CN114789782B

CN114789782B - Underwater robot

Info

Publication number: CN114789782B
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: 2023-04-25
Anticipated expiration: 2042-03-07
Also published as: CN114789782A

Abstract

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

Description

Underwater robot

Technical Field

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

Background

Underwater robotics are rapidly developed, and various deep sea exploration robots have been developed at present, including manned submersible vehicles, autonomous underwater robots (AUV), remote underwater Robots (ROV), and the like, and most of such robots are propelled by propellers, carry various exploration instruments, and can be used for performing many scientific exploration, commercial and military tasks, completing underwater observation, sampling, and the like. However, the robot is designed to be zero-buoyancy and is easily affected by ocean current disturbance, and the propeller is easy to cause sea mud surface disturbance and ocean current disturbance, so that the control is difficult, the movement accuracy is difficult to ensure, and the detection result is affected. In addition, such robots cannot stably park walking motions on the sea floor and have great limitations in developing submarine detection.

In contrast, in the prior art, a foot-type underwater detection robot appears, however, although the conventional foot-type underwater detection robot can complete the tasks of various conventional detectors, when the position is transferred, the underwater moving speed of the robot is slower, and when facing the complex topography of the deep sea and the sea bottom, the passing ability is poor, the maneuverability is poor and the movement is flexible and poor. In addition, most of robot driving motors are arranged and placed at joints, so that the weight of foot ends is increased, and the inertia is increased, so that accurate control is inconvenient. The ocean bottom is rich in resources, the ocean exploration in the future is bound to develop to the ocean bottom, even a deep sea space station is established, the ocean bottom resource exploration and development is carried out, and the deep sea exploration robot in the prior art is difficult to adapt to the needs of complex ocean bottom tasks in the future.

Disclosure of Invention

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

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

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 gravity center of the first driving mechanism is positioned 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 with the connecting arm, the gravity center 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 includes a drive pulley, a driven pulley, and a drive belt;

the driven belt wheel is connected with the thigh and is rotationally connected with the connecting arm, the driving belt wheel and the driven belt wheel are wound on the driving belt wheel, the first driver is connected with the driving belt wheel and is used for driving the driving belt wheel to rotate, and the driven belt wheel is driven to rotate through the driving belt wheel so as to drive the thigh to rotate relative to the connecting arm.

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

the driven rope wheel is connected with the lower leg and is rotationally connected with the thigh, the first rope is connected with the driving rope wheel and the driven rope wheel and is positively wound on the driven rope wheel, the second rope is connected with the driving rope wheel and the driven rope wheel and is reversely wound on the driven rope wheel, the second driver is connected with the driving rope wheel and is used for driving the driving rope wheel to positively rotate so as to pull the first rope and drive the driven rope wheel to positively rotate, and the second driver is further used for driving the driving rope wheel to reversely rotate so as to pull the second rope and drive the driven rope wheel to reversely rotate.

In one embodiment, the second transmission assembly further comprises a synchronous rope wheel, the synchronous rope wheel is connected to the connecting arm or the thigh, and the first rope and the second rope are respectively wound or lapped on the synchronous rope wheel.

In one embodiment, the leg module further comprises a swing mechanism connecting the body and the connection arm, the swing mechanism being for driving the connection arm to swing relative to the body.

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

the base is connected with the machine body, the third driver is connected with the base, the transmission mechanism is connected with the third driver and the connecting arm, and the third driver drives the connecting arm to swing through the transmission mechanism.

In one embodiment, a web is attached to the side of the lower leg facing the fuselage.

In one embodiment, the underwater robot further comprises a swimming power module, wherein the swimming power module is connected to the bottom of the body, the plurality of leg modules are arranged on the periphery of the swimming power module in a surrounding mode, 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 components arranged on two sides of the transmission rod;

the connecting frame is connected to the machine body, the power assembly is rotationally connected to the transmission rod and is connected to the connecting frame, and the fourth driver is connected to the connecting frame and is used for driving the transmission rod to reciprocate, so that the transmission rod drives the power assemblies to reciprocate.

In one embodiment, the swimming 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; the two ends of the connecting rod are respectively connected with the crank and the transmission rod in a rotating way;

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 rotationally connected with the transmission rod.

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

on one hand, the robot is connected to the machine body through the 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, this application adopts first driver drive thigh to rotate for the linking arm, and, adopt the rotation of second driver drive shank for the thigh, thereby satisfy the design requirement of sufficient type underwater robot to the required action of shank module, more importantly, the focus of this application does not all fall on thigh and shank, neither fall on the revolute joint between thigh and the linking arm, neither fall on the revolute joint between shank and the thigh, but fall on the linking arm, thereby the weight of thigh and shank has been reduced by a wide margin, and then the moment of inertia of thigh and shank has been reduced, consequently, can be convenient for control the accuracy of thigh and shank activity, not only so, the focus of this application's first actuating mechanism and second actuating mechanism still are close to the fuselage, be equivalent to, all are close to the fuselage of this application, thereby make the holistic focus of this application robot concentrate to the fuselage in the middle part, thereby make thigh and shank activity in the sea, thereby the robot is difficult to control the moment of inertia in the sea and the whole robot is stable because of the problem that the robot is difficult to stabilize in the sea end is solved to the whole because of the robot is moved in the sea.

Drawings

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

Fig. 1 is a schematic structural diagram of an underwater robot according to 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 according to an embodiment of the present disclosure;

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 according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view 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, each reference sign in the figure:

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. leg modules; 201. a connecting arm; 202. thigh; 203. a lower leg; 204. a first driving mechanism; 205. a second driving mechanism; 206. a first bearing; 207. a rotating lever; 208. a second bearing; 209. a rotating shaft; 210. web sheets;

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 driving rope pulley; 2053. a driven sheave; 2054. a first rope; 2055. a second rope; 2056. a synchronous rope pulley;

230. a swinging mechanism; 2301. a base; 2302. a third driver; 2303. a transmission mechanism; 23031. a driving wheel; 23032. driven wheel; 23033. a belt; 23034. a transmission shaft; 23035. a tensioning 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 bracket; 3012. a connecting plate; 3013. a mounting plate; 3014. a limiting shaft;

3061. a mounting rod; 30611. a bar-shaped hole; 3062. a mounting frame; 3063. web water tablet.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, 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 for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" 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 is to be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate the description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

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

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.

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

Referring to fig. 1, each leg module 20 is connected to the body 10 and is arranged together in a circumferential array at the periphery of the body 10. In this embodiment, the number of the leg modules 20 is preferably six, in other embodiments, the number of the leg modules 20 may be eight or ten, etc., and the present application is not limited to the specific number of the leg modules 20. By the interaction of the plurality of leg modules 20, the fuselage 10 may be driven to walk in the sea floor. The swimming power module 30 is disposed at the bottom of the body 10, and the plurality of leg modules 20 are collectively disposed around the outer circumference of the swimming power module 30, and the swimming power module 30 can provide forward power for the body 10 and the respective leg modules 20 in the sea. Therefore, the underwater robot of the embodiment has the advantage of dual purposes of sea and land.

Referring to fig. 1, the fuselage 10 of the present embodiment mainly includes a frame 101 and a cabin 102. The cabin body 102 is fixed on the frame 101 and can be detachably connected with the frame 101, and meanwhile, various sensors can be installed on the outer wall of the cabin body 102, and underwater environment information can be fed back timely to complete a detection task. In addition, a sealed cavity (not shown) is provided in the cabin 102, and is used for installing an electrical control module, which can receive external information and control the operation of each leg module 20 and the swimming power module 30.

Referring to fig. 2, in the present embodiment, the cabin 102 preferably includes a sealed cabin 1021, a first hatch 1022, and a second hatch 1023. Wherein, the sealed cabin 1021 is provided with a containing hole 10211, the containing hole 10211 penetrates through the whole sealed cabin 1021, the first cabin cover 1022 is connected to one end of the sealed cabin 1021, and the second cabin cover 1023 is connected to the other end of the sealed cabin 1021, so that the containing hole 10211 is sealed. In other words, the wall of the housing hole 10211, the bulkhead inside the first hatch 1022, and the bulkhead inside the second hatch 1023 collectively enclose the sealed cavity.

Referring to fig. 3-5, the following details of the structural design of the leg module 20 are provided:

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

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

In this embodiment, a first bearing 206 is installed at one end of the connecting arm 201 near the thigh 202, an outer ring of the first bearing 206 is fixed on the connecting arm 201, a rotating rod 207 is penetrated through an inner ring of the first bearing 206, and a first end of the thigh 202 near the connecting arm 201 is sleeved on an outer wall of the rotating rod 207 and fixedly connected with the rotating rod 207, at this time, the thigh 202 and the connecting arm 201 can rotate around an axle center of the rotating rod 207. In other embodiments, the thigh 202 and the connecting arm 201 can be rotated relative to each other by threading a pin.

In this embodiment, the second end of the thigh 202 far from the connecting arm 201 is provided with a second bearing 208, 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 one end of the thigh 203 near the thigh 202 is sleeved on an outer wall of the rotating shaft 209 and fixedly connected with the rotating shaft 209, at this time, the thigh 203 and the thigh 202 can mutually rotate around the axis of the rotating shaft 209. In other embodiments, the mutual rotation of the lower leg 203 and the upper leg 202 may be achieved by threading a pin.

Wherein 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 falls 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 body 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 body 10, and the first driving mechanism 204 connects 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.

The second driver 2051 is fixed on the connecting arm 201 and is opposite to the first driver 2041, so that the center of gravity of the whole leg module 20 is more stable and reasonable, and the second driver 2051 is also a steering engine. In addition, the center of gravity of the second driving mechanism 205 falls on the second driver 2051, that is, the center of gravity of the second driving mechanism 205 is also away from the first end of the thigh 202 and toward the body 10, in other words, referring to fig. 3, the center of gravity of the second driving mechanism 205 is away from the rotation lever 207 and toward the body 10, and the second driving mechanism 205 connects the thigh 202 and the shank 203 and serves to drive the shank 203 and the thigh 202 to rotate with each other about the axis of the rotation shaft 209.

The present embodiment focuses on the description herein that the present embodiment adopts the first driving mechanism 204 to drive the connecting arm 201 and the thigh 202 to rotate relative to each other, and adopts the second driving mechanism 205 to drive the thigh 202 and the shank 203 to rotate relative to each other, so as to meet the design requirement of the legged underwater robot on the required action of the leg module 20. More importantly, the centers of gravity of the first drive mechanism 204 and the second drive mechanism 205 of the present application do not fall on the thigh 202 and the shank 203, nor on the revolute joint between the thigh 202 and the connecting arm 201, nor on the revolute joint between the shank 203 and the thigh 202, but on the connecting arm 201 fixedly connected with both the first drive mechanism 204 and the second drive mechanism 205, thereby greatly reducing the weight and the respective moment of inertia of the thigh 202 and the shank 203. Moreover, the center of gravity of the first driving mechanism 204 and the center of gravity of the second driving mechanism 205 of the present application are close to the fuselage 10, which is equivalent to that the center of gravity of each leg module 20 of the present application is close to the fuselage 10, so that the center of gravity of the robot of the present embodiment is concentrated to the fuselage 10 in the middle part, therefore, by adopting the technical scheme of the present application, the accuracy of the movement of the thigh 202 and the shank 203 can be conveniently controlled, and when the thigh 202 and the shank 203 move in the sea, the robot is more stable in the sea, thereby solving the problem that the existing foot-type robot is unstable and difficult to control due to the large moment of inertia of the foot end. In addition, the thigh 202 and the shank 203 of the embodiment are made of 3D printing materials, so that the mass and the moment of inertia of the thigh 202 and the shank 203 are further reduced under the condition that the strength requirement is met, and the anti-interference capability of the robot in the sea is further improved, so that 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 belt 2044.

The driving pulley 2042 is fixedly connected with the output shaft of the first driver 2041, the driving pulley 2042 is far away from the first end of the thigh 202 and approaches the machine body 10, the driven pulley 2043 is sleeved on the outer wall of the rotating rod 207 and is fixedly connected with the rotating rod 207, and the driving belt 2044 is wound on the driving pulley 2042 and the driven pulley 2043. In operation, the first driver 2041 drives 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 that the rotation rod 207 is driven to rotate, and the thigh 202 and the connecting arm 201 are driven to rotate relative to each other.

As can be seen from the upper section, the first driving mechanism 204 is designed to be a belt-type transmission structure, so that the weight of the first driving mechanism 204 can be lighter, and the center of gravity of the first driving mechanism 204 can be far away from the first end of the thigh 202 as far as possible and close to the machine body 10.

In addition, the first driving mechanism 204 of the present embodiment further includes a belt tensioning mechanism 2045, and 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 here.

For the prior art, in order to achieve the mutual rotation of the lower leg 203 and the upper leg 202, the prior art generally provides the driving mechanism directly on the rotation lever 207 or on the upper leg 202, whereas the second driver 2051 of the present application is provided on the connection arm 201, and the upper leg 202 and the connection arm 201 are rotatable with each other, and as such, in the specific structural design of the second transmission assembly, it is necessary to consider whether the second transmission assembly interferes with the rotatable upper leg 202.

Further, in order to achieve the arrangement of the second driver 2051 on the connecting arm 201 while avoiding the interference between the second transmission assembly and the thigh 202, please refer to fig. 3-5 together, in the present embodiment, the second transmission assembly includes a driving sheave 2052, a driven sheave 2053, a first rope 2054, a second rope 2055 and a synchronous sheave 2056. Wherein the broken line in fig. 5 represents a first rope 2054 and the broken line represents a second rope 2055.

Wherein, initiative rope sheave 2052 and the output shaft fixed connection of second driver 2051, and initiative rope sheave 2052 keeps away from the first end of thigh 202 and is close to fuselage 10, driven rope sheave 2053 then the cover establish 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 initiative rope sheave 2052, after synchronous rope sheave 2056 is walked around to first rope 2054, the other end of first rope 2054 is fixed on driven rope sheave 2053, similarly, the one end of second rope 2055 is fixed on initiative rope sheave 2052, after synchronous rope sheave 2056 is walked around to second rope 2055, the other end of second rope 2055 is fixed on driven rope sheave 2053.

The second driving mechanism 205 of the present embodiment operates on the following principle: the second driver 2051 can drive the driving sheave 2052 to rotate forward, at this time, one end of the first rope 2054 is automatically wound on the driving sheave 2052, and the other end of the first rope 2054 pulls the driven sheave 2053 to rotate forward, and at the same time, one end of the second rope 2055 is automatically wound on the driven sheave 2053 due to the forward rotation of the driven sheave 2053, and the other end of the second rope 2055 is gradually wound on the driving sheave 2052. Similarly, the second driver 2051 can also drive the driving sheave 2052 to rotate reversely, at this time, one end of the second rope 2055 will be wound up automatically on the driving sheave 2052, the other end of the second rope 2055 will pull the driven sheave 2053 to rotate reversely, at the same time, because of the forward rotation of the driven sheave 2053, one end of the first rope 2054 will be wound up automatically on the driven sheave 2053, and the other end of the first rope 2054 will be wound up gradually on the driving sheave 2052.

Referring to fig. 1 and 5, when the thigh 202 and the connecting arm 201 rotate around the axis of the rotating rod 207, the rotating rod 207 also rotates, and at this time, the synchronous rope wheel 2056 also rotates synchronously with the rotating rod 207, and because the first rope 2054 and the second rope 2055 are both wound around the synchronous rope wheel 2056, when the thigh 202 and the connecting arm 201 rotate around each other, the first rope 2054 and the second rope 2055 can be always wound around the synchronous rope wheel 2056, and the first rope 2054 and the second rope 2055 do not rub against the inner wall of the thigh 202, which is equivalent to that the first rope 2054 and the second rope 2055 do not interfere with the thigh 202, and at the same time, the problem that the first rope 2054 and the second rope 2055 are blocked by other parts due to the pulsation or water current of the rope 2054 and the second rope 2055 can be avoided, thereby ensuring the stability and reliability of the robot in the operation in the sea.

Referring to fig. 1, 3 and 4 together, the leg module 20 of the present embodiment further includes a swinging mechanism 230, where the swinging mechanism 230 connects the body 10 and the connecting arm 201, and is used to drive the connecting arm 201 to swing relative to the body 10, so that each leg module 20 has more degrees of freedom, and the robot can be more flexible and 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 comprises a driving wheel 23031, a driven wheel 23032, a belt 23033, a transmission shaft 23034 and a tensioning 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 wheel 23034 are connected with the base 2301 through shaft sleeves, namely, the driving wheel 23034 can freely rotate relative to the base 2301, the driven wheel 23032 is sleeved on an outer wall of the driving wheel 23034 and fixedly connected with the driving wheel 23034, the belt 23033 is sleeved on the driving wheel 23031 and the driven wheel 23032, the tensioning wheel 23035 is connected on the base 2301 and used for tensioning the belt 23033, the dust cover 2304 covers 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 run, and the driving mechanism 2303 is prevented from being blocked by impurities in the sea. In addition, both ends of the transmission shaft 23034 are fixed to the connection arm 201. When the swing mechanism 230 works, 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 be a gear transmission or a sprocket transmission.

Referring to fig. 1, 3 and 4 together, 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 located on the inner side of the lower leg 203 toward the fuselage 10. Because the web pieces 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 flexibility of the robot movement is improved, and the adaptability of the robot to unstructured ground environments is further enhanced. In addition, various sensors can be installed on the outer wall of the lower leg 203, and underwater environment information can be fed back timely to complete the detection task.

Referring to fig. 1, 6 and 7, the following details of the structural design of the swimming power module 30 are described:

the swimming power module 30 mainly comprises a connecting frame 301, a crank 302, a connecting rod 303, a fourth driver 304, a transmission rod 305 and a plurality of power components 306 arranged on two sides of the transmission 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 therein. The connecting frame 301 adopts the structural design, so that the connecting frame 301 is more compact and reasonable, and is convenient to process and assemble.

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

Further, the power assembly 306 in turn includes a mounting bar 3061, a mounting frame 3062, and a web water sheet 3063. Wherein, the one end rotation of installation pole 3061 is connected in transfer line 305, and mounting bracket 3062 is fixed on transfer line 305, and web water sheet 3063 is fixed on mounting bracket 3062, and web water sheet 3063 is used for driving the whole advancing of robot through dialling water. In addition, the middle part of the mounting rod 3061 is provided with a bar-shaped hole 3067 penetrating through the mounting rod 3061, a plurality of limiting shafts 3014 are fixed on the connecting frame 301, and each limiting shaft 3014 is arranged in the bar-shaped hole 3067 of one power assembly 306 in a penetrating manner and can freely move along the hole wall of the bar-shaped hole 3067. Because the limiting shaft 3014 limits the mounting rod 3061, when the transmission rod 305 performs telescopic motion, the mounting rod 3061 of each power assembly 306 can swing back and forth, and the web water sheet 3063 can drive the robot to advance through water drawing.

The swimming power module 30 has the advantages of simple structure and small size, can rapidly finish various action requirements when the swimming power module 30 is matched with six feet to walk, and can provide enough power for the robot when the robot needs to rapidly move, and meanwhile, the response capability of the robot is improved.

The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating the general principles of the present invention and is not to be construed as limiting the scope of the invention in any way. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other embodiments of the present invention as will occur to those skilled in the art without the exercise of inventive faculty, are intended to be included within the scope of the present invention.

Claims

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

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 positioned 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;

the leg module further comprises a swinging mechanism, wherein the swinging mechanism is connected with the machine body and the connecting arm and is used for driving the connecting arm to swing relative to the machine body;

the swinging mechanism comprises a base, a third driver and a transmission mechanism;

the base is connected with the machine body, the third driver is connected with the base, the transmission mechanism is connected with the third driver and the connecting arm, and the third driver drives the connecting arm to swing through the transmission mechanism;

the underwater robot further comprises a swimming power module, wherein the swimming power module is connected to the bottom of the machine body, the leg modules are arranged on the periphery of the swimming power module in a surrounding mode, and the swimming power module is used for driving the machine body and the leg modules to move forward.

2. The underwater robot of claim 1, wherein the first transmission assembly comprises a driving pulley, a driven pulley, and a transmission belt;

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

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

5. The underwater robot of claim 1 wherein a web is attached to a side of the lower leg facing the fuselage.

6. The underwater robot of claim 1, wherein the swimming power module comprises a connecting frame, a fourth driver, a transmission rod and a plurality of power components arranged on two sides of the transmission rod;

7. The underwater robot of claim 6 wherein the swimming 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; the two ends of the connecting rod are respectively connected with the crank and the transmission rod in a rotating way;