CN114852303A

CN114852303A - Underwater robot

Info

Publication number: CN114852303A
Application number: CN202210588296.8A
Authority: CN
Inventors: 徐耀辉; 李翰林; 何凯; 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: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-08-05

Abstract

The underwater robot comprises a robot body, wherein two opposite side walls of the robot body are respectively provided with a propelling mechanism, each propelling mechanism comprises a driving steering engine and a flipper, the driving steering engines are arranged on the side walls of the robot body, and the flipper is connected with the driving steering engines; the flipper comprises a flipper structure and a limiting piece, wherein the limiting piece is arranged on the flipper structure and is used for limiting the flipper structure in a pushing stroke stage so as to keep the flipper structure in a flattening state; the fin structure comprises at least three fin plates which are sequentially connected in a rotating mode, and the fin plate positioned at the head end of the fin structure is connected with the driving steering engine. The application provides a web piece structure of underwater robot includes rotates the at least three web piece of connection in proper order, and in the stage of pushing away the journey, each web piece of web piece structure rotates simultaneously in order to launch the motion, makes web piece structure launch from the folded state fast, resumes the exhibition flat state, is favorable to reducing the idle stroke in the stage of pushing away the journey, increases power and the efficiency of pushing away the journey.

Description

Underwater robot

Technical Field

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

Background

The ocean contains abundant resources including traditional mineral resources, submarine minerals, submarine oil and gas, etc. Exploring and exploiting ocean resources has very important significance for the development of the country, and meanwhile, as the scientific technology of China is continuously developed and perfected, the underwater detection robot is rapidly developed. Common underwater detection robots include manned submersibles, autonomous underwater robots, remote-controlled underwater robots, bionic underwater robots and the like which are provided with a propeller to provide power, wherein the remote-controlled underwater robots include legged robots, crawler robots, wheeled robots and the like, and the bionic underwater robots are typically passive webbed underwater robots.

Most of common passive fin type underwater robots adopt a mode that a flexible joint is combined with a rigid fin, when the fin is pushed away underwater, the fin is similar to a rigid fin under the action of mechanical limitation, and the fin swings reversely under the action of hydrodynamic force during return stroke, so that the normal contact area with water is reduced, and the return resistance is reduced. However, the structural design of the conventional passive fin type underwater robot is unreasonable, and the bending recovery angle of the fin is large during return stroke, so that the fin is difficult to recover to a flattened state quickly in a stroke pushing stage, and even under some complex water environments, the possibility that the fin cannot recover to the flattened state exists, the effective power in the stroke pushing stage is reduced, and the operating efficiency of the passive fin type underwater robot is affected.

Disclosure of Invention

An object of the embodiment of the application is to provide an underwater robot to solve the technical problem that the structural design of the web of a passive web type underwater robot in the prior art is not reasonable enough, the bending recovery angle of the web is large during return stroke, the web is recovered to a flattening stage at the initial stage of a pushing stroke stage, and the effective power of the pushing stroke stage is reduced.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: the underwater robot comprises a robot body, wherein two opposite side walls of the robot body are provided with propulsion mechanisms respectively, each propulsion mechanism comprises a driving steering engine and a flipper, the driving steering engines are arranged on the side walls of the robot body, and the flipper is connected with the driving steering engines; the flipper comprises a flipper structure and a limiting piece, wherein the limiting piece is arranged on the flipper structure and is used for limiting the flipper structure in a pushing stroke stage so as to keep the flipper structure in a flattening state; the fin structure comprises at least three fin pieces which are sequentially connected in a rotating mode, and the fin piece located at the head end is connected with the driving steering engine.

Optionally, the fin structure has a back surface facing in a direction opposite to the movement direction of the underwater robot, and the limit member is attached to the back surface and abuts against each of the fins.

Optionally, the stopper is a flexible adhesive film.

Optionally, the fin structure further has an upstream surface, and the upstream surface is oriented in the same direction as the underwater robot; the fin structure comprises a first fin and at least three second fins which are sequentially hinged, the first fin is connected with the driving steering engine, a first hinge assembly is connected between the first fin and the second fin adjacent to the first fin, and the first hinge assembly is arranged on the upstream face; and a second hinge assembly is connected between every two adjacent second webbings and arranged on the upstream face.

Optionally, the flipper further comprises a connecting rod, the connecting rod is Z-shaped, the connecting rod is located between the propulsion mechanism and the fin structure, one end of the connecting rod is connected with the propulsion mechanism, and the other end of the connecting rod is connected with the fin at the head end of the fin structure.

Optionally, two opposite side portions of the robot body are respectively provided with two propelling mechanisms, the two propelling mechanisms arranged on the same side of the robot body are arranged at intervals along the length direction of the robot body, and the propelling mechanisms arranged on one side of the robot body and the propelling mechanisms arranged on the other side of the robot body are respectively arranged correspondingly.

Optionally, the robot body includes shell and organism, the organism sets up in the shell, the drive steering wheel setting is in on the lateral wall of shell.

Optionally, the housing includes an inner tube, a first end cap, a second end cap, and an electrical component, the inner tube is disposed in the outer shell, the inner tube has a first port and a second port, the first end cap and the second end cap are respectively sealed at the first port and the second port, and the electrical component is disposed in the inner tube.

Optionally, first end cap includes first flange, solid fixed ring and protection casing, first flange with the inner tube first port sealing connection, gu fixed ring laminate in first flange deviates from the lateral part of first port, and with the shell is connected, the protection casing cover is located gu fixed ring.

Optionally, the second end cover includes a second flange and a deck plate, the second flange is connected to the second port of the inner pipe in a sealing manner, and the deck plate is attached to a side portion of the second flange facing away from the second port and connected to the outer casing.

The application provides an underwater robot's beneficial effect lies in: compared with the prior art, the web piece structure of underwater robot of this application is including rotating the at least three web piece of connection in proper order, thereby web piece structure is the design of many joints, through relative rotation between the adjacent web piece, make web piece structure draw in or the motion of expanding, thereby in the journey stage of pushing away, each web piece of web piece structure rotates simultaneously in order to expand the motion, make web piece structure expand from the state of drawing in fast, resume to the exhibition flat state, be favorable to reducing the idle stroke in the journey stage of pushing away, increase the journey power and efficiency of pushing away, in addition, in the journey stage of pushing away, carry on spacingly through the locating part to web piece structure, so that web piece structure keeps the exhibition flat state, make web piece structure can stably provide the thrust of maximize, be favorable to improving underwater robot's operating efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

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 the housing shown in FIG. 1;

FIG. 3 is a cross-sectional view of the robot body shown in FIG. 1;

FIG. 4 is a schematic structural view of the propulsion mechanism shown in FIG. 1, wherein the propulsion mechanism is in an inverted state;

FIG. 5 is a partial exploded view of the propulsion mechanism shown in FIG. 4;

fig. 6 is a structural view illustrating a fin panel structure shown in fig. 4.

Wherein, in the figures, the respective reference numerals:

10. a robot body; 20. a housing; 21. mounting blocks; 22. a first notch; 23. a second notch; 30. a body; 31. an inner tube; 310. a first port; 311. a second port; 31. a first end cap; 32. a first flange; 320. a first through hole; 321. a first inner ring; 322. a first outer ring; 33. a fixing ring; 330. a first connection block; 34. a protective cover; 340. a hemispherical surface; 35. a second end cap; 36. a second flange; 360. a second through hole; 361. a second inner ring; 362. a second outer ring; 37. a deck board; 370. a second connecting block; 38. an electrical component; 380. a control panel; 381. a battery; 39. a support frame; 390. a first separator; 391. a second separator; 392. an inner cavity plate; 40. a propulsion mechanism; 50. driving a steering engine; 60. a fin; 61. web sheet structure; 610. a water-backed surface; 611. a water-facing surface; 612. a first web sheet; 613. a second web sheet; 62. a limiting member; 63. a connecting rod; 70. a first hinge assembly; 71. a first hinge axis; 72. a first hinge; 80. a second hinge assembly; 81. a second hinge axis; 82. and a second hinge.

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 "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting 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.

Referring to fig. 1 to 6 together, an underwater robot provided in an embodiment of the present application will now be described.

Referring to fig. 1, the underwater robot includes a robot body 10, propulsion mechanisms 40 are respectively disposed on two opposite side walls of the robot body 10, each propulsion mechanism 40 includes a driving steering engine 50 and a flipper 60, the driving steering engines 50 are disposed on the side walls of the robot body 10, and the flipper 60 is connected to the driving steering engines 50; the flipper 60 comprises a fin structure 61 and a stopper 62, and the stopper 62 is disposed on the fin structure 61 for stopping the fin structure 61 at a stroke stage so that the fin structure 61 is maintained in a flattened state. The fin structure 61 includes at least three fins connected in turn, and the fin located at the head end is connected with the drive steering engine 50.

The utility model provides an underwater robot, compared with the prior art, the web structure 61 of the underwater robot of this application includes the at least three web piece that rotates the connection in proper order, thereby web structure 61 is the design of many joints, through relative rotation between the adjacent web piece, make web structure 61 draw in or the motion of expanding, thereby in the stage of pushing away, each web piece of web structure 61 rotates simultaneously in order to expand the motion, make web structure 61 expand from the folded state fast, resume the exhibition state, be favorable to reducing the idle stroke in the stage of pushing away, increase stroke power and efficiency, in addition, in the stage of pushing away, it is spacing to web structure 61 through locating part 62, so that web structure 61 keeps the exhibition state, make web structure 61 can stably provide the thrust of maximize, be favorable to improving underwater robot's operating efficiency.

It should be noted that the flattened state is a state in which the web structure 61 is fully unfolded, i.e. the arrangement between adjacent webs is 180 °.

Specifically, robot body 10 includes shell 20 and organism 30, and organism 30 sets up in shell 20, and drive steering wheel 50 sets up on the lateral wall of shell 20.

Specifically, the housing 20 has a cylindrical structure, and two ends of the housing 20 are open. The housing 20 may have a cylindrical structure, a rectangular cylindrical structure, or the like. In the embodiment, the housing 20 has a cylindrical structure, and the outer surface of the housing 20 having the cylindrical structure is an arc surface, so that the resistance of the underwater robot in underwater motion can be reduced.

In some embodiments, the side walls of the opposite sides of the housing 20 are provided with mounting blocks 21, and the driving steering engine 50 is screwed with the mounting blocks 21.

Referring to fig. 2 and 3, the body 30 includes an inner tube 31, a first end cap 31, a second end cap 35 and an electrical component 38, the inner tube 31 is disposed in the housing 20, the inner tube 31 has a first port 310 and a second port 311, the first end cap 31 and the second end cap 35 are respectively sealed at the first port 310 and the second port 311, and the electrical component 38 is disposed in the inner tube 31.

The shape of the inner tube 31 is the same as that of the outer shell 20. It is understood that, in the present embodiment, the inner tube 31 is also of a cylindrical structure. The first port 310 and the second port 311 are respectively located at two opposite ends of the inner tube 31, and it is understood that the two ends of the inner tube 31 are also open.

The first end cap 31 is located at the front end of the robot body 10. First end cap 31 includes first flange 32, solid fixed ring 33 and protection casing 34, and first flange 32 and the first port 310 sealing connection of inner tube 31, solid fixed ring 33 laminate in the first flange 32 and deviate from the lateral part of first port 310 to be connected with shell 20, protection casing 34 cover is located solid fixed ring 33 and deviates from the one side of first flange 32. In the present embodiment, the first flange 32, the fixing ring 33, and the shield 34 are connected by screws.

Specifically, the first flange 32 is provided at the center thereof with a first through hole 320, and the first through hole 320 communicates with the inner space of the inner pipe 31. The first flange 32 includes a first inner ring 321 and a first outer ring 322 connected to each other, and the first through hole 320 penetrates through the first inner ring 321 and the first outer ring 322. In the present embodiment, the first inner ring 321 is integrally formed with the first outer ring 322. The first inner ring 321 is inserted into the inner tube 31 through the first port 310, and the outer side wall of the first inner ring 321 is attached to the inner side wall of the inner tube 31, so that the sealing property between the outer side wall of the first inner ring 321 and the inner side wall of the inner tube 31 is effectively ensured. The first outer ring 322 is located outside the inner tube 31, and a side surface of the first outer ring 322 is attached to a circumferential edge of the inner tube 31 corresponding to the first port 310, so that the sealing property between the first outer ring 322 and the edge of the first port 310 is effectively ensured.

In some embodiments, a first sealing ring is disposed between the first outer ring 322 and the circumferential edge of the inner tube 31 corresponding to the first port 310, so as to effectively further improve the sealing property between the first outer ring 322 and the circumferential edge of the inner tube 31 corresponding to the first port 310, thereby ensuring the sealing property inside the inner tube 31.

The circumferential edge of shield 34 is attached to a side of retaining ring 33 facing away from first outer ring 322, and shield 34 is used to seal first through hole 320. It is thus understood that the circumferential edges of first outer ring 322, fixing ring 33 and shield 34 are screwed together. Optionally, shield 34 has a hemispherical surface 340 disposed away from retaining ring 33, hemispherical surface 340 protruding from one end of housing 20. The arrangement of the semi-spherical surface 340 is beneficial to reducing the resistance borne by the front end of the underwater robot when the underwater robot moves underwater, and further reducing the movement resistance of the underwater robot.

Optionally, one end of the housing 20 corresponding to the first end cap 31 is provided with a first notch 22, the edge of the fixing ring 33 is provided with a first connecting block 330, the first connecting block 330 is clamped in the first notch 22, and the first connecting block 330 is connected to the side wall enclosing the first notch 22 through a screw. Further, the quantity of first breach 22 and first linkage block 330 is a plurality of, and a plurality of first breachs 22 set up along the circumference interval of the one end that shell 20 corresponds first end cover 31, and a plurality of first linkage blocks 330 set up along the circumference interval of the edge that shell 20 corresponds solid fixed ring 33, and the quantity of first linkage block 330 equals with the quantity of first breach 22, and a plurality of first linkage blocks 330 set up with a plurality of first breach 22 one-to-one. Through setting up a plurality of first connecting blocks 330 and first breach 22, be favorable to improving the stability of being connected between solid fixed ring 33 and the shell 20. Specifically, in the present embodiment, the number of the first notches 22 and the number of the first connecting blocks 330 are two, the two first notches 22 are respectively disposed on two opposite sides of one end of the housing 20 corresponding to the first end cap 31, and the two first connecting blocks 330 are respectively disposed on two opposite sides of the edge of the fixing ring 33.

The second end cap 35 is located at the rear end of the robot body 10. The second end cover 35 includes a second flange 36 and a deck 37, the second flange 36 is connected to the second port 311 of the inner pipe 31 in a sealing manner, and the deck 37 is attached to the side of the second flange 36 facing away from the second port 311 and connected to the housing 20. In the present embodiment, the deck 37 and the protection cover 34 are connected by screws.

Specifically, the second flange 36 is provided at the center thereof with a second through hole 360, and the second through hole 360 communicates with the inner space of the inner pipe 31. The second flange 36 includes a second inner ring 361 and a second outer ring 362, and the second through hole 360 penetrates through the second inner ring 361 and the second outer ring 362. In this embodiment, the second inner ring 361 and the second outer ring 362 are integrally formed. The second inner ring 361 is inserted into the inner tube 31 through the second port 311, and the outer side wall of the second inner ring 361 is attached to the inner side wall of the inner tube 31, so that the sealing performance between the outer side wall of the second inner ring 361 and the inner side wall of the inner tube 31 is effectively ensured. The second outer ring 362 is located outside the inner tube 31, and a side surface of the second outer ring 362 is attached to a circumferential edge of the inner tube 31 corresponding to the second port 311, so that the sealing property between the second outer ring 362 and the edge of the second port 311 is effectively ensured.

In some embodiments, a second sealing ring is disposed between the second outer ring 362 and the circumferential edge of the inner tube 31 corresponding to the second port 311, which effectively further improves the sealing performance between the second outer ring 362 and the circumferential edge of the inner tube 31 corresponding to the second port 311, thereby ensuring the sealing performance inside the inner tube 31.

Optionally, one end of the housing 20 corresponding to the second end cap 35 is provided with a second notch 23, an edge of the deck plate 37 is provided with a second connection block 370, the second connection block 370 is clamped in the second notch 23, and the second connection block 370 is connected with the side wall enclosing the second notch 23 through a screw. Further, the number of the second notches 23 and the number of the second connecting blocks 370 are both multiple, the multiple second notches 23 are circumferentially spaced along one end of the outer shell 20 corresponding to the second end cover 35, the multiple second connecting blocks 370 are circumferentially spaced along the edge of the outer shell 20 corresponding to the deck plate 37, the number of the second connecting blocks 370 is equal to the number of the second notches 23, and the multiple second connecting blocks 370 and the multiple second notches 23 are arranged in a one-to-one correspondence manner. The plurality of second connecting blocks 370 and the second notches 23 are provided, which is beneficial to improving the stability of the connection between the deck plate 37 and the housing 20. Specifically, in this embodiment, the number of the second notches 23 and the number of the second connecting blocks 370 are two, the two second notches 23 are respectively disposed on two opposite sides of one end of the housing 20 corresponding to the second end cap 35, and the two second connecting blocks 370 are respectively disposed on two opposite sides of the edge of the deck 37.

The electrical assembly 38 includes a control board 380 and a battery 381, and the battery 381 is electrically connected to the control board 380. Specifically, the control board 380 is a PCB, and a CPG (Central pattern generator), an IMU (Inertial measurement unit) and a PID controller (proportional-integral-derivative controller) are disposed on the control board 380. It can be understood that, when controlling the motion of the underwater robot, the CPG control method can flexibly perform gait switching, and meanwhile, an Inertial measurement unit (IMU for short) is used to perform real-time pose detection, thereby immediately detecting the running state of the robot, and implementing closed loop by using PID control, thereby accurately performing pose feedback and timely adjusting errors.

In another embodiment of the present application, the body 30 further includes a support bracket 39 disposed inside the inner tube 31, and the support bracket 39 is used for fixing the electrical component 38. Specifically, the supporting frame 39 includes a first partition 390, a second partition 391 and an inner cavity plate 392, the first partition 390 and the second partition 391 are oppositely disposed along the length direction of the inner tube 31 at intervals, the inner cavity plate 392 is disposed between the first partition 390 and the second partition 391, and two ends of the inner cavity plate 392 are respectively connected to the first partition 390 and the second partition 391. The electrical assembly 38 is secured to the interior cavity plate 392. Specifically, the control board 380 and the battery 381 are fixed on opposite sides of the inner cavity plate 392 in the thickness direction of the inner cavity plate 392, respectively.

Further, the first partition plate 390 abuts against the first inner ring 321 of the first flange 32, and the second partition plate 391 abuts against the second inner ring 361 of the second flange 36, so that the first flange 32 has a function of limiting the first partition plate 390, and the second flange 36 has a function of limiting the second partition plate 391, so as to prevent the support frame 39 from moving in the inner pipe 31 along the length direction of the inner pipe 31, which is beneficial to ensuring the stability of the support frame 39 in the inner pipe 31.

The underwater robot is a bionic robot, particularly, the underwater robot simulates the dragon louse, the dragon louse is commonly named as soft-shelled turtle and is a large-scale aquatic beetle, 3 pairs of feet are provided, namely, the front foot, the middle foot and the rear foot, in the underwater movement process, the front foot and the middle foot of the dragon louse hardly play a role in propulsion, and most of the propulsion and the self gesture rotation are generated by the swinging of the rear foot.

In the present embodiment, referring to fig. 1 again, two propelling mechanisms 40 are disposed on two opposite sides of the robot body 10, and the two propelling mechanisms 40 disposed on the same side of the robot body 10 are disposed at intervals along the length direction of the robot body 10. And the propulsion mechanism 40 provided at one side of the robot body 10 and the propulsion mechanism 40 provided at the other side of the robot body 10 are respectively provided correspondingly. Specifically, the propulsion mechanism 40 disposed on one side of the robot body 10 and the propulsion mechanism 40 disposed on the other side of the robot body 10 are arranged in a pairwise symmetry manner, two of the two recommendation mechanisms are located at the front end of the robot body 10, and the other two recommendation mechanisms are located at the rear end of the robot body 10.

It will be appreciated that the propulsion mechanisms 40 are four in number, i.e., the flipper 60 is four in number. Because the prior passive fin type underwater robot mostly adopts the design of double flippers 60, the gait mode is greatly limited and the underwater environment adaptability is not strong by simulating the front fin of a fish. The underwater robot adopts the four flippers 60, can realize various gait switching, such as in-situ turning, straight going, large acceleration, slow speed and the like, has strong underwater environment adaptability, and effectively improves the motion performance of the underwater robot.

Referring to fig. 4 and 5, the fin structure 61 has a back surface 610, the back surface 610 faces the direction opposite to the moving direction of the underwater robot, the position-limiting member 62 is a flexible plate-shaped body, the position-limiting member 62 is attached to the back surface 610 and abuts against each fin, and the position-limiting member 62 keeps the fin structure 61 in a flattened state by pulling the fin in a pushing stage. Specifically, in the pushing stroke stage, when the fin structure 61 is unfolded to the flattened state, the limiting members 62 pull the respective fins so as not to continue rotating, thereby realizing the limiting of the fin structure 61, so that the fin structure 61 is continuously maintained in the flattened state.

It should be noted that the limiting member 62 has a higher tensile strength and a better bending performance, that is, the limiting member 62 has a predetermined tensile strength and a predetermined bending load. In the pushing range stage, since the limiting member 62 has high tensile strength, when the fin structure 61 is unfolded to the flattened state, the limiting member 62 can pull each fin so as not to continue rotating, so as to continuously maintain the fin structure 61 in the flattened state, so that the fin structure 61 is approximately in a rigid structure, which is beneficial to ensuring the thrust of the fin structure 61. In the return stroke stage, the limiting member 62 is easy to bend and deform, so that resistance to reverse rotation of each web is small, the web structure 61 can be rapidly folded, and return stroke resistance of the web structure 61 is reduced.

In the embodiment, the limiting member 62 is a flexible film that is easily bent and is adhered to the first back surface. Because the limiting part 62 is a flexible adhesive film, it not only has a limiting function to keep the web structure 61 in the flattening state in the pushing stroke stage, but also has a buffering function when the web structure 61 is unfolded to the flattening state, so as to prevent the web structure 61 from being damaged by a larger impact. Further, the thickness of the limiting member 62 is 0.2mm to 1 mm. Optionally, the thickness of the limiting member 62 is 0.2 mm.

The fin structure 61 also has an upstream surface 611, the upstream surface 611 being oriented in accordance with the direction of motion of the underwater robot. It will be appreciated that the upstream surface 611 and the downstream surface 610 are two oppositely disposed sides of the fin structure 61. The fin structure 61 includes a first fin 612 and at least three second fins 613 hinged in sequence, and the first fin 612 is connected with the driving steering engine 50.

Referring to fig. 6, a first hinge assembly 70 is connected between the first fin 612 and the adjacent second fin 613, and the first hinge assembly 70 is disposed on the upstream surface 611. The first fin 612 is hinged to the adjacent second fin 613 by the first hinge assembly 70 to enable relative rotation between the first fin 612 and the adjacent second fin 613. In the present embodiment, the number of the first hinge assemblies 70 is two, and the two first hinge assemblies 70 are spaced apart.

In particular, the first hinge assembly 70 comprises a first hinge shaft 71 and two first hinges 72, wherein one first hinge 72 is connected to the first fin 612 and the other first hinge 72 is connected to the second fin 613 adjacent to the first fin 612. First hinge 72 is provided with first axle sleeve, and first hinge 72 and first axle sleeve formula structure as an organic whole. The first shaft sleeves on the two first hinges 72 are coaxially distributed, and the first hinge shaft 71 penetrates through the first shaft sleeves on the two first hinges, so that the two first hinges 72 can relatively rotate, and further the first web plate 612 and the adjacent second web plate 613 can relatively rotate.

A second hinge assembly 80 is connected between two adjacent second fins 613, and the second hinge assembly 80 is disposed on the upstream surface 611. The second web plates 613 adjacent to each other are hinged by the second hinge assembly 80 to enable the second web plates 613 to rotate relative to each other. In the present embodiment, the number of the second hinge assemblies 80 is two, and the two second hinge assemblies 80 are spaced apart.

Specifically, the second hinge assembly 80 includes a second hinge shaft 81 and two second hinges 82, and the two second hinges 82 respectively connect two adjacent webs. A second shaft sleeve is arranged on the second hinge 82, and the second hinge 82 and the second shaft sleeve are of an integrated structure. The second bushings on the two second hinges 82 are coaxially distributed, and the second hinge shaft 81 penetrates through the second bushings on the two second hinges, so that the two second hinges 82 can rotate relatively, and further the two adjacent second fins 613 can rotate relatively.

The length of the second web panel 613 is greater than the length of the first web panel 612. The number of the second fin pieces 613 is at least two. In the embodiment, the number of the second fin 613 is three, and the three second fin 613 are hinged end to end in sequence.

It should be noted that, when the underwater robot is in a horizontal state, the fin structure 61 is arranged in a vertical direction, that is, the fin structure 61 is vertical to a horizontal plane, and it can be understood that the back surface 610 and the upstream surface 611 are vertical to the horizontal plane.

In some embodiments, the flipper 60 further includes a connecting rod 63, the connecting rod 63 is Z-shaped, the connecting rod 63 is located between the propulsion mechanism 40 and the fin structure, one end of the connecting rod 63 is connected with the bottom of the propulsion mechanism 40, and the other end of the connecting rod 63 is connected with the fin at the head end of the fin structure 61, i.e., the fin structure 61 is connected with the propulsion mechanism 40 through the connecting rod 63. In particular, the other end of the connecting rod 63 is connected with the first fin 612, i.e. the first fin 612 is connected with the propulsion mechanism 40 through the connecting rod 63. It will thus be appreciated that the propulsion mechanism 40 rotates by driving the connecting rod 63, which in turn rotates the fin structure 61, to enable the underwater robot to move underwater. The Z-shaped connecting rod 63 can enable the structure of the flipper 60 to be closer to the hindfoot of the dragon louse, and the bionic motion performance of the underwater robot is further improved.

Further, one end of the connecting rod 63 is connected with the first web 612 by a screw.

The application provides an underwater robot's beneficial effect lies in:

1. the fin structure 61 comprises at least three fins which are connected in sequence in a rotating mode, so that the fin structure 61 is designed in a multi-joint mode, the fin structure 61 is folded or unfolded through relative rotation between adjacent fins, and therefore in a pushing range stage, all the fins of the fin structure 61 rotate simultaneously to be unfolded and moved, the fin structure 61 is unfolded rapidly from a folded state and is restored to a flattened state, and compared with the existing passive fin type underwater robot, the fin structure 61 can be unfolded to the unfolded state more rapidly in a return stroke stage under the condition of the same bending angle, the idle stroke of the pushing range stage is further reduced, and pushing range power and efficiency are improved.

2. Since the limiting member 62 has a high tensile strength, in the pushing stroke stage, when the fin structure 61 is unfolded to the flattened state, the limiting member 62 can pull the fin so as not to continue rotating, so as to continuously maintain the fin structure 61 in the flattened state, so that the fin structure 61 is approximately a rigid structure, and the fin structure 61 can stably provide a maximized thrust. Since the limiting member 62 has a good bending property, the limiting member 62 can be bent in time in the return stage, and the resistance to the reverse rotation of each fin is small, so that the fin structure 61 can be rapidly folded, and the return resistance of the fin structure 61 can be reduced.

3. The underwater robot of the application adopts four flippers 60, can realize the switching of various gaits, namely the fin structure 61, such as in-situ turning, straight going, great acceleration, slow speed and the like, has strong underwater environment adaptability, and can make up the defects that the prior passive fin type underwater robot adopts the design of two flippers 60 to simulate the front fin of a fish, the gaits mode is greatly limited and the underwater environment adaptability is not strong.

4. When the underwater robot is controlled to move, the IMU detects the running state of the robot constantly, the PID control realizes closed loop, the pose feedback can be accurately carried out, the error can be adjusted in time, and the control stability and reliability are effectively improved.

5. The CPG is adopted to control the gait of the underwater robot, so that various gaits can be effectively realized, the gaits can be randomly switched flexibly, and the underwater movement performance of the underwater robot is improved.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. An underwater robot is characterized by comprising a robot body, wherein two opposite side walls of the robot body are respectively provided with a propulsion mechanism, each propulsion mechanism comprises a driving steering engine and a flipper, the driving steering engines are arranged on the side walls of the robot body, and the flipper is connected with the driving steering engines; the flipper comprises a flipper structure and a limiting piece, wherein the limiting piece is arranged on the flipper structure and is used for limiting the flipper structure in a pushing stroke stage so as to keep the flipper structure in a flattening state; the fin structure comprises at least three fin pieces which are sequentially connected in a rotating mode, and the fin piece located at the head end is connected with the driving steering engine.

2. An underwater robot as recited in claim 1, wherein: the fin sheet structure is provided with a back water surface, the direction of the back water surface is opposite to the movement direction of the underwater robot, and the limiting parts are attached to the back water surface and are abutted to the fin sheets.

3. An underwater robot as recited in claim 2, wherein: the limiting piece is a flexible adhesive film.

4. An underwater robot as recited in claim 2, wherein: the fin sheet structure is also provided with an upstream surface, and the direction of the upstream surface is consistent with the motion direction of the underwater robot; the fin sheet structure comprises a first fin sheet and at least three second fin sheets which are sequentially hinged, the first fin sheet is connected with the driving steering engine, a first hinge assembly is connected between the first fin sheet and the second fin sheet adjacent to the first fin sheet, and the first hinge assembly is arranged on the upstream face; and a second hinge assembly is connected between every two adjacent second webbings and arranged on the upstream face.

5. An underwater robot as recited in any of claims 1-4, wherein: the flipper further comprises a connecting rod, the connecting rod is Z-shaped and is located between the propelling mechanism and the fin structure, one end of the connecting rod is connected with the propelling mechanism, and the other end of the connecting rod is connected with the fin at the head end of the fin structure.

6. An underwater robot as recited in any of claims 1-4, wherein: the two opposite side parts of the robot body are respectively provided with two propelling mechanisms, the two propelling mechanisms are arranged on the same side of the robot body and are arranged at intervals along the length direction of the robot body, and the propelling mechanisms are arranged on one side of the robot body and the propelling mechanisms arranged on the other side of the robot body are respectively and correspondingly arranged.

7. An underwater robot as recited in any of claims 1-4, wherein: the robot body comprises a shell and a machine body, the machine body is arranged in the shell, and the driving steering engine is arranged on the outer side wall of the shell.

8. An underwater robot as recited in claim 7, wherein: the engine body comprises an inner tube, a first end cover, a second end cover and an electrical assembly, the inner tube is arranged in the shell, the inner tube is provided with a first port and a second port, the first end cover and the second end cover are respectively sealed at the first port and the second port, and the electrical assembly is arranged in the inner tube.

9. An underwater robot as recited in claim 8, wherein: first end cap includes first flange, solid fixed ring and protection casing, first flange with the inner tube first port sealing connection, gu fixed ring laminate in first flange deviates from the lateral part of first port, and with the shell is connected, the protection casing cover is located gu fixed ring.

10. An underwater robot as recited in claim 8, wherein: the second end cover comprises a second flange and a cabin plate, the second flange is connected with the second port of the inner pipe in a sealing mode, and the cabin plate is attached to the side portion, away from the second port, of the second flange and is connected with the shell.