CN114789782A

CN114789782A - Underwater robot

Info

Publication number: CN114789782A
Application number: CN202210225403.0A
Authority: CN
Inventors: 徐耀辉; 李翰林; 何凯; 谢锋然; 左启阳; 方海涛
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-07-26
Anticipated expiration: 2042-03-07
Also published as: CN114789782B

Abstract

The application provides an underwater robot, which comprises a robot body and a plurality of leg modules connected to the robot body; the leg module comprises a connecting arm, a thigh, a shank, a first driving mechanism and a second driving mechanism, the connecting arm is connected to the machine body, and the connecting arm, the thigh and the shank are sequentially and rotatably connected; the first driving mechanism comprises a first driver and a first transmission assembly which are connected, the first driver is connected to the connecting arm, the first transmission assembly is connected with the thigh, and the first driver drives the thigh to rotate relative to the connecting arm through the first transmission assembly; the second driving mechanism comprises a second driver and a second transmission assembly which are connected, the second driver is connected to the connecting arm, the second transmission assembly is connected with the shank, and the second driver drives the shank to rotate relative to the thigh through the second transmission assembly. The application mainly solves the technical problem that the foot end of the existing foot type robot is difficult to control in water due to large inertia.

Description

Underwater robot

Technical Field

The application belongs to the field of robots, and particularly relates to an underwater robot.

Background

The underwater robot technology is developed rapidly, and various deep sea detection robots are developed at present, including manned submersible vehicles, autonomous underwater robots (AUV), remote control underwater Robots (ROV) and the like, wherein most of the robots are propelled by propellers and carry various detection instruments, and the robots can be used for executing a plurality of scientific exploration, commercial and military tasks, completing underwater observation, sampling and the like. However, such robots are designed to have zero buoyancy, are easily influenced by ocean current disturbance, and can easily cause sea mud surface layer disturbance and ocean current disturbance due to the propulsion propeller, so that the control is difficult, the motion accuracy is difficult to guarantee, and the detection result is influenced. In addition, the robot cannot stably stop walking movement on the seabed, and has great limitation in carrying out seabed exploration.

However, although the existing legged underwater exploration robot can complete the tasks of various traditional detectors, when the position is transferred, the underwater moving speed of the robot is slow, and when the robot faces a deep sea seabed complex terrain, soft sea mud geology, reef and gully, the passing capability is poor, the maneuverability is poor, and the movement is not flexible. In addition, most robot driving motors are arranged at joints, so that the weight of foot ends is increased, and inertia is increased, which causes inconvenience in accurate control. The seabed contains abundant resources, future ocean exploration is necessarily developed to seabed exploration, deep sea space stations are even established, and seabed resource exploration and development are developed, but the deep sea exploration robot in the prior art is difficult to adapt to the requirements of future complex seabed tasks.

Disclosure of Invention

An object of the embodiment of the application is to provide an underwater robot, which mainly solves the technical problem that the robot is difficult to control in water due to large inertia at the foot end of the existing foot type underwater robot.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing an underwater robot comprising a fuselage and a plurality of leg modules connected to the fuselage; the leg module comprises a connecting arm, a thigh, a shank, a first driving mechanism and a second driving mechanism, the connecting arm is connected to the machine body, and the connecting arm, the thigh and the shank are sequentially connected in a rotating manner;

the first driving mechanism comprises a first driver and a first transmission assembly which are connected, the first driver is connected with the connecting arm, the center of gravity of the first driving mechanism is located on the first driver, the first transmission assembly is connected with the thigh, and the first driver is used for driving the thigh to rotate relative to the connecting arm through the first transmission assembly;

the second driving mechanism comprises a second driver and a second transmission assembly which are connected, the second driver is connected to the connecting arm, the center of gravity of the second driving mechanism is located on the second driver, the second transmission assembly is connected with the lower leg, and the second driver is used for driving the lower leg to rotate relative to the thigh through the second transmission assembly.

In one embodiment, the first transmission assembly comprises a driving pulley, a driven pulley and a transmission belt;

the driving belt wheel is connected with the driving belt wheel and used for driving the driving belt wheel to rotate, and the driving belt wheel is driven to rotate by the driving belt so as to drive the thigh to rotate relative to the connecting arm.

In one embodiment, the second transmission assembly comprises a driving sheave, a driven sheave, a first rope and a second rope;

the driven rope sheave is connected the shank and with the thigh rotates to be connected, first rope is connected the drive rope sheave with the driven rope sheave, and twine in the driven rope sheave forward, the second rope is connected the drive rope sheave with the driven rope sheave, and twine in the reverse direction in the driven rope sheave, the second driver is connected the drive rope sheave, the second driver is used for the drive rope sheave forward rotates, in order to stimulate first rope and drive the driven rope sheave forward rotates, the second driver still is used for the drive rope sheave reverse rotation, in order to stimulate the second rope and drive the driven rope sheave reverse rotation.

In one embodiment, the second transmission assembly further comprises a synchronization sheave connected to the connecting arm or the thigh, and the first rope and the second rope are respectively wound or bridged on the synchronization sheave.

In one embodiment, the leg module further includes a swing mechanism, the swing mechanism connects the body and the connecting arm, and the swing mechanism is configured to drive the connecting arm to swing with respect to the body.

In one embodiment, the swing mechanism comprises a base, a third driver and a transmission mechanism;

the pedestal connection the fuselage, the third driver is connected the base, drive mechanism connects the third driver with the linking arm, the third driver passes through the drive mechanism drive the linking arm swing.

In one embodiment, a web plate is connected to one side of the lower leg, which faces the fuselage.

In one embodiment, the underwater robot further comprises a swimming power module, the swimming power module is connected to the bottom of the body, the plurality of leg modules are arranged around the periphery of the swimming power module, and the swimming power module is used for driving the body and the plurality of leg modules to advance.

In one embodiment, the swimming power module comprises a connecting frame, a fourth driver, a transmission rod and a plurality of power assemblies arranged on two sides of the transmission rod;

the connecting frame is connected to the machine body, the power assembly is rotatably connected to the transmission rod and connected to the connecting frame, and the fourth driver is connected to the connecting frame and used for driving the transmission rod to do reciprocating motion, so that the transmission rod drives the power assemblies to poke in a reciprocating mode.

In one embodiment, the swim power module further comprises a crank and a connecting rod; the crank is connected to the fourth driver, and the fourth driver is used for driving the crank to do reciprocating rotation motion; two ends of the connecting rod are respectively and rotatably connected to the crank and the transmission rod;

the power assembly comprises an installation rod and a water fin sheet which are connected, a strip-shaped hole is formed in the installation rod, a limiting shaft is arranged on the connecting frame, the limiting shaft penetrates through the strip-shaped hole and can freely move along the hole wall of the strip-shaped hole, and one end, far away from the water fin sheet, of the installation rod is rotatably connected to the transmission rod.

Compared with the prior art, the underwater robot that this application provided's beneficial effect lies in at least:

on one hand, the robot is connected to the body through the plurality of leg modules, so that the gravity center of the robot can be stabilized, and the anti-interference capability of the robot is improved;

on the other hand, the first driver is adopted to drive the thigh to rotate relative to the connecting arm, and the second driver is adopted to drive the shank to rotate relative to the thigh, so that the design requirements of the foot type underwater robot on the required action of the leg module are met, more importantly, the gravity centers of the first driving mechanism and the second driving mechanism of the leg type underwater robot do not fall on the thigh and the shank, do not fall on a rotary joint between the thigh and the connecting arm, do not fall on the rotary joint between the shank and the thigh, but fall on the connecting arm, so that the weight of the thigh and the shank is greatly reduced, the rotary inertia of the thigh and the shank is further reduced, the movement accuracy of the thigh and the shank can be conveniently controlled, moreover, the gravity center of the first driving mechanism and the gravity center of the second driving mechanism of the leg type underwater robot are close to the machine body, equivalently, the gravity centers of the leg modules of the leg type underwater robot are close to the machine body, thereby make the holistic focus of the robot of this application all concentrate to the fuselage at middle part to make when thigh and shank move about in the sea, the whole stability more in the sea of robot, thereby solve current sufficient formula robot and lead to unstable and the problem of being difficult to control because the foot end inertia of motion is big.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of an underwater robot provided in an embodiment of the present application;

FIG. 2 is an exploded view of a nacelle according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a leg module provided in an embodiment of the present application;

fig. 4 is an exploded view of a leg module provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a second driving mechanism provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a swimming power module according to an embodiment of the present disclosure;

fig. 7 is an exploded view of a swimming power module according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

10. a body; 101. a frame; 102. a cabin body; 1021. sealing the cabin; 1022. a first hatch; 1023. a second hatch; 10211. an accommodating hole;

20. a leg module; 201. a connecting arm; 202. a thigh; 203. a lower leg; 204. a first drive mechanism; 205. a second drive mechanism; 206. a first bearing; 207. rotating the rod; 208. a second bearing; 209. a rotating shaft; 210. web pieces;

2041. a first driver; 2042. a driving pulley; 2043. a driven pulley; 2044. a transmission belt; 2045. a belt tensioning mechanism;

2051. a second driver; 2052. a drive sheave; 2053. a driven sheave; 2054. a first rope; 2055. a second rope; 2056. a synchronous sheave;

230. a swing mechanism; 2301. a base; 2302. a third driver; 2303. a transmission mechanism; 23031. a driving wheel; 23032. a driven wheel; 23033. a belt; 23034. a drive shaft; 23035. a tension wheel; 2304. a dust cover;

30. a swimming power module; 301. a connecting frame; 302. a crank; 303. a connecting rod; 304. a fourth driver; 305. a transmission rod; 306. a power assembly;

3011. a support; 3012. a connecting plate; 3013. mounting a plate; 3014. a limiting shaft;

3061. mounting a rod; 30611. a strip-shaped hole; 3062. a mounting frame; 3063. a web water sheet.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and therefore should not be considered limiting to the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1, a description will now be given of an underwater robot according to an embodiment of the present application. The underwater robot includes a body 10, a plurality of leg modules 20, and a swimming power module 30.

Referring to fig. 1, the leg modules 20 are connected to the fuselage 10 and are collectively arranged in a circumferential array around the fuselage 10. In this embodiment, the number of the leg modules 20 is preferably six, and in other embodiments, the number of the leg modules 20 may also be eight or ten, and the application is not limited to the specific number of the leg modules 20. The body 10 is driven to walk in the sea bottom by the cooperation of the plurality of leg modules 20. The swimming power module 30 is arranged at the bottom of the body 10, and the plurality of leg modules 20 are collectively arranged around the periphery of the swimming power module 30, and the swimming power module 30 can provide forward power for the body 10 and each leg module 20 in the sea. Therefore, the underwater robot has the advantage of being used on both sea and land.

Referring to fig. 1, the main body 10 of the present embodiment mainly includes a frame 101 and a cabin 102. The cabin 102 is fixed on the frame 101 and detachably connected to the frame 101, and meanwhile, various sensors can be installed on the outer wall of the cabin 102 to feed back underwater environment information in time to complete a detection task. In addition, a sealed chamber (not shown) is provided in the cabin 102 for mounting an electrical control module that receives external information and controls the operation of each of the leg modules 20 and the swim power module 30.

Referring to fig. 2, in the present embodiment, the cabin 102 preferably includes a sealed cabin 1021, a first cover 1022 and a second cover 1023. Wherein, the sealed cabin 1021 is provided with a receiving hole 10211, the receiving hole 10211 penetrates through the whole sealed cabin 1021, the first cover 1022 is connected to one end of the sealed cabin 1021, and the second cover 1023 is connected to the other end of the sealed cabin 1021, so as to seal the receiving hole 10211. In other words, the wall of the receiving hole 10211, the wall of the first hatch 1022 and the wall of the second hatch 1023 together form the above-mentioned sealed chamber.

Referring to fig. 3-5, the structural design of the leg module 20 is described in detail as follows:

the leg module 20 of the present embodiment mainly includes a connecting arm 201, a thigh 202, a shank 203, a first drive mechanism 204, and a second drive mechanism 205. The first drive mechanism 204 includes a first driver 2041 and a first drive assembly coupled thereto, and the second drive mechanism 205 includes a second driver 2051 and a second drive assembly coupled thereto.

Wherein the connecting arm 201 is connected to the main body 10, it is understood herein that the connecting arm 201 may be fixedly connected to the main body 10, the connecting arm 201 may also be movably connected to the main body 10, and even the connecting arm 201 may be integrally formed with the main body 10.

Wherein, thigh 202 and connecting arm 201 rotate to be connected, two part looks mutual rotation's structural design have a lot of, for example, in this embodiment, first bearing 206 is installed to the one end that connecting arm 201 is close to thigh 202, and the outer lane of first bearing 206 is fixed on connecting arm 201, and a dwang 207 is worn to be equipped with by the inner circle of first bearing 206, and thigh 202 is close to the first pot head of connecting arm 201 and establish on the outer wall of this dwang 207 and with dwang 207 fixed connection, and at this moment, thigh 202 and connecting arm 201 can revolute the axle center mutual rotation of dwang 207. In other embodiments, the mutual rotation of the thigh 202 and the connecting arm 201 can be realized by inserting a pin.

In the present embodiment, a second bearing 208 is installed at a second end of the thigh 202 far from the connecting arm 201, an outer ring of the second bearing 208 is fixed on the thigh 202, an inner ring of the second bearing 208 is provided with a rotating shaft 209 in a penetrating manner, and an end of the shank 203 close to the thigh 202 is sleeved on an outer wall of the rotating shaft 209 and is fixedly connected with the rotating shaft 209, at this time, the shank 203 and the thigh 202 can rotate around an axis of the rotating shaft 209. In other embodiments, the mutual rotation of the lower leg 203 and the upper leg 202 can be realized by a pin.

The first driver 2041 is fixed on the connecting arm 201, the first driver 2041 is preferably a steering engine, the center of gravity of the first driving mechanism 204 is located on the first driver 2041, that is, the center of gravity of the first driving mechanism 204 is far away from the first end of the thigh 202 and approaches the fuselage 10, in other words, referring to fig. 3, the center of gravity of the first driving mechanism 204 is far away from the rotating rod 207 and approaches the fuselage 10, and the first driving mechanism 204 is connected with the thigh 202 and the connecting arm 201 and is used for driving the thigh 202 and the connecting arm 201 to rotate around the axis of the rotating rod 207.

Wherein, second driver 2051 is fixed on connecting arm 201 to set up with first driver 2041 is relative, thereby let the holistic focus of shank module 20 more steady and more reasonable, second driver 2051 is the steering wheel moreover. In addition, the center of gravity of the second driving mechanism 205 is located on the second driver 2051, that is, the center of gravity of the second driving mechanism 205 is also far away from the first end of the thigh 202 and approaches the body 10, in other words, referring to fig. 3, the center of gravity of the second driving mechanism 205 is far away from the rotating rod 207 and approaches the body 10, and the second driving mechanism 205 is connected with the thigh 202 and the shank 203 and is used for driving the shank 203 and the thigh 202 to rotate relative to each other around the axis of the rotating shaft 209.

It is emphasized here that the present embodiment employs the first driving mechanism 204 to drive the connecting arm 201 and the thigh 202 to rotate mutually, and employs the second driving mechanism 205 to drive the thigh 202 and the shank 203 to rotate mutually, so as to meet the design requirement of the foot type underwater robot for the required motion of the leg module 20. More importantly, the center of gravity of the first driving mechanism 204 and the second driving mechanism 205 of the present application does not fall on the thigh 202 and the calf 203, nor on the rotational joint between the thigh 202 and the connecting arm 201, nor on the rotational joint between the calf 203 and the thigh 202, but on the connecting arm 201 fixedly connected to both the first driving mechanism 204 and the second driving mechanism 205, so that the weight and the respective moment of inertia of the thigh 202 and the calf 203 are greatly reduced. Moreover, the center of gravity of first actuating mechanism 204 and the center of gravity of second actuating mechanism 205 of this application still are close to fuselage 10, be equivalent to, the center of gravity of each shank module 20 of this application all is close to fuselage 10, thereby make the holistic center of gravity of the robot of this embodiment all concentrate to fuselage 10 at middle part, consequently, adopt the technical scheme of this application, the accuracy of the activity of thigh 202 and shank 203 of can being convenient for to control, when thigh 202 and shank 203 move about in the sea, the whole stability in the sea of robot, thereby solve current sufficient formula robot because the tip inertia of the foot is big and lead to unstable and the problem of being difficult to control. In addition, the thigh 202 and the shank 203 of the embodiment both adopt 3D printing materials, and the mass and the moment of inertia of the thigh 202 and the shank 203 are further reduced under the condition of meeting the requirement of strength, so that the anti-interference capability of the robot in the sea is further improved, and the robot is more stable in the sea.

Specifically, referring to fig. 3-5, the first transmission assembly includes a driving pulley 2042, a driven pulley 2043 and a transmission belt 2044.

The driving pulley 2042 is fixedly connected to an output shaft of the first driver 2041, the driving pulley 2042 is away from the first end of the thigh 202 and approaches the fuselage 10, the driven pulley 2043 is sleeved on the outer wall of the rotating rod 207 and is fixedly connected to the rotating rod 207, and the transmission belt 2044 is wound around the driving pulley 2042 and the driven pulley 2043. During operation, the first driver 2041 can drive the driving pulley 2042 to rotate, and the driving pulley 2042 drives the driven pulley 2043 to rotate through the transmission of the transmission belt 2044, so as to drive the rotating rod 207 to rotate, and further drive the thighs 202 and the connecting arm 201 to rotate relative to each other.

As can be seen from the above, in the present application, the first driving mechanism 204 is designed as a belt-type transmission structure, which can make the weight of the first driving mechanism 204 lighter, and can make the center of gravity of the first driving mechanism 204 as far as possible away from the first end of the thigh 202 and close to the body 10.

In addition, the first driving mechanism 204 of the present embodiment further includes a belt tensioning mechanism 2045, the belt tensioning mechanism 2045 is mounted on the connecting arm 201 and is used for tensioning the transmission belt 2044, and since the function of the belt tensioning mechanism 2045 is prior art, it is not explained herein.

In order to achieve the mutual rotation of the lower leg 203 and the upper leg 202, the prior art usually provides the driving mechanism directly on the rotating rod 207 or on the upper leg 202, while the second driver 2051 of the present application is arranged on the connecting arm 201, and the upper leg 202 and the connecting arm 201 are mutually rotatable, and therefore, when the second transmission assembly is designed specifically, the problem of whether the second transmission assembly interferes with the rotatable upper leg 202 needs to be considered.

Further, in order to realize the second drive unit 2051 disposed on the connecting arm 201 and avoid the interference between the second drive element and the thigh 202, please refer to fig. 3-5, in this embodiment, the second drive element includes a driving sheave 2052, a driven sheave 2053, a first rope 2054, a second rope 2055 and a synchronization sheave 2056. In fig. 5, a first string 2054 is shown by a dotted line, and a second string 2055 is shown by a dotted line.

Wherein, drive rope sheave 2052 is fixedly connected with the output shaft of second driver 2051, and, drive rope sheave 2052 is kept away from the first end of thigh 202 and is close to fuselage 10, driven rope sheave 2053 then overlaps and is established on the outer wall of axis of rotation 209 and with axis of rotation 209 fixed connection, synchronous rope sheave 2056 is fixed on the outer wall of dwang 207 and with dwang 207 fixed connection, and the one end of first rope 2054 is fixed on drive rope sheave 2052, after first rope 2054 walks around synchronous rope sheave 2056, the other end of first rope 2054 is fixed on driven rope sheave 2053, and likewise, one end of second rope 2055 is fixed on drive rope sheave 2052, after second rope 2055 walks around synchronous rope sheave 2056, the other end of second rope 2055 is fixed on driven rope sheave 2053.

The working principle of the second driving mechanism 205 of the present embodiment is: the second drive 2051 drives the drive sheave 2052 in a forward direction, such that one end of the first rope 2054 is automatically wound around the drive sheave 2052 and the other end of the first rope 2054 pulls the driven sheave 2053 in a forward direction, while at the same time, due to the forward rotation of the driven sheave 2053, one end of the second rope 2055 is automatically wound around the driven sheave 2053 and the other end of the second rope 2055 is gradually wound around the drive sheave 2052. Similarly, the second drive 2051 can also drive the driving sheave 2052 to rotate in the reverse direction, at this time, one end of the second rope 2055 can be automatically wound on the driving sheave 2052, and the other end of the second rope 2055 can pull the driven sheave 2053 to rotate in the reverse direction, and meanwhile, due to the forward rotation of the driven sheave 2053, one end of the first rope 2054 can be automatically wound on the driven sheave 2053, and the other end of the first rope 2054 can be gradually wound on the driving sheave 2052.

Referring to fig. 1 and 5 together, when the thigh 202 and the link arm 201 rotate around the axis of the lever 207, the lever 207 also rotates, and at this time, the synchronization rope wheel 2056 also rotates synchronously with the lever 207, and since the first rope 2054 and the second rope 2055 are wound around the synchronization rope wheel 2056, when the thigh 202 and the link arm 201 rotate mutually, both the first rope 2054 and the second rope 2055 can always wind around the synchronization rope wheel 2056, neither the first rope 2054 nor the second rope 2055 can rub against the inner wall of the thigh 202, which means that neither the first rope 2054 nor the second rope 2055 interferes with the thigh 202, and at this time, the problem that the first rope 2054 and the second rope 2055 seize against other parts due to their own jumping or water flow can be avoided, thereby ensuring the stability and reliability of the robot in marine work.

Referring to fig. 1, fig. 3 and fig. 4, the leg module 20 of the present embodiment further includes a swing mechanism 230, the swing mechanism 230 is connected to the body 10 and the connecting arm 201, and is used for driving the connecting arm 201 to swing with respect to the body 10, at this time, each leg module 20 has more degrees of freedom, so that the robot can be more agile in the sea.

Specifically, the swing mechanism 230 mainly includes a base 2301, a third driver 2302, a transmission mechanism 2303, and a dust cover 2304. The transmission mechanism 2303 further includes a driving wheel 23031, a driven wheel 23032, a belt 23033, a transmission shaft 23034 and a tension wheel 23035. Specifically, the base 2301 and the body 10 are fixed as a whole, the third driver 2302 is fixed on the base 2301, the third driver 2302 is also preferably a steering engine, the driving wheel 23031 is fixed on an output shaft of the third driver 2302, two ends of the driving shaft 23034 are connected with the base 2301 through shaft sleeves, that is, the driving shaft 23034 can freely rotate relative to the base 2301, the driven wheel 23032 is sleeved on the outer wall of the driving shaft 23034 and is fixedly connected with the driving shaft 23034, the belt 23033 is sleeved on the driving wheel 23031 and the driven wheel 23032, the tension wheel 23035 is connected on the base 2301 and is used for tensioning the belt 23033, the dust cover 2304 is covered on the base 2301, and the dust cover 2304 is used for covering the driving mechanism 2303, so that the driving mechanism 2303 can reliably and stably operate, and the transmission mechanism 2303 can be prevented from being jammed by marine impurities. In addition, both ends of the driving shaft 23034 are fixed to the connecting arms 201. When the swinging mechanism 230 is in operation, the third driver 2302 can drive the driving wheel 23031 to rotate, and the driving wheel 23031 drives the driven wheel 23032 to rotate through the belt 23033, so as to drive the transmission shaft 23034 to rotate, and further drive the connecting arm 201 to rotate relative to the base 2301.

The transmission 2303 is not limited to the belt transmission of the present application, and in other embodiments, the transmission 2303 may also be a gear transmission or a sprocket transmission.

Referring to fig. 1, 3 and 4, the leg module 20 of the present embodiment further includes a fin 210, and the fin 210 is fixed to the lower leg 203 and is located at the inner side of the lower leg 203 facing the fuselage 10. Because the webbed sheets 210 are arranged in each leg module 20, when the lower leg 203 swings, the posture of the hexapod robot in water can be changed, the movement flexibility of the robot is improved, and the adaptability of the robot to the unstructured ground environment is further enhanced. In addition, various sensors can be mounted on the outer wall of the crus 203 to feed back underwater environment information in time, so that a detection task is completed.

Referring to fig. 1, 6 and 7, the structural design of the swimming power module 30 is described in detail as follows:

the swimming power module 30 mainly includes a link 301, a crank 302, a connecting rod 303, a fourth driver 304, a driving rod 305, and a plurality of power modules 306 disposed at both sides of the driving rod 305.

Specifically, the connection frame 301 further includes two brackets 3011, a plurality of connection plates 3012, and a mounting plate 3013, where the two brackets 3011 are fixed on the body 10, the plurality of connection plates 3012 are fixed between the two brackets 3011, and the mounting plate 3013 is fixed on the two connection plates 3012. The connecting frame 301 adopts the above structural design, so that the connecting frame 301 is more compact and reasonable, and is convenient to process and assemble.

More specifically, fourth driver 304 is fixed to connection plate 3012. Fourth drive 304 is also preferably a steering engine. The crank 302 is fixed on an output shaft of a fourth driver 304, the fourth driver 304 can drive the crank 302 to rotate, one end of a connecting rod 303 is rotatably connected to the crank 302, the other end of the connecting rod 303 is rotatably connected to a transmission rod 305, and when the crank 302 rotates, the crank 302 can drive the transmission rod 305 to perform a telescopic motion forward through the connecting rod 303.

Further, the power assembly 306, in turn, includes a mounting bar 3061, a mounting bracket 3062, and a fin water plate 3063. Wherein, one end of the mounting rod 3061 is rotatably connected to the driving rod 305, the mounting rack 3062 is fixed on the driving rod 305, the fin water piece 3063 is fixed on the mounting rack 3062, and the fin water piece 3063 is used for driving the robot to integrally advance by stirring water. In addition, a strip-shaped hole 30611 penetrating through the installation rod 3061 is formed in the middle of the installation rod 3061, a plurality of limiting shafts 3014 are fixed on the connecting frame 301, and each limiting shaft 3014 penetrates through the strip-shaped hole 30611 of one power assembly 306 and can freely move along the hole wall of the strip-shaped hole 30611. Because the limit shaft 3014 limits the mounting rods 3061, when the transmission rod 305 makes a telescopic motion, the mounting rods 3061 of each power assembly 306 can swing back and forth, and the finning water pieces 3063 can drive the robot to advance through the water stirring.

The swimming power module 30 of this application has the advantage that simple structure and volume are miniature, when swimming power module 30 collocation hexapod was walked, can accomplish various action demands fast to, when the robot needs rapid movement, can provide sufficient power for the robot, improve the responsiveness of robot simultaneously.

The foregoing is considered as illustrative only of the preferred embodiments of the invention, and is not to be construed in any way as limiting the scope of the invention. Any modifications, equivalents and improvements made within the spirit and principles of the invention and other embodiments of the invention without the creative effort of those skilled in the art are included in the protection scope of the invention based on the explanation here.

Claims

1. An underwater robot comprising a fuselage and a plurality of leg modules connected to the fuselage; the leg module comprises a connecting arm, a thigh, a shank, a first driving mechanism and a second driving mechanism, the connecting arm is connected to the machine body, and the connecting arm, the thigh and the shank are sequentially and rotatably connected;

the first driving mechanism comprises a first driver and a first transmission assembly which are connected, the first driver is connected to the connecting arm, the center of gravity of the first driving mechanism is located on the first driver, the first transmission assembly is connected to the thigh, and the first driver is used for driving the thigh to rotate relative to the connecting arm through the first transmission assembly;

the second driving mechanism comprises a second driver and a second transmission assembly which are connected, the second driver is connected with the connecting arm, the center of gravity of the second driving mechanism is located on the second driver, the second transmission assembly is connected with the lower leg, and the second driver is used for driving the lower leg to rotate relative to the upper leg through the second transmission assembly.

2. An underwater robot as in claim 1 wherein the first transmission assembly comprises a drive pulley, a driven pulley and a transmission belt;

3. The underwater robot of claim 1, wherein the second transmission assembly includes a driving sheave, a driven sheave, a first rope and a second rope;

driven rope sheave is connected the shank and with the thigh rotates to be connected, first rope is connected the drive rope sheave with driven rope sheave, and the forward winding in driven rope sheave, the second rope is connected the drive rope sheave with driven rope sheave, and reverse winding in driven rope sheave, the second driver is connected the drive rope sheave, the second driver is used for the drive rope sheave forward rotation, in order to stimulate first rope drives driven rope sheave forward rotation, the second driver still is used for the drive rope sheave reverse rotation, in order to stimulate the second rope drives driven rope sheave reverse rotation.

4. An underwater robot as claimed in claim 3, wherein the second transmission assembly further comprises a timing sheave connected to the connecting arm or the thigh, the first rope and the second rope being wound around or riding on the timing sheave, respectively.

5. An underwater robot as in claim 1 wherein the leg module further comprises a swinging mechanism connecting the body and the connecting arm, the swinging mechanism for driving the connecting arm to swing relative to the body.

6. An underwater robot as recited in claim 5, wherein said oscillating mechanism includes a base, a third drive, and a transmission mechanism;

7. An underwater robot as in claim 1 wherein a fin is attached to a side of the lower leg facing the fuselage.

8. The underwater robot of any one of claims 1-7 further comprising a swim power module connected to a bottom of the body, wherein the plurality of leg modules collectively enclose a periphery of the swim power module, and wherein the swim power module is configured to drive the body and the plurality of leg modules forward.

9. An underwater robot as in claim 8 wherein the swimming power module comprises a link, a fourth drive, a drive rod, and a plurality of power assemblies disposed on either side of the drive rod;

10. An underwater robot as in claim 9 wherein the swim power module further comprises a crank and a connecting rod; the crank is connected with the fourth driver, and the fourth driver is used for driving the crank to do reciprocating rotation motion; two ends of the connecting rod are respectively and rotatably connected to the crank and the transmission rod;

the power assembly comprises a mounting rod and a web water sheet which are connected, a strip-shaped hole is formed in the mounting rod, a limiting shaft is arranged on the connecting frame, the limiting shaft penetrates through the strip-shaped hole and can freely move along the hole wall of the strip-shaped hole, and one end, far away from the web water sheet, of the mounting rod is rotatably connected to the transmission rod.