CN113978671B - Frame-expandable underwater robot - Google Patents

Abstract

The invention discloses a frame-expandable underwater robot, which comprises a working main body module, a shell module and a shell driving module, wherein the shell module comprises a plurality of shell units, a first propeller is arranged on the outer side of each shell unit, and the shell driving module drives the shell units to be close to or far from the working main body module; when the shell unit is close to the working main body module, the side walls of the shell unit are in contact with each other, and the working main body module is wrapped in the shell module; when the shell units are far away from the working main body module, the shell units are far away from each other, and the working main body module is used for underwater operation. When the long-distance navigation detection is carried out, the shell module is contracted, the navigation resistance is small, the maneuverability is strong, and the navigation in water is facilitated. When the fixed-point sampling operation is carried out, the shell module is unfolded, the working main body module is exposed for sampling or investigation operation, the tail propeller is unfolded along with the unfolding of the shell module, the force arm is large, the propeller resultant moment is large, and the operation capability is enhanced.

Description

Frame-expandable underwater robot

Technical Field

The invention relates to an underwater robot, in particular to a frame-expandable underwater robot.

Background

Ocean is the second most development space for human beings, and has rich energy and biological resources. As reserves of non-renewable resources continue to decrease on land, ocean development processes are accelerating. The unmanned underwater robot has the advantages of large submergence depth, low cost, high reliability, operation in dangerous environment and the like, and therefore, the unmanned underwater robot becomes an important means for developing ocean resources of various countries. Of the underwater robots, there are two kinds of the cabled and untethered, namely, the cabled remote controlled underwater robot (ROV: remote Operated Vehicle) and the unmanned and untethered autonomous underwater robot (AUV: autonomous Underwater Vehicle). The AUV has better autonomy and flexibility, and can be widely applied to the fields of marine environment research, marine resource exploration, underwater monitoring and the like. AUV represents the development direction of future underwater robots, and the AUV has wider application prospect along with the development of science and technology.

The underwater robots are divided into two types of open frames or streamline structures according to the structures, the streamline structures of the underwater robots reduce water resistance, are favorable for submerging, are favorable for saving energy, are easy to reach deep sea areas and finish ocean activities, and have the defects of unfavorable fixed-point operation on the deep sea bottom, poor stability, low reliability and difficult control; the open frame is beneficial to shallow sea operation, has good stability, but has low submerging speed and larger resistance when in sailing, and is not suitable for long-distance movement.

In the prior art, as disclosed in chinese patent application number 201811311472.3, a deformable autonomous underwater robot is disclosed, in this scheme, the two side wing modules of the underwater robot rotate through the driving motor, and the driving screw rotates, and then makes the synchronous swing of bracing piece, realizes opening and closing of side wing modules, has advantages such as stable core height is great, stability is high in the expansion operation, but overall structure only has been expanded to the side wing modules of both sides, and the position of propeller has not changed, and the resultant moment has not been strengthened, and the operational capacity is limited.

Disclosure of Invention

The invention aims to: aiming at the defects, the invention provides the frame-expandable underwater robot with the variable combined moment of the propeller.

The technical scheme is as follows: in order to solve the problems, the invention adopts a frame-expandable underwater robot, which comprises a working main body module, a shell module and a shell driving module, wherein the shell module comprises a plurality of shell units, a first propeller is arranged on the outer side of each shell unit, the shell driving module is arranged between the shell unit and the working main body module, and the shell driving module drives the shell unit to be close to or far from the working main body module; when the shell unit is close to the working main body module, the side walls of the shell unit are in contact with each other, and the working main body module is wrapped in the shell module; when the shell units are far away from the working main body module, the shell units are far away from each other, and the working main body module is used for underwater operation.

Further, the shell driving module comprises an unfolding module, the unfolding module comprises a front swing rod, a rear swing rod, a driving screw rod and a nut connecting frame, one end of the front swing rod is hinged with the front end of the working main body module, and the other end of the front swing rod is hinged with the front end of the shell unit; the rear swing rod one end is hinged with the rear end of the working main body module, the rear swing rod other end is hinged with the rear end of the shell unit, the driving screw rod is arranged at the rear end of the working main body module and extends towards the front end of the working main body module, the nut connecting frame is arranged on the driving screw rod, the driving screw rod rotates to drive the nut connecting frame to move, one end of the driving rod is hinged with the rear swing rod body, and the other end of the driving rod is hinged with the nut connecting frame.

Further, be provided with stable module between the casing unit, be provided with spacing module between stable module and the work main part module, stable module includes a plurality of stable units, and spacing module includes a plurality of spacing units, and the stable unit is connected to spacing unit and work main part module, stable unit includes first stable connecting rod, second stable connecting rod, first stable connecting rod one end is articulated with a casing unit, and first stable connecting rod other end is articulated with second stable connecting rod one end, and the second stable connecting rod other end is articulated with another casing unit, spacing unit is used for being in the work main part module axial with first stable connecting rod and second stable connecting rod connection and fixes a position.

Further, the limiting unit comprises a sliding block and a limiting connecting rod, the other end of the first stabilizing connecting rod is hinged with one end of the second stabilizing connecting rod through a connecting piece, one end of the limiting connecting rod is hinged with the connecting piece, the other end of the limiting connecting rod is hinged with the limiting unit, the rotating plane of the limiting connecting rod around the connecting piece is perpendicular to the rotating plane of the first stabilizing connecting rod and the second stabilizing connecting rod around the connecting piece, a sliding rail is arranged on the working main body module, the extending direction of the sliding rail is parallel to the axial extending direction of the working main body module, the sliding block slides along the sliding rail, and an electromagnet is fixedly connected on the sliding block; when the electromagnet is powered on, the electromagnet attracts the sliding rail, and the sliding block is fixed on the sliding rail.

Further, the working main body module comprises an electronic cabin barrel and a mechanical arm, the driving screw rod is arranged at the rear end of the electronic cabin barrel, the mechanical arm is arranged at the front end of the electronic cabin barrel, the mechanical arm is used for carrying out underwater operation, and the electronic cabin barrel is used for placing electronic equipment for controlling the underwater robot to work.

Further, the working main body module further comprises a vertical propeller and a longitudinal propeller, the vertical propeller and the longitudinal propeller are fixedly connected between the electronic cabin barrel and the mechanical arm, the propelling directions of the vertical propeller and the longitudinal propeller are mutually perpendicular, and the propelling directions of the vertical propeller and the longitudinal propeller are both perpendicular to the extending direction of the driving screw rod.

Further, when the shell units are closest to the working main body module, the shell units are smoothly connected to form a streamline cambered surface, and the working main body module is completely wrapped in the shell module.

Further, the housing module comprises four housing units, and the cross section of each housing unit is in a quarter circular arc shape.

Further, the shell unit comprises a guide cover, a middle shell fixedly connected to the rear end of the guide cover and a tail shell fixedly connected to the rear end of the middle shell, an auxiliary support is arranged between the guide cover and the middle shell and used for installing a searchlight and a sensor, and the first propeller is fixedly connected to the tail shell.

Further, the casing unit fixedly connected with braced frame module, braced frame module includes a plurality of skeleton units, connects the connecting unit of skeleton unit, the skeleton unit includes skeleton, fixed block, T type connecting piece, the bracing piece of laminating with the inboard fixed of casing unit, fixed block both sides are fixed connection long connecting rod and T type connecting piece respectively, and two T type connecting pieces are respectively through two bracing pieces and skeleton fixed connection, the connecting unit includes a plurality of back shafts, a plurality of long connecting rods, the back shaft is with the skeleton fixed connection of all skeleton units, long connecting rod and the fixed block fixed connection of all skeleton units, preceding pendulum rod one end is articulated with long connecting rod front end, and back pendulum rod one end is articulated with the rear end of long connecting rod.

The beneficial effects are that: compared with the prior art, the invention has the remarkable advantages that when the long-distance navigation detection is carried out, the shell unit is close to the working main body module, the shell module is contracted, the navigation resistance is small, the maneuverability is strong, and the navigation in water is facilitated. When carrying out fixed point sampling operation, the casing unit keeps away from work main part module, and the casing module expands, exposes work main part module and carries out sampling or reconnaissance operation, and afterbody propeller expands along with the casing module expands, and the arm of force is big, and the propeller resultant moment is big, and the operation ability reinforcing is favorable to improving underwater robot's operation ability and operation scope.

Drawings

FIG. 1 is a schematic view of an underwater robot in an extended state;

FIG. 2 is a schematic view of the underwater robot in a contracted state;

FIG. 3 is a schematic view showing the structure of the combination of the housing unit and the support frame module according to the present invention;

FIG. 4 is a schematic view of a housing unit according to the present invention;

FIG. 5 is a schematic view of a support frame module according to the present invention;

FIG. 6 is a cross-sectional view taken at B-B in FIG. 3;

FIG. 7 is a cross-sectional view taken at C-C of FIG. 6;

FIG. 8 is a schematic view of the tail frame I of the support frame module of the present invention;

FIG. 9 is a schematic view of a tail frame II of the support frame module of the present invention;

FIG. 10 is a schematic view of a working body module according to the present invention;

FIG. 11 is a cross-sectional view taken at A-A of FIG. 1;

FIG. 12 is a schematic view of a deployment module according to the present invention;

FIG. 13 is an enlarged partial cross-sectional view of the connection of the end cap to the drive screw in accordance with the present invention;

FIG. 14 is an enlarged partial cross-sectional view of the drive lead screw and the connection plate of the present invention;

FIG. 15 is a schematic view of a stabilization module according to the present invention;

FIG. 16 is an enlarged partial cross-sectional view of the first stabilizing connector link, second stabilizing connector link, and spacing connector link junction of the present invention;

FIG. 17 is an enlarged, fragmentary, exploded view of the first stabilizing connector bar, second stabilizing connector bar, and spacing connector bar connection of the present invention;

FIG. 18 is a schematic view of a limit module according to the present invention;

FIG. 19 is a schematic view of the mechanism of the deployment module of the present invention;

FIG. 20 is a schematic diagram of the mechanism of the stabilization module of the present invention;

FIG. 21 is a schematic view of the mechanism of the limit module of the present invention.

Detailed Description

As shown in fig. 1 and 2, the frame-expandable underwater robot in the present embodiment includes a work main body module 65, a support frame module 85, a housing module 67, and a housing driving module 66. The shell module 67 includes a plurality of shell units 84, and the afterbody all sets up first propeller 6 outside each shell unit 84, and in this embodiment, shell module 67 includes four shell units 84, and every shell unit cross-section is quarter convex, installs the first propeller 6 of shell unit 84 and can expand along with the expansion of shell module 67, and the distance grow, and the resultant torque increases, and the working capacity obtains promoting. In the contracted state, the four housing units 84 are folded together and are integrally formed into a water drop shape, which is advantageous for underwater navigation.

As shown in fig. 3, the support frame module 85 includes a middle frame 81, a tail frame i 82, and a tail frame ii 83, and is fixedly attached to the inner side of the housing unit 84. The housing unit 84 shown in fig. 4 includes a pod 1, a middle housing 3 fixedly connected to the rear end of the pod 1, a tail housing i 4 fixedly connected to the rear end of the middle housing 3, and a tail housing 9 fixedly connected to the rear end of the tail housing i 4. The middle shell 3 is installed on the middle frame 81 through a screw nut, the tail shell I4 is installed on the tail frame I82 through a bolt, and the tail shell 9 is installed on the tail frame II 83 through a bolt. The tail shell 9 is provided with a hole, the propeller fixing frame 5 is arranged on the tail frame II 83 through the hole on the tail shell 9, the first propeller 6 is arranged on the propeller fixing frame 5 through bolts and nuts, the searchlight bracket 2 is fixedly connected between the air guide sleeve 1 and the middle shell 3, and searchlight lamps and other sensors can be arranged on the searchlight bracket 2. The dome of the shell module 67 is provided with an opening for facilitating observation and exploration of the internal camera 7, and the shell module 67 is integrally provided with a circular opening corresponding to the vertical propeller 37 and the longitudinal propeller 38 on the middle shell 3, so that the thrust of the vertical propeller 37 and the longitudinal propeller 38 is not hindered in the contracted state of the shell module 67. The overall streamline shape of the housing module 67 in the contracted state can increase the moving speed, and this structure can well protect the internal components of the robot.

As shown in fig. 5, 6 and 7, the middle frame 81 includes a middle first frame 44, a middle second frame 15 and a middle third frame 50, two symmetrical through holes are respectively formed in the middle first frame 44, the middle second frame 15 and the middle third frame 50, and a support shaft 47 and a support shaft ii 77 pass through the through holes of the three frames and fix the middle first frame 44, the middle second frame 15 and the middle third frame 50 by nuts to maintain stability and reliability between the frames.

The first skeleton 44 in middle part passes through screw and preceding bracing piece I8 one end fixed connection, bracing piece I8 other end and T type connecting piece I76 fixed connection, and T type connecting piece I76 trompil is in the same place with long connecting rod I27, fixed block III 80, long connecting rod II 28 and T type connecting piece 46 fixed through the bolt and nut, and T type connecting piece 46 and preceding bracing piece 45 one end fixed connection, preceding bracing piece 45 other end and first skeleton 44 fixed connection in middle part, long connecting rod I27, long connecting rod II 28 are located fixed block III 80 both sides respectively.

The middle second framework 15 is fixedly connected with one end of a supporting rod II 30 through a screw, the other end of the supporting rod II 30 is fixedly connected with a T-shaped connecting piece II 29, a hole of the T-shaped connecting piece II 29 is fixed with a long connecting rod I27, a fixed block II 79, a long connecting rod II 28 and a T-shaped connecting piece I26 through bolts and nuts, the T-shaped connecting piece I26 is fixedly connected with one end of a supporting rod 25, the other end of the supporting rod 25 is fixedly connected with the middle second framework 15, and the whole fixation is kept through the supporting rod 25 and the middle second framework 15.

The middle third framework 50 is fixedly connected with one end of a rear supporting rod I49 through a screw, the other end of the rear supporting rod I49 is fixedly connected with a rear T-shaped connecting piece I51, and the rear T-shaped connecting piece I51 is fixedly connected with a long connecting rod I27, a fixed block I78, a long connecting rod II 28 and a rear T-shaped connecting piece II 52 through bolts and nuts at two ends. The rear T-shaped connecting piece II 52 is fixed with the rear supporting rod II 53, and finally the rear supporting rod II 53 is fixed with the middle third framework 50.

The three identical frames of the middle first frame 44, the middle second frame 15 and the middle third frame 50 are fixedly connected with the long connecting rod I27 and the long connecting rod II 28 in the same connection mode through the identical parts.

As shown in FIG. 8, the aft frame I82 includes an aft skeleton I56, an aft skeleton II 58, four identical aft skeleton bars 57. Four threaded holes are formed in the tail frame II 58, the same threaded holes are formed in the front end and the rear end of the tail frame rod 57, the tail frame II 58 and the tail frame rod 57 are fixed through screws, and the tail frame rod 57 is fixed with the tail frame I56 through screws. As shown in fig. 9, the tail frame ii 83 includes the tail second skeleton 16, the tail third skeleton 17, and the tail first skeleton 59, and the tail first frame bar 18 and the tail second frame bar 19 each having three. The third tail skeleton 17 is fixed to the second tail skeleton bar 19 by screws, and then is fixed to the second tail skeleton bar 19 and the second tail skeleton 16, and the second tail skeleton 16 is fixed to the first tail skeleton bar 18 and the first tail skeleton 59.

As shown in fig. 10, the working body module 65 includes the vertical thrusters 37, the longitudinal thrusters 38, the electronic pod 10, and the robot arm 35. The rear end of the electronic cabin tube 10 is connected with the rear end sealing end cover 60 through bolt fastening, the front end of the electronic cabin tube 10 is connected with the front end sealing end cover 40 through bolt fastening, a sealing ring is arranged between the electronic cabin tube 10 and the rear end sealing end cover 60 and the front end sealing end cover 40 to ensure sealing of the electronic cabin tube 10, the rear end of the electronic cabin tube 10 is connected with the fixed plate 14 through the fixed shaft I62 and the fixed shaft II 63, the fixed shaft I62 and the fixed shaft II 63 extend backwards from the rear end of the electronic cabin tube 10, the rear end sealing end cover 60 and the fixed plate 14 are provided with the driving screw 61, and the extending direction of the driving screw 61 is parallel to the extending direction of the fixed shaft I62 and the fixed shaft II 63. The rear end sealing end cover 60 is fixedly connected with a sliding rail fixing ring I11, the front end sealing end cover 40 is fixedly connected with a sliding rail fixing ring II 41, and the sliding rail fixing ring I11 and the sliding rail fixing ring II 41 are used for fixing the sliding rail 12.

The front end of the electronic cabin barrel 10 is fixedly connected with a propeller fixing frame 39, a vertical propeller 37 and a longitudinal propeller 38 are arranged in the propeller fixing frame 39, the propelling directions of the vertical propeller 37 and the longitudinal propeller 38 are mutually perpendicular, and the propelling directions of the vertical propeller 37 and the longitudinal propeller 38 are both perpendicular to the extending direction of the driving screw rod 61. The front end of the propeller fixing frame 39 is fixedly connected with the mechanical arm base 34 through bolts, and the mechanical arm 35 is arranged on the mechanical arm base 34. In the contracted state of the overall water-drop shape of the housing module 67, the working body module 65 is completely enclosed by the housing module 67, and the robot arm 35 is contracted in the housing module 67.

As shown in fig. 11, the housing drive module 66 includes a deployment module 68, a stabilization module 69, and a restraint module 70. The unfolding module 68 includes a plurality of unfolding units, the stabilizing module 69 includes a plurality of stabilizing units, and the limiting module includes a plurality of limiting units, in this embodiment, four unfolding units, four stabilizing units, and four limiting units are provided corresponding to the four housing units. Four expansion units, four stabilizing units and four limiting units are respectively and uniformly arranged on the periphery of the working main body module 65.

As shown in fig. 12, the unfolding unit includes a front swing link 43, a rear swing link 54, a driving lever 33, a driving screw 61, and a nut link 64. One end of the front swing rod 43 is hinged with one end of the long connecting rod I27, the other end of the front swing rod is hinged with a convex lug plate of the front end sealing end cover 40, one end of the rear swing rod 54 is hinged with the other end of the long connecting rod I27, the other end of the rear swing rod 54 is hinged with the fixed plate 14, one end of the driving rod 33 is hinged with a rod body of the rear swing rod 54, the other end of the driving rod 33 is hinged with a nut connecting frame 64, the nut connecting frame 64 is arranged on the driving screw 61 and is in threaded connection with the driving screw 61, the driving screw 61 drives the driving rod 33 to move, the movement of the driving rod 33 drives the synchronous swing of the rear swing rod 54 and the front swing rod 43, and finally the expansion or contraction of the shell module 67 is driven.

As shown in fig. 13 and 14, the driving screw 61 and the rear end sealing end cover 60 are positioned by a snap spring, and a sealing ring is arranged at the joint for waterproofing. The other end driving screw 61 is connected with the fixed plate 14 through a shaft end retainer ring and a ball bearing.

As shown in fig. 15, one stabilizing unit includes a front stabilizing structure including a first stabilizing link 71, a second stabilizing link 72, one end of the first stabilizing link 71 is hinged to the end of the middle first frame 44, the other end of the first stabilizing link 71 is hinged to one end of the second stabilizing link 72, the second stabilizing link 72 is hinged to the middle first frame i 73 of the support frame module of the other housing unit, and the upper portion of the connecting member 75 serves as a hinge shaft of the first stabilizing link 71 and the second stabilizing link 72.

The rear end stabilizing structure comprises a stabilizing connecting rod I20 and a stabilizing connecting rod II 23, wherein one end of the stabilizing connecting rod I20 is hinged with the end part of the middle second framework 15, the other end of the stabilizing connecting rod I20 is hinged with one end of the stabilizing connecting rod II 23, the other end of the stabilizing connecting rod II 23 is hinged with the end part of the middle second framework I74 of the supporting frame module of the other shell unit, and the upper part of the connecting piece I22 is used as a hinge shaft of the stabilizing connecting rod I20 and the stabilizing connecting rod II 23.

As shown in fig. 16 to 18, the limit unit includes a slide rail 12, a slider i 13, a slider 42, an electromagnet 55, a rear limit link 21, and a limit link 48. One end of the limiting connecting rod 48 is hinged to the lower portion of the connecting piece 75, the other end of the limiting connecting rod 48 is hinged to the sliding block 42, the rotation plane of the limiting connecting rod 48 around the connecting piece 75 is perpendicular to the rotation planes of the first stabilizing connecting rod 71 and the second stabilizing connecting rod 72 around the connecting piece 75, one end of the rear limiting connecting rod 21 is hinged to the lower portion of the connecting piece I22, the other end of the rear limiting connecting rod 21 is hinged to the sliding block I13, and the rotation plane of the rear limiting connecting rod 21 around the connecting piece I22 is perpendicular to the rotation planes of the stabilizing connecting rod I20 and the stabilizing connecting rod II 23 around the connecting piece I22. The extending direction of the sliding rail 12 is parallel to the axial extending direction of the electronic cabin barrel 10, and two ends of the sliding rail 12 are fixedly connected with the sliding rail fixing ring I11 and the sliding rail fixing ring II 41 respectively. The sliding block I13 and the sliding block 42 are arranged on the sliding rail 12, the sliding block I13 and the sliding block 42 move along the sliding rail 12, the electromagnet 55 is fixedly connected to the sliding block I13 and the sliding block 42 respectively, the electromagnet 55 is adsorbed on the sliding rail 12 when power is supplied, and the sliding block I13 or the sliding block 42 is fixed relative to the sliding rail 12.

The structures of the unfolding unit, the stabilizing unit and the limiting unit are simplified and the mechanism diagrams are shown in fig. 19, 20 and 21, wherein the nut connecting frame 64 is a driving member and the rest is a driven member.

Plane degree of freedom formula:

wherein F represents the degree of freedom, n represents the number of movable members, and P _L Representing a low number of secondary, P _H Indicating a high number of secondary.

As shown in fig. 19, the number of movable members in the deployment unit mechanism is 9, the number of low sub-numbers is 13, and the number of high sub-numbers is 0.

Degree of freedom of deployment unit mechanism:

as shown in fig. 20, the number of movable members in the stabilizing unit mechanism is 6, the low sub-number is 6, and the high sub-number is 0.

Degree of freedom of frame connection mechanism:

the two long rods are driven by one driving piece, and the two long rods are linked and have the same movement mode, so that the two degrees of freedom of the two long rods are actually one degree of freedom of the rod, 3 degrees of freedom are subtracted on the basis of the original mechanism 6 degrees of freedom, 3 degrees of freedom are left, and the long rods can only translate and cannot rotate, so that one degree of freedom is subtracted, and 2 degrees of freedom are left. Since the up-and-down movement of the long rod is linked with the left-and-right movement, one degree of freedom is subtracted, and finally, the degree of freedom of the stabilizing unit mechanism is 1.

As shown in fig. 21, the limit unit mechanism has 3 movable members, 3 low sub-members and 0 high sub-members.

Degree of freedom of the stabilization unit mechanism:

the vertical rod cannot rotate, and the up-and-down movement and the left-and-right movement are linked, so that the stability unit mechanism subtracts 2 degrees of freedom on the basis of 3 degrees of freedom, and the degree of freedom of the limit frame mechanism is 1.

In summary, the overall degree of freedom of the underwater robot frame deployment device is 1, wherein the nut connector 64 is a driving element, and the slider I13 and the slider 42 are follower elements.

The working principle of the underwater robot is as follows:

after the underwater robot arrives at the task place in water, the driving motor in the electronic cabin barrel 10 rotates to drive the driving screw rod 61 to rotate, the driving screw rod 61 rotates to drive the nut connecting frame 64 to move on the driving screw rod 61, the nut connecting frame 64 moves towards the rear end of the underwater robot to drive the driving rod 33 to move, the rear swing rod 54 swings towards the rear end, the rear swing rod 54 is hinged with the long connecting rod I27 and the long connecting rod II 28, the front swing rod 43 is hinged with the long connecting rod I27 and the long connecting rod II 28 to form a parallelogram mechanism together, so that a shell unit mounted on the supporting frame module also moves along with the long connecting rod I27 and the long connecting rod II 28, and the shell module can be stretched along with the movement of the nut connecting frame 64. In the extending process of the shell unit, the stable connecting rod I20 connected with the middle second framework 15 in the shell module 67 is connected with the stable connecting rod II 23 connected with the middle second framework II 74 on the adjacent shell module 67, and the stable connecting rod I20 is hinged with the stable connecting rod II 23 through the connecting piece I22. In the process of stretching the shell unit, the stabilizing connecting rod I20 and the stabilizing connecting rod II 23 are also stretched from the contracted state and drive the rear limiting connecting rod 21 to move according to a certain rule along with the stretching movement process, and the rear limiting connecting rod 21 drives the sliding block I13 to move on the sliding rail 12. The same mechanism is also provided at the central first armature 44 of two adjacent support frame modules, and the electromagnet 55 is energized to fix the slide I13 and the slide II 42 to the slide 12 when the slide I13 and the slide 42 are finally moved to the final extended position on the slide 12 during the extension process.

At this time, the nut connecting frame 64 is self-locked on the slide rail 12, the slide block i 13 is fixed, the degree of freedom is reduced by 1, the degree of freedom of the whole system is 0, the system is evolved into a truss system, the stability is provided, and the whole frame is fixed and ensures the stability of the unfolding operation of the mechanical arm 35 after the stretching. After the mechanical arm 35 is retracted to an initial state after working, the electromagnet 55 is powered off to loosen the sliding block I13 and the sliding block II 42 on the sliding rail 12, the driving motor in the electronic cabin barrel 10 is reversely rotated to drive the driving screw rod 61 to reversely rotate, the driving screw rod 61 is reversely rotated to drive the nut connecting frame 64 arranged on the driving screw rod 61 to move towards the front end, and accordingly the driving rod 33 is driven to move, the driving rod drives the whole frame to retract until the shell frame is closed, and the whole frame is restored to be streamline.

Claims (9)

1. The frame-expandable underwater robot is characterized by comprising a working main body module (65), a shell module (67) and a shell driving module (66), wherein the shell module (67) comprises a plurality of shell units (84), a first propeller (6) is arranged outside each shell unit (84), the shell driving module (66) is arranged between the shell unit (84) and the working main body module (65), and the shell driving module (66) drives the shell unit (84) to be close to or far away from the working main body module (65); when the shell unit (84) approaches the working main body module (65), the side walls of the shell unit are contacted with each other, and the working main body module (65) is wrapped in the shell module (67); when the shell units (84) are far away from the working main body module (65), the shell units (84) are far away from each other, and the working main body module (65) is used for underwater operation;

the shell driving module (66) comprises a unfolding module (68), the unfolding module (68) comprises a front swing rod (43), a rear swing rod (54), a driving rod (33), a driving screw rod (61) and a nut connecting frame (64), one end of the front swing rod (43) is hinged with the front end of the working main body module (65), and the other end of the front swing rod (43) is hinged with the front end of the shell unit (84); the rear swing rod (54) one end is hinged with the rear end of the working main body module (65), the other end of the rear swing rod (54) is hinged with the rear end of the shell unit (84), the driving screw rod (61) is arranged at the rear end of the working main body module (65), the driving screw rod (61) extends towards the front end of the working main body module (65), the nut connecting frame (64) is arranged on the driving screw rod (61), the driving screw rod (61) rotates to drive the nut connecting frame (64) to move, one end of the driving rod (33) is hinged with the rod body of the rear swing rod (54), and the other end of the driving rod (33) is hinged with the nut connecting frame (64).

2. The frame-expandable underwater robot according to claim 1, characterized in that a stabilizing module (69) is arranged between the housing units (84), a limiting module (70) is arranged between the stabilizing module (69) and the working body module (65), the stabilizing module (69) comprises a plurality of stabilizing units, each limiting module comprises a plurality of limiting units, each limiting unit is connected with the corresponding stabilizing unit and the corresponding working body module (65), each stabilizing unit comprises a first stabilizing connecting rod (71) and a second stabilizing connecting rod (72), one end of each first stabilizing connecting rod (71) is hinged with one housing unit (84), the other end of each first stabilizing connecting rod (71) is hinged with one end of each second stabilizing connecting rod (72), the other end of each second stabilizing connecting rod (72) is hinged with the other housing unit (84), and each limiting unit is used for positioning the connecting position of the first stabilizing connecting rod (71) and the second stabilizing connecting rod (72) in the axial direction of the corresponding working body module (65).

3. The frame-expandable underwater robot according to claim 2, wherein the limiting unit comprises a sliding block (42) and a limiting connecting rod (48), the other end of the first stabilizing connecting rod (71) is hinged with one end of the second stabilizing connecting rod (72) through a connecting piece (75), one end of the limiting connecting rod (48) is hinged with the connecting piece (75), the other end of the limiting connecting rod (48) is hinged with the limiting unit, the rotating plane of the limiting connecting rod (48) around the connecting piece (75) is perpendicular to the rotating planes of the first stabilizing connecting rod (71) and the second stabilizing connecting rod (72) around the connecting piece (75), a sliding rail (12) is arranged on the working main body module (65), the extending direction of the sliding rail (12) is parallel to the axial extending direction of the working main body module (65), the sliding block (42) slides along the sliding rail (12), and an electromagnet (55) is fixedly connected to the sliding block (42); when the electromagnet (55) is powered on, the electromagnet (55) adsorbs the sliding rail (12), and at the moment, the sliding block (42) is fixed on the sliding rail (12).

4. The frame-expandable underwater robot of claim 1, wherein the working body module (65) comprises an electronic capsule (10) and a mechanical arm (35), the driving screw (61) is disposed at the rear end of the electronic capsule (10), the mechanical arm (35) is disposed at the front end of the electronic capsule (10), the mechanical arm (35) is used for performing underwater operation, and the electronic capsule (10) is used for placing electronic equipment for controlling the operation of the underwater robot.

5. The frame-expandable underwater robot of claim 4, wherein the working body module (65) further comprises a vertical propeller (37) and a longitudinal propeller (38), the vertical propeller (37) and the longitudinal propeller (38) are fixedly connected between the electronic pod (10) and the mechanical arm (35), the propelling directions of the vertical propeller (37) and the longitudinal propeller (38) are mutually perpendicular, and the propelling directions of the vertical propeller (37) and the longitudinal propeller (38) are both perpendicular to the extending direction of the driving screw (61).

6. The frame-expandable underwater robot of claim 1, wherein the smooth engagement between the housing units (84) forms a streamlined arc when the housing units (84) are closest to the working body module (65), and completely encloses the working body module (65) within the housing module (67).

7. The frame-expandable underwater robot of claim 6, characterized in that the housing module (67) comprises four housing units (84), each housing unit (84) being quarter-circular in cross-section.

8. The frame-expandable underwater robot of claim 7, wherein the housing unit (84) comprises a dome (1), a middle housing (3) fixedly connected to the rear end of the dome (1), and a tail housing (9) fixedly connected to the rear end of the middle housing (3), an auxiliary bracket (2) is disposed between the dome (1) and the middle housing (3), the auxiliary bracket (2) is used for installing a searchlight and a sensor, and the first propeller (6) is fixedly connected to the tail housing (9).

9. The underwater robot with the expandable frame according to claim 1, wherein the shell unit (84) is fixedly connected with a supporting frame module, the supporting frame module comprises a plurality of framework units and a connecting unit for connecting the framework units, the framework units comprise a framework fixedly attached to the inner side of the shell unit (84), a fixing block, a T-shaped connecting piece and a supporting rod, two sides of the fixing block are respectively fixedly connected with a long connecting rod and a T-shaped connecting piece, the two T-shaped connecting pieces are respectively fixedly connected with the framework through two supporting rods, the connecting unit comprises a plurality of supporting shafts and a plurality of long connecting rods, the supporting shafts are fixedly connected with the frameworks of all framework units, the long connecting rods are fixedly connected with the fixing blocks of all framework units, one end of a front swinging rod (43) is hinged with the front end of the long connecting rod, and one end of a rear swinging rod (54) is hinged with the rear end of the long connecting rod.