel to the width direction of the hull, The intermediate connection mechanism is rotatably connected with the input mechanism 2 and the rotation axis c is perpendicular to the axis b, the output mechanism is rotatably connected with the intermediate connection mechanism and the rotation axis d is perpendicular to the axis c, the output mechanism is rotatably connected with the input mechanism 2 and the rotation axis e is perpendicular to the axis a, the axis d is perpendicular to the axis e, the axes a, b, c, d, and e intersect at a point, the rotation axis of the propeller is perpendicular to the axis e, the propeller of the present invention has a large deflection range, and has good decoupling and is easy to control.

Description

an underwater robot

technical field

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

Background technique

At present, when conducting underwater research in shallow water areas, underwater robots can be used to collect water samples, detect underwater images, and detect water quality. The underwater robot generally includes a hull and a driver that drives the hull to move. The hull is equipped with equipment for water sample sampling, image detection, water quality detection, etc., and the hull is moved to the waters where sampling and testing are required through the propeller.

Because the hull not only needs to move forward, but also can adjust the direction of advancement, so there are currently underwater robots driven by vector thrusters on the market. The vector thrusters provide forward thrust and make the hull pitch, yaw, roll and reverse. The thrust and moment of thrust for hull drive and control. Existing vector thrusters such as a vector thruster of an underwater robot disclosed in Chinese Patent Application Publication No. CN109515666A, its transmission principle is to install the propeller shaft on a bracket, and rotate around another bracket through the bracket, The other bracket rotates around the box, and the two rotation directions are orthogonal, so that the propeller shaft can swing in all directions. The bracket 2 rotates around the Z axis, and drives the propeller shaft to rotate around the Z axis together, and the propeller shaft itself can rotate along the bracket 5 on which the propeller shaft is installed. Therefore, the propeller shaft can be centered at the O point along the Y axis and Z axis in space. The shaft rotates, in order to realize the transmission, the plan is to set up two transmission chains, one is to swing the shaft transmission chain to realize the up and down swing of the tail thruster, and the other is to roll the shaft transmission chain to realize the overall horizontal roll of the tail thruster for adjustment. The attitude of the tail thruster, so that the tail thruster generates vector thrust relative to the underwater vehicle. Among them, the swing shaft transmission chain realizes the transmission between the part 1 and the bracket 2 through the plane high pair transmission, and the rotating pair is connected between the bracket 2 and the bracket 5; the rolling shaft transmission chain passes through the bevel gear between the parts 3 and 4. The pair performs transmission, and the component 4 and the bracket 5 are fixedly connected to rotate around the Y axis. The transmission parts of the swing shaft transmission chain and the rolling shaft transmission chain of this structure are nested with each other, and the structure is relatively complicated; when the part 4 rotates with the part 5 around the Y axis, it will inevitably cause the part 3 to rotate with it, and the decoupling is poor. , inconvenient to control; its design can only obtain deflection in the range of -30° to +30° under any rotation angle, and the deflection range is relatively small.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an underwater robot for the problem that the deflection range of the existing propeller is relatively small.

The above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

An underwater robot includes a hull and a propeller, the propellers are arranged in pairs and symmetrically arranged on both sides of the hull, each of the propellers includes a base frame, an input mechanism 1, an input mechanism 2, an intermediate connection mechanism, an output Mechanism, propeller device, driver 1 and driver 2, the base frame is fixed on the side wall of the hull, the input mechanism 1 and the input mechanism 2 are respectively rotatably connected to the base frame, the rotation axis a between the input mechanism 1 and the base frame is parallel to the hull In the height direction of the hull, the rotation axis b between the input mechanism 2 and the base frame is parallel to the width direction of the hull, the intermediate connecting mechanism and the input mechanism 2 are rotatably connected and the rotation axis c between them is perpendicular to the axis b, and the output mechanism and the intermediate connecting mechanism Rotationally connected and the rotation axis d between the two is perpendicular to the axis c, the output mechanism and the input mechanism are rotatably connected and the rotation axis e between the two is perpendicular to the axis a, the axis d and the axis e are perpendicular to each other, the axis a, the axis b, Axis c, axis d, and axis e intersect at a point, the driver 1 drives the input mechanism 1 to rotate around the axis a, the driver 2 drives the input mechanism 2 to rotate around the axis b, the propeller device is fixed on the output mechanism, and the rotation axis of the propeller is perpendicular to the axis. e.

Preferably, the base frame includes a fork base and a U-shaped fork head, the fork base and the bottom of the fork head are integrally connected and the two are located on both sides of the bottom, the fork head includes two oppositely arranged fork arms, and the fork base is located at the two sides. Between the fork arms, the first input mechanism includes at least one fork head (221), the first fork head is U-shaped, the two fork arms (2211) are arranged opposite to each other, and the driver one (270) is fixedly arranged on one of the fork arms (2121) , the output end of the driver 1 passes through the shaft hole 2 set on the fork arm on the corresponding side and is fixedly connected to the fork arm 1 (2211) on the corresponding side, the output end of the driver 1 rotates with the shaft hole 2, the other fork arm 1 The fork arms on the corresponding side are rotatably connected, and the fork head 1 rotates relative to the fork arm around the axis a under the driving of the driver 1; the input mechanism 2 includes a shaft-shaped fork base 2 and a U-shaped fork head 2. The arm two (2321) is arranged oppositely, the fork base two and the fork head two are respectively located on both sides of the bottom two of the fork base two. The second fork is located on the same side as the fork, the second fork is fixedly connected with the output end of the driver 2, and the driver 2 drives the fork 2 to rotate around the axis b; the output mechanism includes a connector and an output shaft, and the connector is arranged at one end of the output shaft. The other end of the shaft passes through the shaft hole 3 on the base 1 and is connected to the propeller device through the propeller connecting piece. The axis of the output shaft is the e-axis, and is connected with the input mechanism 1 through the shaft hole 3. There is one fork arm, the second input mechanism is connected with the intermediate connecting mechanism through the second fork arm rotatably around the axis c, the connecting head and the intermediate connecting mechanism are rotatably connected around the axis d, the base frame is connected with the hull through the fork seat, the driver one and the driver two are respectively for the steering gear.

Preferably, the intermediate connecting mechanism is annular, including two connecting parts one and two connecting parts arranged oppositely, the connecting part one and the connecting part two are staggered and connected end to end to form an integral annular structure, the fork The two fork arms of the head 2 are respectively rotatably connected to the two oppositely arranged connecting parts 1, and the connecting heads are rotatably connected between the two oppositely arranged connecting parts 2.

Preferably, the second connecting part is a notched ring with a central angle greater than 180°, the end of the fork head 2 is provided with a notched annular shaft hole, the opening of the notched ring faces away from the second fork seat, and the central angle of the opening of the notched ring is less than 180°. The second connecting part is rotatably arranged in the annular shaft hole of the notch, and the opening width m of the notch ring and the opening width n of the annular shaft hole of the notch are both larger than the diameter p of the output shaft.

Preferably, the propeller device includes a duct, a propeller bracket fixed in the duct, 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 that drives the propeller hub to rotate, and the propeller hub is connected to the propeller hub. The axis of the rotating shaft between the propeller brackets coincides with the axis of the duct, the propeller hub and the blades are located in the duct, and the output mechanism is fixedly connected with the outer circumferential wall of the duct.

Preferably, the hull includes an outer casing and a floating body fixed on both sides of the outer casing, the outer casing is in a streamlined structure and the interior is hollow, the fork seat is located inside the outer casing, and the interior of the outer casing is fixedly provided with a power supply assembly, a main control board, a water sample collector, and a posture. Sensor and inertial sensor, depth gauge and water quality sensor are arranged on the outside of the casing, power supply components, water sample collector, attitude sensor, inertial sensor, depth gauge, water quality sensor and the I/O interface of each driver and the corresponding I/O on the main control board The /O interface is electrically connected, the openings of the casing are provided with waterproof structures, and the water inlet of the water sample collector protrudes from the bottom of the hull.

Preferably, a solar panel is fixed on the upper surface of the casing, and the I/O interface of the solar panel is electrically connected to the corresponding I/O interface on the main control board.

Preferably, a sealed cabin 1 and a sealed cabin 2 are arranged inside the casing, the battery assembly is arranged in the sealed cabin 1, the main control board, the attitude sensor and the inertial sensor are arranged in the sealed cabin All openings are provided with waterproof structures.

Preferably, the front end inside the casing is provided with a camera and a lighting lamp, the front end of the casing is provided with a transparent end cover, and a wireless signal transmitter is provided on the outer wall of the hull, and the wireless signal transmitter is electrically connected to the camera.

Preferably, the rotation axis of the propeller is perpendicular to the axis d, the input mechanism 1 further includes a fork seat 1, the fork seat 1 is integrally arranged on the bottom 1 of the fork head 1, and the fork 1 and the fork arm 1 are respectively arranged on the bottom 1. On the side, the shaft hole two penetrates the fork seat one, the input mechanism one is symmetrical with the axis e, the input mechanism two is symmetrical with the axis b, and the base frame is symmetrical with the axis b.

The present invention has the following beneficial effects:

The underwater robot of the present invention includes a hull and propellers symmetrically arranged on both sides of the hull, each propeller includes a base, an input mechanism 1, an input mechanism 2, an intermediate connection mechanism, an output mechanism and a propeller device, and the pedestal is fixed on the hull. Above, the rotation axis a between the input mechanism 1 and the base is parallel to the height direction of the hull, the rotation axis b between the input mechanism 2 and the base is parallel to the width direction of the hull, the driver 1 drives the input mechanism 1 to rotate, and the driver 2 drives the input The second mechanism rotates, the intermediate connection mechanism is rotatably connected with the input mechanism two, and the rotation axis c between the two is perpendicular to the rotation axis b. The output mechanism includes a connecting head and an output shaft, and the connecting head is rotatably connected to the intermediate connecting mechanism. The rotation axis d is perpendicular to the axis c, the output shaft and the input mechanism 2 are rotatably connected, and the rotation axis e between the two is perpendicular to the axis a, the connecting head and the output shaft are fixedly connected, and the axis d and the axis e are perpendicular to each other, and the propeller device is fixed. Set on the output mechanism, the rotation axis of the propeller is perpendicular to the axis e, the axis a, the axis b, the axis c, the axis d, and the axis e intersect at one point, so that the base, the input mechanism one, the input mechanism two, the intermediate connecting mechanism, the output The mechanism as a whole forms an orthogonal parallel mechanism based on two degrees of freedom on a spherical surface. With this structure of the propeller, the deflection range of the propeller device can rotate 360° around the x-axis and close to 180° around the z-axis. The deflection range is large, and it can achieve up and down, Accurate positioning in the left and right, front and rear directions; the base, input mechanism 1, input mechanism 2, intermediate connecting mechanism, and output mechanism are only connected by a rotating pair, the structure is relatively simple, and the decoupling is good for easy control; this structure is adopted The driver 1 and the driver 2 can be fixedly arranged on the base, which avoids the increase of the load of the driver, and helps to improve the energy utilization efficiency and the hull loading efficiency of the underwater robot.

Description of drawings

Fig. 1 is the transmission principle diagram of the existing vector thruster;

Fig. 2 is the structural representation of the underwater robot of the present invention;

3 is a schematic diagram of the connection structure between 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 present invention;

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

Fig. 5 is the schematic diagram of the propeller of the structure of another embodiment of the invention, wherein the propeller device is omitted;

6 is a schematic diagram of the relationship between an opening width of a gap ring connecting portion, an annular shaft hole opening width n of the gap and the output shaft diameter p in another embodiment of the invention;

Fig. 7 is the structural representation of propeller device;

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

Description of reference numbers,

100, hull; 110, outer shell; 111, front end cover; 112, rear end cover; 130, sealed cabin one; 140, sealed cabin two;

200, propeller;

210, base frame; 211, base frame base; 212, base frame head; 2121, base frame arm; 213, driver base;

220, input mechanism one; 221, fork head one; 2211, fork arm one; 222, fork seat one;

230, input mechanism two; 231, fork seat two; 232, fork head two; 2321, fork arm two;

2322, notched ring;

240, the intermediate connecting mechanism; 241, the connecting part one; 2411, the annular hole of the gap; 242, the connecting part two;

250, output mechanism; 251, connector; 252, output shaft; 253, propeller connector;

260, propeller device; 261, conduit; 262, propeller bracket; 263, propeller hub; 264, blade; 265, driver housing;

270, driver one;

280, driver two;

300, camera; 301, lighting;

400, solar panels;

500. Water sample collector;

600. A wireless signal transmitter.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings. Wherein the same parts are denoted by the same reference numerals. For convenience of description, the two parallel free ends of the U-shaped structure are hereinafter referred to as arms of the U-shaped structure, and the structure between the two arms is referred to as the bottom 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 , there are two propellers 200 , which are symmetrically arranged on both sides of the hull 100 , which helps to improve the stability of the hull 100 . Of course, 4 or 6 or more pairs of propellers may also be arranged in pairs, depending on specific needs, in order to maintain stability, the paired propellers are arranged symmetrically on both sides of the hull. For convenience of description, the position shown in FIG. 2 is taken as the origin position. In the position shown in Figure 2, the hull is in a horizontal state, the length direction of the hull is consistent with the y-axis direction, the height direction of the hull is consistent with the z-axis direction, and the width direction of the hull is consistent with the x-axis direction. At this point O, the axis a is set along the z-axis direction, the axis b is set along the x-axis direction, and the axis c is set along 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.

2 , 5 and 7 , the thruster 200 includes a base frame 210 , an input mechanism 1 220 , an input mechanism 2 230 , an intermediate connection mechanism 240 , and an output mechanism 250 , an orthogonal parallel connection based on spherical surfaces with two degrees of freedom. Mechanism, the driver one 270 and the second driver 280 and the propeller device 260 that drive the parallel mechanism to move.

The base frame 210 is used as a bearing device of the parallel structure to support the parallel mechanism and the driver. The base frame 210 is fixed on the hull 100 and is stationary relative to the hull. The input mechanism 1 220 is a rigid piece, which swings relative to the base frame 210 with the axis a as the axis under the driving action of the driver 1 270. The input mechanism 1 is connected to the propeller through the output mechanism 250. Arrangement, since the axis a is parallel to the height direction of the hull 100, and the axis e is consistent with the width direction of the hull, the driving device, the driving input mechanism, rotates or swings around the axis a to drive the output mechanism and the propeller to swing in the horizontal plane. Adjust the forward and backward swing 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 action of the second driver. The second input mechanism is connected with the output mechanism through the intermediate connecting mechanism 240, thereby connecting with the propeller and driven by the second driver 280. The second input mechanism 230 rotates relative to the base frame 210 around the axis b, and the axis b is parallel to the width direction of the hull 100. Under the driving of the driver two, the second input mechanism rotates around the axis b to drive the second input mechanism, the output mechanism and the propeller to rotate, Used to adjust the pitch angle of the propeller. In order to enable the output mechanism to achieve 360-degree motion without dead angle when the input mechanism 1 and the input mechanism 2 move simultaneously, the input mechanism 230 and the intermediate connecting mechanism 240 are rotatably connected around the axis c, and the output mechanism 250 and the intermediate connecting mechanism 240 are rotated around the axis d. connected, the axis d is perpendicular to the axis c and intersects at point O.

The intermediate connecting mechanism 240 is rotatably connected to the input mechanism 230 and the output mechanism 250 for transmitting the input from the input mechanism 2 230 to the output mechanism 250. The axis c is perpendicular to the axis b. In addition to the intermediate connection mechanism 240, the output mechanism 250 is also rotatably connected with the input mechanism 1 220. The inputs of the input mechanism 1 220 and the input mechanism 2 230 act on the output mechanism 250 at the same time, and the rotation between the output mechanism 250 and the input mechanism 2 230 The axis is the 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 one point, so that the base 210, the input mechanism 1 220, the input mechanism 2 230, the intermediate connection mechanism 240, and the output mechanism 250 are integrally formed into a spherical surface with two degrees of freedom. Cross-connect organization. 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, preferably the rotation axis of the propeller is also perpendicular to the axis d, which helps to simplify the operation during control. Adopting the propeller 200 with the above structure, by driving the input mechanism 1 220 to rotate by the driver 1 270, the front and rear swing range of the propeller device 260 can be rotated approximately 180° around the z-axis, and the propeller device can be pitched by the driver 280 driving the input mechanism 2 to rotate. The range reaches 360° around the x-axis, the propeller has a large deflection range, and can achieve precise positioning in the up and down, left and right, and front and rear directions; base frame 210, input mechanism 1 220, input mechanism 2 230, intermediate connection mechanism 240, output mechanism 250 It is only connected by a rotating pair, the structure is relatively simple, the decoupling is good, and it is easy to control. The first driver 270 and the second driver 280 are both fixedly arranged on the base frame 210 , which helps to reduce the load of the driver and improve the energy utilization efficiency of the underwater robot and the loading efficiency of the hull 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 used as follows. The base frame 210 is in the shape of a U-shaped fork, and includes a base frame base 211 and a base frame head 212. The base frame base 211 is used to support the input mechanism and is fixedly connected to the hull. The base frame head 212 is U-shaped and includes two oppositely arranged The pedestal arm 2121 and the bottom of the pedestal head, the side wall of the hull 100 is provided with a connecting port (not shown in the figure) which is adapted to the pedestal seat 211, and the pedestal seat 211 extends into the interior of the hull 100 from the connection port , the base frame 211 is fixedly connected with the hull 100 . The pedestal base 211 and the pedestal arms 2121 are respectively located on both sides of the bottom of the pedestal head, the bottom of the pedestal head is centrally arranged between the two pedestal arms 2121, and the bottom of the pedestal head is arranged along the axis b between the two pedestal arms 2121. There is a shaft hole. The pedestal base 211 can be arranged in a frame shape, so as to accommodate the second driver therein. The structure of the input mechanism 1 is basically the same as that of the base frame 210, including a fork base 1 222 and a fork head 1 221. The fork head 1 221 includes two oppositely arranged fork arms 1 and bottom 1. The fork arm 1 and the fork base 1 222 are respectively It is located on both sides of the bottom one, the bottom one is centered between the two fork arms, the fork seat one 222 and the bottom one are provided with a shaft hole two, and the axis of the shaft hole one is the axis e. The two fork arms of the fork head are rotatably connected to the two fork arms of the fork head, and the output end of the driver one is arranged along the axis a, which is fixedly connected to the lower fork arm of the fork head after passing through the lower fork arm of the fork head. , the output end of the driver 1 is rotatably connected with the lower fork arm of the fork head.

The structure of the second input mechanism 230 is generally the same as that of the first input mechanism 220, including a second fork base 231 and a second fork head 232. The second fork head 232 includes two oppositely arranged fork arms two and a bottom two, the fork arm two and the fork base two They are respectively located on both sides of the bottom two, the two prongs 232 are located in the middle of the two prongs 2, and the bottom two are located in the center between the two prongs 232. The second fork seat 231 passes through the first shaft hole in a shaft shape. The second fork seat 231 and the base frame seat 211 are on the same side. The output ends are fixedly connected coaxially, and the second driver 280 is fixedly arranged inside the frame of the base base 211 .

The fork head 1 221 is located between the two arms of the base frame head 212, the two arms of the fork head head 1 221 are respectively rotatably connected with the two arms of the base frame head 212, and the rotation axis of the fork head head 1 221 and the base frame head 212 is the axis a; The fork seat 1 222 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 fork head 232 is located between the two arms of the base frame head 212 and is used for connecting with the intermediate connecting mechanism 240 . The intermediate connecting mechanism 240 is in the shape of a rectangular ring, and includes two connecting parts 241 for connecting the second input mechanism 230 and two connecting parts 242 for connecting the output mechanism 250. The first connecting part 241 and the second connecting part 242 are both Rectangular plate shape, two connecting parts 1 241 are arranged opposite each other, two connecting parts 242 are arranged opposite each other, two connecting parts 1 241 and two connecting parts 242 are staggered and connected end to end to form an integral annular structure, the two connecting parts The first part 241 is respectively rotatably connected with the two fork arms 2 of the corresponding fork head 2 232 , and the rotation axis between the connecting part 1 241 and the second fork head 232 is the axis c. The output mechanism 250 includes a connecting head 251 , an output shaft 252 and a propeller connecting piece 253 . The output shaft 252 is rotatably connected to the input mechanism 2 230 through the shaft hole 2 on the fork seat 1 222 to be rotatably connected to the input mechanism 1 220 . The output shaft 250 is rotatably connected to the second connecting portion 242 through the connecting head 251 . The connecting head 251 is located between the two connecting parts 242 and is rotatably connected to the two connecting parts 242 , and the rotation axis between the connecting head 251 and the second connecting part 242 is the axis d. The output shaft is fixedly connected to the propeller device 260 through the propeller connecting piece 253 . The driver base 213 can be fixedly arranged on the base frame head 212 located below, for setting the driver one 270, the driver one 270 is fixedly arranged on the driver base 213, and the output end of the driver one 270 passes through the base frame head 212 and the fork. The first 221 is fixedly connected. The base frame 210 , the first input mechanism 220 , the second input mechanism 230 , the intermediate connection mechanism 240 , and the output mechanism 250 of the above-mentioned structure have simple structures, and the connection between the frame body and the frame body is clear and clear, which is convenient for disassembly and assembly. The U-shaped structure of the base frame head 212 , the fork head 1 221 and the fork head 2 232 , and the annular structure of the intermediate connection mechanism 240 can increase the supporting position of the rotating pair and help improve the stability of the mechanism.

As shown in FIG. 5 and FIG. 6 , the intermediate connection mechanism 240 can also adopt another structure, in which the intermediate connection structure is set as a notch ring structure, an annular notch 2411 is provided on the connecting part 1 241 , and the fork arm 2 of the fork head 232 is provided with an annular gap 2411 . A notched annular shaft hole 2322 is opened, and the opening of the notched annular shaft hole faces away from the fork seat 2 231; The central angle of the 241 notch ring of the connecting part is greater than 180°, and the central angle of the annular shaft hole of the notch is less than 180°, so as to ensure that the connecting part 2 will not fall out of the opening of the annular shaft hole of the notch during rotation. In addition, since the second fork arm of the second fork head 232 is in contact with the surface greater than 180 degrees of the annular shaft hole of the notch, the structural stability can be increased. As shown in FIG. 6 , the width m of the opening of the gap ring, the width n of the annular shaft hole opening of the gap, 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 gap ring when it rotates The rotation range of the output mechanism around the axis d can be expanded, so that the rotation angle of the propeller device 260 around the z-axis reaches or even exceeds 180°, thereby expanding the deflection range of the propeller, and no dead angle will be generated during operation. In addition, the angle at which the propeller device 260 can rotate around the z-axis exceeds 180°, so that the propeller devices 260 on both sides of the hull 100 can be directly opposite to or opposite to each other. The thrust generated by the propeller can be quickly disappeared, which is helpful for quickly stabilizing the hull 100 .

The propeller device can be any propeller device that can be purchased on the market for underwater equipment. In the present invention, a ducted propeller is preferred, and the first driver and the second driver are preferably steering gears. As shown in FIG. 7 , the ducted propeller includes a duct 261 , a propeller bracket 262 , a hub 263 , blades 264 , a driver housing 265 and a propeller driver (not shown in the figure). The propeller driver is fixedly arranged in the driver housing 265 , the driver housing 265 is located in the guide tube 261 , the propeller bracket 262 is used to support the driver housing 265 , one end of the propeller bracket 262 is fixedly connected to the inner wall of the guide tube 261 , and the other end is fixed to the outer wall of the driver housing 265 . connect. The propeller hub 263 and the propeller driver are supported, the propeller hub 263 is rotatably connected to the driver shell 265, the blades 264 are provided with a plurality of and evenly fixed on the circumference of the propeller hub 263, the propeller driver drives the propeller hub 263 to rotate, and the propeller hub 263 and the driver shell The axis of rotation between 265 coincides with the axis of the duct 261 and is perpendicular to the axis e, the hub 263 and the blades 264 are located in the duct 261 , and the propeller connector 253 is fixedly connected to the outer circumferential wall of the duct 261 . The duct 261 can increase the thrust of the propeller device, and can effectively reduce the noise of the propeller, and at the same time is beneficial to prevent underwater creatures, fishing nets and other sundries from being entangled on the blades 264 .

As shown in FIG. 2 , the hull 100 is preferably set in a streamlined structure, which helps to reduce the flow resistance and helps to enhance the draft capability of the robot in shallow water. As shown in FIG. 8 , the hull 100 includes an outer shell 110 and a floating body. The floating body increases the buoyancy of the hull 100. The floating body is symmetrically arranged on both sides of the hull and is located on the outside of the hull, which can form a large moment and help increase the stability of the hull. , reducing the possibility of capsizing. When the robot is completely immersed in water, the buoyancy center is slightly higher than the center of gravity, so that the ship can sail at a fixed depth. As shown in FIG. 8 , the interior of the casing 110 is hollow for installing some equipment used for collection and detection. The interior of the casing 110 is fixedly provided with a power supply assembly (not shown in the figure), a main control board (not shown in the figure), a water sample The collector 500, the attitude sensor (not shown in the figure) and the inertial sensor (not shown in the figure), wherein the water inlet of the water sample collector 500 extends out of the hull 100 from the bottom of the housing 110, so as to collect water samples. The outer wall of the hull 100 is fixedly provided with a depth gauge and a water quality sensor (not shown in the figure). Dissolved oxygen sensor for detecting dissolved oxygen content in water. Every opening of the casing 110 is provided with a waterproof structure, and the signal receiver is provided at the bottom of the hull 100 . In order to improve the endurance of the robot, a solar panel 400 may be fixedly arranged on the upper surface of the casing 110 to supplement energy through solar energy. A camera 300 and a lighting lamp 301 can be arranged at the front end inside the casing 110 for observing the scene in the water. A transparent front cover 111 is arranged at the front end of the casing 110, so that the field of view of the camera 300 and the lighting range of the lighting lamp 301 can penetrate the casing 110. The rear end of the 110 is provided with a detachable and fixed rear end cover 112 , so as to facilitate the installation and removal of the structure inside the hull 100 from the rear end cover 112 . The power supply components, water sample collector 500, attitude sensor, inertial sensor, water quality sensor, depth gauge, solar panel 400, lighting 301, camera 300 and the I/O interfaces of each driver are respectively connected with the corresponding I/O interfaces on the main control board. O interface connection. Preferably, a wireless signal transmitter 600 is fixed on the outer wall of the hull 100 , and the 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 captured image through the wireless signal transmitter 600 . The wireless signal is transmitted to the user in real time. Preferably, a 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 are arranged in the second sealed cabin 140. The cabin constitutes a double-layered sealing structure, which is helpful for waterproofing. The openings on the outer casing 110, the first sealing cabin 130 and the second sealing cabin 140 are provided with waterproof structures, and watertight connectors can be used to connect the places where electrical connections are required. water proof.

In the shallow water underwater robot of the present invention, the steering gear as the driver is installed on the base frame, the rotational inertia of the mechanism is reduced, the load of the actuating motor is reduced, the flexibility of the mechanism movement is improved, and the movement of the mechanism is further optimized. characteristic.

Compared with a single actuating motor in a series mechanism that controls a single degree of freedom, the parallel mechanism thruster has a compact structure, and simultaneously controls multiple degrees of freedom of the mechanism through two actuating motors, thereby improving the stiffness, motion accuracy, and stability of the mechanism. The speed of movement, etc., reduces the load of the motor under the same load, and at the same time avoids the use of large parts, thereby reducing the volume of the mechanism, improving the energy utilization efficiency and carrying capacity of the underwater robot, saving energy and increasing the voyage.

Due to the use of an orthogonal parallel mechanism, the motion decoupling of the propeller is good, which greatly simplifies the control algorithm, speeds up the response speed of the system, and reduces the difficulty of control.

The vector thruster with the structure of the present invention can avoid the problem of low-speed control, and can also realize good motion control at low speed. It solves the technical problem that the underwater robot using the conventional fin-rudder propeller cannot provide enough deflection moment for the underwater robot when the sailing speed is lower than 2-3 kn when the auxiliary propeller is not used.

The specific embodiment is only an explanation of the present invention, and it is not intended to limit the present invention.

Claims (7)

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 both sides of the hull (100), each of the propellers The device (200) includes a base frame (210), a first input mechanism (220), a second input mechanism (230), an intermediate connecting mechanism (240), an output mechanism (250), a propeller device (260), a first driver (270) and The driver two (280), the base frame (210) is fixed on the side wall of the hull (100), the input mechanism one (220) and the input mechanism two (230) are respectively rotatably connected to the base frame (210), the input mechanism one ( 220) The rotation axis a between the base frame (210) is parallel to the height direction of the hull (100), the rotation axis b between the input mechanism two (230) and the base frame (210) is parallel to the width direction of the hull (100), The intermediate connecting mechanism (240) is rotatably connected with the input mechanism two (230), and the rotation axis c between the two is perpendicular to the axis b, and the output mechanism (250) is rotatably connected with the intermediate connecting mechanism (240), and the rotation axis d therebetween is Perpendicular to the axis c, the output mechanism (250) and the input mechanism two (230) are rotatably connected and the rotation axis e between the two is perpendicular to the 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. The axis e intersects at a point, the driver one (270) drives the input mechanism one (220) to rotate around the axis a, the driver two (280) drives the input mechanism two (230) to rotate around the axis b, and the propeller device (260) is fixedly arranged on the On the output mechanism (250), the rotation axis of the propeller is perpendicular to the axis e; the base frame (210) includes a base base (211) and a U-shaped fork (212), the base base (211) and the fork ( The bottom of 212) is integrally connected and the two are located on both sides of the bottom, the fork head (212) includes two oppositely arranged fork arms, the pedestal seat (211) is located between the two fork arms, and the input mechanism one at least includes the fork head one (221 ), the fork head is U-shaped, the two fork arms (2211) are arranged opposite to each other, the driver one (270) is fixedly arranged on one of the fork arms (2121), and the output end of the driver one passes through the fork arm on the corresponding side The set shaft hole 2 is fixedly connected to the fork arm 1 (2211) on the corresponding side, the output end of the driver 1 is rotatably matched with the shaft hole 2, and the other fork arm 1 is rotatably connected with the fork arm on the corresponding side, driven by the driver 1. The first fork rotates relative to the fork arm around the axis a; the input mechanism two (230) includes a shaft-shaped fork base two (231) and a U-shaped fork two (232), two fork arms two (2321) of the fork two The fork base two and the fork head two are respectively located on both sides of the bottom part two of the fork base two, the fork base two (231) passes through the shaft hole one set on the bottom part two and is rotatably connected with the shaft hole one, and the fork head two is connected with the shaft hole one. The fork head is located on the same side, the second fork base is fixedly connected with the output end of the second driver (280), and the second driver drives the second fork head to rotate around the axis b; the output mechanism (250) includes a connection The head (251) and the output shaft (252), the connecting head is arranged at one end of the output shaft, the other end of the output shaft passes through the shaft hole 3 on the base 1 and is connected with the propeller device through the propeller connecting piece, and the axis of the output shaft is the e-axis , through the shaft hole 3 and the input mechanism 1 rotatably connected, the intermediate connecting mechanism is located between the two fork arms, the input mechanism 2 is connected with the intermediate connecting mechanism through its fork arm 2 in a rotation around the axis c, and the connecting head is connected with the intermediate connecting mechanism. Rotationally connected around the axis d, the base frame is connected with the hull (100) through the base frame seat (211), and the first driver and the second driver are respectively steering gears; the intermediate connection mechanism (240) is annular, including two oppositely arranged Connection part one (241) and two opposite connection parts (242), connection part one (241) and connection part two (242) are staggered and connected end to end to form an integral annular structure, two fork heads (232) The two fork arms are respectively rotatably connected to the two oppositely arranged connecting parts one (241), and the connecting head (251) is rotatably connected between the two oppositely arranged connecting parts two (242); the second connecting part (242) is the center of the circle The notched ring with an angle greater than 180°, the end of the fork head two (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 less than 180°, the connecting part The two (242) are rotatably arranged in the annular shaft hole of the notch, and the opening width m of the notch ring and the opening width n of the annular shaft hole of the notch are both larger than the diameter p of the output shaft (252). 2. The underwater robot according to claim 1, wherein the propeller device (260) comprises a conduit (261), a propeller bracket (262) fixed in the conduit (261), and a propeller bracket (262) rotatably connected to the propeller bracket (262). a propeller hub (263) on the upper part, 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, between the propeller hub (263) and the propeller bracket (262) The axis of the rotating shaft coincides with the axis of the duct (261), the hub (263) and the blade (264) are located in the duct (261), and the output mechanism is fixedly connected to the outer circumferential wall of the duct (261). 3. The underwater robot according to claim 1, wherein the hull (100) comprises a casing (110) and a floating body fixed on both sides of the casing (110), and the casing (110) has a streamlined structure and is hollow inside , the pedestal seat (211) is located inside the casing (110), the interior of the casing (110) is fixedly provided with a power supply assembly, a main control board, a water sample collector (500), an attitude sensor and an inertial sensor, and the outer casing (110) is provided with a The depth gauge and water quality sensor, the power supply assembly, the water sample collector (500), the attitude sensor, the inertial sensor, the depth gauge, the water quality sensor and the I/O interfaces of each driver are electrically connected with the corresponding I/O interfaces on the main control board, Every opening of the casing (110) is provided with waterproof structures, and the water inlet of the water sample collector (500) protrudes from the bottom of the hull (100). 4. The underwater robot according to claim 3, characterized in that: the upper surface of the casing (110) is fixedly provided with a solar cell panel (400), and the I/O interface of the solar cell panel (400) is connected to the main control board. The corresponding I/O interfaces are electrically connected. 5. The underwater robot according to claim 3, characterized in that: a sealed cabin (130) and a sealed cabin two (140) are provided inside the casing (110), and the battery assembly is arranged in the sealed cabin one (130), The main control board, the attitude sensor and the inertial sensor are arranged in the second sealed cabin (140), and the openings on the first sealed cabin (130) and the second sealed cabin (140) are provided with waterproof structures. 6. The underwater robot according to claim 3, characterized in that: the front end inside the casing (110) is provided with a camera (300) and a lighting lamp (301), the front end of the casing (110) is provided with a transparent end cover, and the hull (110) is provided with a transparent end cover. 100) A wireless signal transmitter (600) is provided on the outer wall, and the wireless signal transmitter (600) is electrically connected with the camera (300). 7. The underwater robot according to claim 1, characterized in that: the rotation axis of the propeller is perpendicular to the axis d, the input mechanism 1 further comprises a fork seat 1, and the fork seat 1 is integrally arranged on the bottom of the fork head 1. The upper and fork arm 1 are respectively arranged on both sides of the bottom 1, the shaft hole 2 passes through the fork seat 1, the input mechanism 1 is symmetrical with the axis e, the input mechanism 2 is symmetrical with the axis b, and the base frame is symmetrical with the axis b.

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