CN115139709A - Cabin body vertically distributed amphibious robot - Google Patents

Abstract

The invention provides a cabin vertically distributed amphibious robot, which comprises a cabin, power system units, a buoyancy system unit, a first air bag, a power supply device and a control device, wherein the power system units are symmetrically arranged on two sides of the cabin and used for driving the cabin to move, the buoyancy system unit and the first air bag are arranged in an inner cavity of the cabin, the buoyancy system unit is communicated with the first air bag and used for driving the cabin to float and sink in water, the power supply device and the control device are arranged on the inner side of the cabin, and the power supply device and the control device are electrically connected and in signal connection.

Description

Cabin body vertically distributed amphibious robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an amphibious robot with a vertically distributed cabin.

Background

The existing robot has various types and models, and is generally divided into an underwater robot and a land robot, the existing underwater robot is mostly driven by propellers, the driving efficiency is low, the flexibility of motions such as turning, floating and submerging is poor, the noise is large, the concealment is poor, and the propellers are easy to wind.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to provide an amphibious robot with a vertically distributed cabin, which can solve the problems that most of the existing robots cannot realize amphibious and multiple purposes simultaneously, and most of the existing underwater robots adopt propeller driving for movement, so that the driving efficiency is low, the movement flexibility of turning, floating up, diving and the like is poor, the noise is high, the concealment is poor, and the propellers are easy to wind.

In order to solve the problems, the invention provides an amphibious robot with a vertically distributed cabin, which comprises a cabin, a power system unit, a buoyancy system unit, a first air bag, a power supply device and a control device, wherein the power system unit is connected with the first air bag;

the power system units are symmetrically arranged at two sides of the cabin body and are used for driving the cabin body to move;

the buoyancy system unit and the first air bag are both arranged in the inner cavity of the cabin body, and the buoyancy system unit is communicated with the first air bag and used for driving the cabin body to float upwards and sink in water;

the power supply device and the control device are arranged on the inner side of the cabin body, the power supply device and the control device are electrically connected and in signal connection, the power supply device is electrically connected with the power system unit and the buoyancy system unit respectively, and the control device is in signal connection with the power system unit and the buoyancy system unit respectively.

Optionally, the power system unit includes a first connection assembly, a plurality of waterproof steering engines, a plurality of connection pieces, a plurality of second connection assemblies, and a flexible bionic fin;

the bilateral symmetry of the cabin body installs first connecting elements, first connecting elements and the direction of advance parallel arrangement of the cabin body, a plurality of waterproof steering engines evenly set up on first connecting elements, the equal erection joint spare of output of waterproof steering engine, the connecting piece all is connected with flexible bionical fin through second coupling assembling to make waterproof steering engine drive flexible bionical fin swing through second coupling assembling, power supply unit and waterproof steering engine electric connection, controlling means and waterproof steering engine signal connection.

Optionally, the first connecting assembly comprises a plurality of first connecting plates, a first connecting plate skeleton and a plurality of second connecting plates, the first connecting plate skeleton is parallel to the forward direction of the cabin body, the two sides of the cabin body are connected with one side wall of the first connecting plate skeleton through the first connecting plates, the other side wall of the first connecting plate skeleton is provided with the second connecting plates, the second connecting plates are fixedly connected with a waterproof steering engine, the second connecting plates are connected with the waterproof steering engine in a one-to-one correspondence manner, the waterproof steering engines are uniformly distributed on the first connecting plate skeleton along the forward direction of the cabin body, and output shafts of the waterproof steering engines are connected with connecting pieces.

Optionally, the second connecting assembly comprises a fixing structure and a clamping assembly, the fixing structure is connected with the connecting piece, the fixing structure corresponds to the connecting piece in a one-to-one mode, the clamping assembly is rotatably installed on one side of the fixing structure and connected with the fixing structure in a one-to-one mode, and the clamping assembly is connected with the flexible bionic fin.

Optionally, the fixing structure includes a first fixing plate, a third connecting plate, a fourth connecting plate and a first connecting column, and the clamping assembly includes a rotating member and a clamping member;

one side of the first fixing plate is connected with the connecting piece, the other side wall of the first fixing plate is provided with a third connecting plate, the third connecting plate is connected with a fourth connecting plate, the contact side walls of the third connecting plate and the fourth connecting plate are provided with hemispherical holes, the hemispherical holes in the third connecting plate and the hemispherical holes in the fourth connecting plate form spherical holes, one side wall of the fourth connecting plate is connected with a first connecting column, a cylindrical hole is arranged in the first connecting column, the center line of the cylindrical hole is collinear with the center of the hemispherical hole, and the cylindrical hole is communicated with the hemispherical hole in the fourth connecting plate;

the one end of rotating the piece be the spheroid, the other end of rotating the piece is connected with the holder, rotates the spheroid of piece one end and rotates with the ball hole and be connected, and the other end of holder is connected with flexible bionical fin.

Optionally, the cabin body includes a sealed cabin and a submerged cabin, the sealed cabin is located below the submerged cabin, a first air bag is installed in the sealed cabin, one part of the buoyancy system unit is arranged in the sealed cabin, the other part of the buoyancy system unit includes a second air bag, the second air bag is arranged in the center of the submerged cabin, and one part of the buoyancy system unit is communicated with the other part of the buoyancy system unit.

Optionally, one part of the buoyancy system unit comprises an air pump, a first electromagnetic directional valve, a second electromagnetic directional valve, a one-way throttle speed regulating valve, an overflow pressure regulating valve and a pipeline, and the other part of the buoyancy system unit comprises a second air bag;

the air pump is connected with the air pump through a pipeline, the air pump is connected with the first electromagnetic reversing valve through a pipeline, the power supply device is electrically connected with the air pump, the first electromagnetic reversing valve and the second electromagnetic reversing valve through a signal, and the control device is respectively in signal connection with the air pump, the first electromagnetic reversing valve and the second electromagnetic reversing valve.

Optionally, the sealed cabin comprises a sealed cabin shell and a sealed cabin cover, the sealed cabin cover is connected with the sealed cabin shell in a sealing mode, the water immersion cabin is of a non-sealing structure and is provided with water inlet and outlet holes, an integral shell is arranged outside the water immersion cabin and the sealed cabin and wraps the left side face, the right side face, the upper side face and the front side face and the rear side face of the water immersion cabin and the sealed cabin, and the integral shell is in a non-sealing state.

Optionally, the surface of sealed cabin and the surface of immersion water cabin all are provided with a plurality of sonar sensors, and the front surface of immersion water cabin is provided with waterproof camera.

Advantageous effects

According to the amphibious robot with the vertically distributed cabin, which is provided by the embodiment of the invention, the power system units on two sides of the cabin drive the cabin to move in water or on land, and the second air bag arranged in the center of the central axis of the cabin drives the cabin to float and sink in water, so that the problems that most of the existing robots cannot simultaneously realize amphibious and multiple purposes, and most of the existing underwater robots are driven by propellers, so that the driving efficiency is low, the motions such as turning, floating and submerging are poor in flexibility, large in noise, poor in concealment and the propellers are easy to wind are solved.

The invention has the advantages that:

(1) The waterproof steering engine is adopted to drive the flexible bionic fin to perform sine-wave-like motion, so that the robot can be amphibious, the energy is efficiently utilized, low-noise and high-concealment motion is realized, and the flexible bionic fin is not easy to wind.

(2) The buoyancy system composed of the buoyancy system units can realize high-precision adjustment of the submergence depth of the robot, can realize quick floating and submergence, and can ensure that the robot can float out of the water surface.

(3) The combined configuration mode that the sealed cabin is arranged at the lower part and the soaking cabin is arranged at the upper part is adopted, and the second air bag is positioned in the center of the soaking cabin, so that the stability of the whole posture of the robot can be ensured when the second air bag is inflated and exhausted.

(4) The energy conservation of the buoyancy system can be realized by adopting the normally closed two-position two-way electromagnetic directional valve.

(5) A simple buoyancy system is adopted, and gas is used as a buoyancy adjusting medium, so that the self weight of the robot can be reduced, and the energy consumption is reduced. And the buoyancy system is provided with an overflow pressure regulating valve bypass, so that the buoyancy system is protected.

Drawings

Fig. 1 is a schematic overall perspective structure of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic bottom view of a robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of the overall structure of an embodiment of the present invention with the integral housing removed;

FIG. 4 is a schematic view of the interior of the flooding tank in accordance with an embodiment of the present invention;

fig. 5 (a), fig. 5 (b), fig. 5 (c) and fig. 5 (d) are respectively a schematic overall structure diagram, a schematic first fixed structure state diagram, a schematic second fixed structure state diagram and a schematic overall structure diagram of a clamping assembly of an embodiment of the present invention;

FIG. 6 is a schematic diagram of the overall structure of a flexible biomimetic fin according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a capsule according to an embodiment of the present invention;

FIG. 8 is a schematic view of a cabin layout structure according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a first connecting assembly according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a buoyancy system according to an embodiment of the present invention.

The reference numerals are represented as:

1. a cabin body; 110. sealing the cabin; 111. a capsule housing; 112. sealing the hatch; 120. a water immersion tank;

2. a power system unit; 20. a first connection assembly; 201. a first connecting plate; 202. a first connecting plate skeleton; 203. a second connecting plate; 21. a waterproof steering engine; 22. a second connection assembly; 221. a fixed structure; 2211. a first fixing plate; 2212. a fourth connecting plate; 2213. a first connecting column; 2214. a third connecting plate; 222. a clamping assembly; 2221. a rotating member; 2222. a clamping member; 23. a connecting member; 24. a flexible biomimetic fin;

3. a buoyancy system unit; 30. a second air bag; 31. an air pump; 32. a first electromagnetic directional valve; 33. a second electromagnetic directional valve; 34. a one-way throttle speed regulating valve; 35. an overflow pressure regulating valve; 36. a pipeline;

4. a first air bag; 5. a power supply device; 6. a control device; 7. an integral housing; 8. a sonar sensor; 9. waterproof camera.

Detailed Description

Referring to fig. 1 to 10 in combination, according to an embodiment of the present invention, a cabin-vertically-distributed amphibious robot, please refer to fig. 1, 7, 8 and 10, includes a cabin 1, a power system unit 2, a buoyancy system unit 3, a first air bag 4, a power supply device 5 and a control device 6; the power system units 2 are symmetrically arranged at two sides of the cabin body 1 and are used for driving the cabin body 1 to move, and the power system units 2 are arranged in parallel with the forward direction of the cabin body 1; the buoyancy system unit 3 and the first air bag 4 are both arranged in the inner cavity of the cabin body 1, and the buoyancy system unit 3 is communicated with the first air bag 4 and is used for driving the cabin body 1 to float and sink in water; the power supply device 5 and the control device 6 are both arranged on the inner side of the cabin body 1, the power supply device 5 and the control device 6 are electrically connected and in signal connection, the power supply device 5 is respectively electrically connected with the power system unit 2 and the buoyancy system unit 3, and the control device 6 is respectively in signal connection with the power system unit 2 and the buoyancy system unit 3. According to the invention, the power system units 2 at two sides of the cabin body 1 drive the cabin body 1 to move in water or on land, and the second air bag 30 arranged at the center of the central axis of the cabin body 1 drives the cabin body 1 to float and sink in water, so that the problems that most of the existing underwater robots cannot simultaneously realize amphibious and multiple purposes, and most of the existing underwater robots are driven by propellers, so that the driving efficiency is low, the motions such as turning, floating and submerging are poor in flexibility, the noise is large, the concealment is poor, and the propellers are easy to wind are solved. The power system units 2 on two sides of the cabin body 1 provide power for the amphibious robot, and meanwhile, the flexible bionic fin 24 is adopted, so that the amphibious robot has high driving efficiency and energy utilization efficiency, has high movement flexibility such as turning, floating, diving and the like, reduces noise of underwater movement, is anti-winding, and has small disturbance to the surrounding environment. Through a buoyancy system unit 3, and then realize that the cabin body 1 can not sink the end in aqueous, can guarantee that the robot can emerge, still very easy realization come-up and the motion of sinking improve underwater movement efficiency and speed.

Referring to fig. 8, 7, 3 and 4, the cabin body 1 comprises a sealed cabin 110 and a submerged cabin 120, the sealed cabin 110 is positioned below the submerged cabin 120, a first air bag 4 is installed in the sealed cabin 110, one part of the buoyancy system unit 3 is arranged in the sealed cabin 110, the other part of the buoyancy system unit 3 comprises a second air bag 30, wherein the second air bag 30 is arranged in the center of the submerged cabin 120, and one part of the buoyancy system unit 3 is communicated with the other part of the buoyancy system unit 3. Referring to fig. 7, a power supply device 5 and a control device 6 are disposed in the sealed cabin 110, the power supply device 5 is used for charging the power system unit 2, the buoyancy system unit 3 and the control device 6 of the robot, and the control device 6 is used for controlling the power system unit 2, the buoyancy system unit 3 and the power supply device 5.

Further, the power supply device 5 is a lithium battery, and the power supply device 5 can be replaced, which is convenient for replacement and installation. The control device 6 is an integrated controller.

Further, the control device 6, i.e., the integrated controller, is integrated with a gyroscope attitude control system module, a navigation control system module, an underwater acoustic communication control system module, a radio communication control system module, a buoyancy control system module, a power control system module, a sonar control system module, and a camera control system module.

Further, the first airbag 4 is a sealed cabin airbag, and the second airbag 30 is a submerged cabin airbag.

Further, the lower part in the cabin body 1 is provided with a sealed cabin 110, the upper part of the sealed cabin 110 is provided with a water immersion cabin 120, wherein the sealed cabin 110 comprises a sealed cabin shell 111 and a sealed cabin cover 112, the sealed cabin shell 111, the sealed cabin cover 112 and the water immersion cabin 120 are fixedly connected through a bolt and a nut pair, the matching installation surfaces of the sealed cabin shell 111 and the sealed cabin cover 112 are provided with double sealing grooves, sealing gaskets are arranged in the double sealing grooves, and the shapes of the sealing gaskets are matched with the double sealing grooves. The whole polyhedron that is of capsule casing 111, there is the inclined plane in capsule casing 111 the place ahead left and right sides, the top opening, and opening a week is equipped with first outer edge, all is equipped with bolt hole and two seal grooves on this first outer edge and the capsule lid 112 cooperation installation face.

Further, the shape of the sealed cabin cover 112 matches the shape of the sealed cabin shell 111, the matching surface is polygonal, and a plurality of pipeline orifices are arranged on the sealed cabin cover 112 and used for passing through pipelines of the buoyancy system. Threading pipe openings are formed in the left side face and the right side face of the sealed cabin shell 111 and are used for penetrating through conducting wires and signal wires of a power system. All pipeline orifices and threading orifices are conical holes with outward large openings, and waterproof glue is adopted for sealing after assembly is completed.

Further, the immersion tank 120 is a non-sealing structure, wherein the immersion tank 120 is installed above the sealing cover 112 in a matching manner, the main structure of the immersion tank 120 is polyhedral, the lower part of the immersion tank is open, a second outer edge is arranged on the periphery of the lower part of the immersion tank, and a plurality of bolt holes are formed in the matching installation surface of the second outer edge and the sealing cover 112. The water inlet hole is opened on the surface of the tail part of the water immersion cabin 120 and is connected with the outside. Wherein, be provided with whole shell 7 outside soaking cabin 120 and sealed cabin 110, whole shell 7 wraps up in soaking cabin 120 and sealed cabin 110's left and right sides, upside and front and back, and whole shell 7 is non-sealing state.

Further, the power supply device 5 and the control device 6 are installed in the hermetic chamber 110, and are connected by a wire and a signal line.

Further, a plurality of sonar sensors 8 are installed in a distributed manner on the front side, rear side, and lower side of the capsule housing 111, and on the left side and right side of the immersion tank. Sonar sensor 8 is waterproof sonar sensor. The sonar system is composed of sonar control system modules in a plurality of sonar sensors 8, a power supply device 5, and a control device 6. The sonar sensor 8, the power supply device 5, and the control device 6 are connected by wires and signal lines.

Further, a waterproof camera 9 is arranged on the front surface of the immersion tank 120, and the camera system is composed of the waterproof camera 9, the power supply device 5 and a camera control system module in the control device 6. Wherein, the waterproof camera 9, the power supply device 5 and the control device 6 are connected by a lead and a signal wire.

Further, the attitude control system is composed of a power system, a buoyancy system, a gyroscope attitude control system module in the control device 6 and a power supply device 5. The navigation system is composed of a navigation control system module in the control device 6 and the power supply device 5. The communication control system comprises an underwater acoustic communication control system module, a radio communication control system module, a sonar sensor 8 and a power supply device 5 in a control device 6, the power system comprises a power system unit 2, a power control system module and a power supply device 5 in the control device 6, and the buoyancy system comprises a buoyancy system unit 3, a first air bag 4, a buoyancy control system module and a power supply device 5 in the control device 6.

Furthermore, the power system units 2 are symmetrically installed on two sides of the sealed cabin shell 111, and the direction of the power system units 2 is the same as the advancing direction of the cabin body 1, so that the cabin body 1 is driven to move by the power system units 2.

Further, another part of the buoyancy system unit 3 comprises a second airbag 30, wherein the second airbag 30 is arranged in the submersion tank 120, the rest of the buoyancy system unit 3 is arranged in the sealed tank 110, and the rest of the buoyancy system unit 3, i.e. a part of the buoyancy system unit 3, is used for realizing the floating and sinking movement of the tank body 1 in the water.

Referring to fig. 1, fig. 3 and fig. 9, the power system unit 2 includes a first connecting assembly 20, a plurality of waterproof steering engines 21, a plurality of connecting pieces 23, a plurality of second connecting assemblies 22 and a flexible bionic fin 24, the first connecting assembly 20 is symmetrically installed on both sides of the sealed cabin 110, the first connecting assembly 20 is parallel to the advancing direction of the cabin body 1, the waterproof steering engines 21 are uniformly arranged on the first connecting assembly 20, the connecting pieces 23 are installed on the output ends of the waterproof steering engines 21, the connecting pieces 23 are connected with the flexible bionic fin 24 through the second connecting assemblies 22, so that the waterproof steering engines 21 drive the flexible bionic fin 24 to swing through the second connecting assemblies 22, the power supply device 5 is electrically connected with the waterproof steering engines 21, and the control device 6 is in signal connection with the waterproof steering engines 21. The first link assembly 20 includes a plurality of first link plates 201, a first link plate skeleton 202, and a plurality of second link plates 203.

Furthermore, the left and right sides of the capsule shell 111 are connected with a plurality of first connecting plates 201 by welding, bonding or screws, wherein the first connecting plates 201 are power system connecting plates, and the connection mode is selected according to actual use. The cross section of the first connecting plate 201 is rectangular, the first connecting plate 201 is connected with the first connecting plate framework 202 through welding or bonding and other connection modes, and the first connecting plate framework 202 is parallel to the advancing direction of the cabin body 1. The first connecting plate frames 202 are in a strip shape, and the plurality of first connecting plates 201 are uniformly distributed on one side of the first connecting plate frames 202.

Further, the other side of the first connecting plate framework 202 is connected with a second connecting plate 203 through a threaded fastener, wherein the second connecting plate 203 is a steering engine fixing plate, and the specific connection mode is selected according to actual use. The second connecting plate 203 is U-shaped, fixes waterproof steering wheel 21 through threaded connection, and a waterproof steering wheel 21 is fixed to second connecting plate 203 correspondence. Waterproof steering wheel 21 is a plurality of, and evenly sets up side by side along first connecting plate skeleton 202, all is connected with connecting piece 23 on waterproof steering wheel 21's the output shaft, is connected with connecting piece 23 through the screw, drives connecting piece 23 and uses the axis of steering wheel output shaft to swing as the axis, and the connecting piece 23 of steering wheel output shaft is the U-shaped. The connecting piece 23 of steering wheel output shaft passes through the threaded fastener and is connected with second coupling assembling 22, and wherein, second coupling assembling 22 is flexible bionical fin 24 adapting unit. The waterproof steering engine 21, the power supply device 5 and the control device 6 are connected through wires and signal wires.

Furthermore, the flexible bionic fin 24 is made of special flexible materials and is manufactured by a process, the bionic fin has flexibility and certain hardness, and the hardness can support the whole robot to walk on the land.

Referring to fig. 5, the second connecting assembly 22 includes a plurality of fixing structures 221 and clamping assemblies 222, the fixing structures 221 are connected to the connecting members 23, the fixing structures 221 are in one-to-one correspondence with the connecting members 23, the clamping assemblies 222 are rotatably mounted on one sides of the fixing structures 221, the clamping assemblies 222 are in one-to-one correspondence with the fixing structures 221, and the clamping assemblies 222 are connected to the flexible bionic fin 24. The fixing structure 221 includes a first fixing plate 2211 and a third connecting plate 2214, a fourth connecting plate 2212 and a first connecting column 2213, the first fixing plate 2211 and the third connecting plate 2214 are one piece and integrally formed, the fourth connecting plate 2212 and the first connecting column 2213 are one piece and integrally formed, wherein the cross-sectional shapes of the first fixing plate 2211, the fourth connecting plate 2212 and the third connecting plate 2214 are all rectangular.

Further, the first fixing plate 2211 is installed in a matching mode with the connecting piece 23 of the output shaft of the steering engine, and is connected through threads, and the specific connection mode is selected according to actual use. Be equipped with the bolt hole on first fixed plate 2211, its one side is equipped with cylindrical structure, and cylindrical structure opposite side is equipped with third connecting plate 2214, is provided with the bolt hole on the third connecting plate 2214, is provided with the hemisphere hole on the terminal surface that cylindrical structure was kept away from to third connecting plate 2214, and the hemisphere hole is the mounting hole promptly. Fourth connecting plate 2212 is connected with third connecting plate 2214 mutually contact cooperation, be provided with the hemisphere hole on the fourth connecting plate 2212 connection fitting surface equally, hemisphere hole on third connecting plate 2214 and the hemisphere hole on fourth connecting plate 2212 are the same size, and after third connecting plate 2214 and fourth connecting plate 2212 cooperate, the center coincidence of hemisphere hole on third connecting plate 2214 and the hemisphere hole on fourth connecting plate 2212 forms the ball hole, a complete ball hole, spherical mounting hole promptly.

Furthermore, a first connecting column 2213 is arranged on the other side of the fourth connecting plate 2212, a cylindrical hole is formed in the first connecting column 2213, and the center line of the cylindrical hole is collinear with the center of the hemispherical hole in the fourth connecting plate 2212. Facilitating rotational coupling of the clamping assembly 222 through the cylindrical bore and the formed ball bore.

The clamping assembly 222 comprises a rotating member 2221 and a clamping member 2222, wherein one end of the rotating member 2221 is a spherical body, the other end of the rotating member 2221 is connected with the clamping member 2222, the spherical body of one end of the rotating member 2221 is a spherical body and is rotatably connected with the spherical hole, and the other end of the clamping member 2222 is connected with the flexible bionic fin 24.

Further, the rotating member 2221 has a spherical shape at one end, and the spherical shape is fitted into the closed spherical hole formed in the third connecting plate 2214 and the fourth connecting plate 2212. The middle section of the rotator 2221 has a cylindrical configuration that fits within a cylindrical hole in the first connector post 2213. The other end of the rotating member 2221 is a flat tenon, and the flat tenon is rectangular as a whole. The upper surface of the flat tenon is provided with a circular tenon pin hole which is a through hole and is used for connecting with the clamping piece 2222.

Further, the clamping member 2222 is U-shaped as a whole, and a side wall of the clamping member 2222 close to the rotating member 2221 is provided with a U-shaped mortise, which is rectangular. The flat tenon is inserted into the U-shaped tenon hole, the end face of the clamping part 2222 is provided with the same U-shaped tenon hole, namely, the size and the dimension of the flat tenon hole are the same, the flat tenon is inserted into the U-shaped tenon hole, and the clamping part 2222 is connected with the rotating part 2221 by the U-shaped clamping pin sequentially penetrating through the U-shaped tenon hole and the tenon pin hole.

Further, the upper and lower surfaces of the other end of the clamping member 2222 are provided with clevis bolt holes, which are through holes. For attachment of the flexible biomimetic fin 24. The clamping member 2222 is made of a copper-based wear-resistant self-lubricating material.

Further, referring to fig. 6, the flexible bionic fin 24 is in a flexible sheet shape, and is in a ring shape in a natural state, and a bolt mounting hole is formed in a mounting side. The clamping part 2222 clamps and installs the flexible bionic fin 24 through a bolt and nut pair in an assembly state.

Referring to fig. 4, 7 and 10, a part of one buoyancy system unit 3 includes an air pump 31, a first electromagnetic directional valve 32, a second electromagnetic directional valve 33, a one-way throttle speed regulating valve 34, an overflow pressure regulating valve 35 and a pipeline 36, and another part of the buoyancy system unit 3 includes a second air bag 30.

Referring to fig. 4, fig. 7 and fig. 10, a pipeline 36 is respectively used for communication between the first air bag 4 and the air pump 31, between the air pump 31 and the first electromagnetic directional valve 32, between the first electromagnetic directional valve 32 and the second air bag 30, between the second air bag 30 and the second electromagnetic directional valve 33, between the second electromagnetic directional valve 33 and the one-way throttling speed regulating valve 34, between the one-way throttling speed regulating valve 34 and the first air bag 4, between the second air bag 30 and the overflow pressure regulating valve 35, and between the overflow pressure regulating valve 35 and the first air bag 4, wherein the pipeline 36 passes through the sealed cabin 110 and is communicated with the second air bag 30 located in the water immersion cabin 120, the power supply device 5 is respectively electrically connected with the air pump 31, the first electromagnetic directional valve 32 and the second electromagnetic directional valve 33, and the control device 6 is respectively in signal connection with the air pump 31, the first electromagnetic directional valve 32 and the second electromagnetic directional valve 33.

Further, referring to fig. 10, an air inlet end of the second air bag 30 is connected in series with the first electromagnetic directional valve 32 and the air pump 31, an air outlet end of the second air bag 30 is connected in series with the second electromagnetic directional valve 33 and the overflow pressure regulating valve 35, one end of the second electromagnetic directional valve 33 is connected in series with the one-way throttle speed regulating valve 34, the overflow pressure regulating valve 35 is connected in parallel with one end of the one-way throttle speed regulating valve 34, that is, the second electromagnetic directional valve 33 is connected in series with the one-way throttle speed regulating valve 34, the overflow pressure regulating valve 35 is connected in parallel with both ends of the second electromagnetic directional valve 33 after being connected in series with the one-way throttle speed regulating valve 34, the one-way throttle speed regulating valve 34 and the overflow pressure regulating valve 35 are both connected in parallel with an inlet end of the air pump 31 and are both connected with the first air bag 4, so that the first air bag 4 and the second air bag 30 are mutually matched to drive the cabin 1 to float and sink in water by driving the transfer of the gas medium.

Furthermore, the size of the first air bag 4 is selected according to actual use, and the air pump 31, the first electromagnetic directional valve 32 and the second electromagnetic directional valve 33 are all powered by the power supply device 5 and controlled by the buoyancy control system module in the control device 6.

Further, the first electromagnetic directional valve 32 is a normally closed two-position two-way electromagnetic directional valve for intake air, and the second electromagnetic directional valve 33 is a normally closed two-position two-way electromagnetic directional valve for exhaust air.

Further, the conduit 36 enters through a line hole in the capsule 112, passes through the capsule 112, and communicates with the second bladder 30 located in the immersion tank 120.

Further, the buoyancy system medium can be gas or light oil. When the medium is light oil, the air pump 31 is replaced by an oil pump.

The robot of the invention has the following motion modes:

1. the power system unit 2 moves, namely the power system works:

(1) When moving in water:

under the control of the control device 6, the plurality of waterproof steering engines 21 drive the flexible bionic fin 24 to swing up and down according to a rule through the connecting piece 23 and the second connecting component 22, so that the flexible bionic fin 24 does sine-like fluctuation. The swing angle and the swing speed of the waterproof steering engine 21 are adjustable, so that the swing angle and the swing speed of the flexible bionic fin 24 are adjustable, and the amphibious robot can move forward, backward, raise, lower, ascend, sink, turn, hover and the like in water by adjustment. Wherein, the waterproof steering engine 21, the power supply device 5 and the control device 6 are connected by a wire and a signal wire, the power supply device 5 supplies power to the waterproof steering engine 21, and the control device 6 controls the start, stop and forward and reverse rotation of the output shaft of the waterproof steering engine 21.

When horizontal progression is required:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 swing with phase difference under the control of the control device 6, the flexible bionic fins 24 symmetrically and synchronously move under the serial driving of the plurality of waterproof steering engines 21 to realize sine-like wave swinging, forward-backward sine-like propulsion waves are formed on the fin surfaces, namely traveling waves are generated in water, and the flexible bionic fins 24 and the robot are pushed to advance by utilizing the reverse thrust power of the water traveling waves while the fin propulsion waves push fluid to move backward.

When horizontal fallback is required:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 swing with a phase difference opposite to that of the forward movement under the control of the control device 6, the flexible bionic fins 24 symmetrically and synchronously move under the serial connection drive of the plurality of waterproof steering engines 21 to realize sine-wave-like swing, traveling waves can be generated in water, and the flexible bionic fins 24 and the robot are pushed to retreat by the driving force of the traveling waves of the water.

When turning is needed:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 perform swing with different amplitudes and different frequencies and phase differences under the control of the control device 6, the flexible bionic fins 24 do asymmetric and asynchronous motion under the serial driving of the plurality of waterproof steering engines 21, sine-wave-like swing is realized, asymmetric traveling waves can be generated in water on the left side and the right side of the sealed cabin 110, and the flexible bionic fins 24 and the robot are pushed to make turning motion by the driving force of the traveling waves of the water.

When the forward head-up ascending movement needs to be realized:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 swing with phase difference under the control of the control device 6, the swing amplitude from front to back decreases progressively, the acceleration of the downward swing is larger than that of the upward swing, the flexible bionic fins 24 move symmetrically in a left-right synchronous mode under the driving of the plurality of waterproof steering engines 21 in series, sine-wave-like swing is achieved, traveling waves can be generated in water, and the flexible bionic fins 24 are pushed to move upwards and upwards by the aid of the driving force of the traveling waves of the water.

When forward low head sinking motion is required:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 swing with phase difference under the control of the control device 6, the swing amplitude from front to back decreases progressively, the upward swing is higher than the acceleration of the downward swing, the flexible bionic fins 24 move symmetrically in a left-right synchronous mode under the driving of the plurality of waterproof steering engines 21 in series, sine-wave-like swing is achieved, traveling waves can be generated in water, and the flexible bionic fins 24 are pushed to move forward and downward to sink by the aid of the driving force of the traveling waves of the water.

When the robot needs to be kept horizontal integrally and floats upwards along the vertical direction:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 can synchronously swing without phase difference under the control of the control device 6, the acceleration of downward swing is larger than that of upward swing, the flexible bionic fins 24 synchronously swing up and down in a bilateral symmetry mode under the synchronous driving of the waterproof steering engines 21, and the reverse thrust of water is utilized to push the flexible bionic fins 24 to achieve the purpose that the whole robot keeps horizontal and vertically floats.

When the robot needs to be kept horizontal as a whole and sinks along the vertical direction:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 can synchronously swing without phase difference under the control of the control device 6, the upward swing speed is larger than the downward swing speed, the flexible bionic fins 24 synchronously swing up and down in a bilateral symmetry mode under the synchronous drive of the plurality of waterproof steering engines 21, and the reverse thrust of water is utilized to push the flexible bionic fins 24 to realize that the whole robot keeps horizontal and vertically sinks.

When a still or hover needs to be achieved:

the waterproof steering engines 21 on the left side and the right side of the sealed cabin 110 are static or swing with phase difference opposite to the whole motion direction under the control of the control device 6, and the flexible bionic fin 24 is static or swings like sine waves with low frequency and small amplitude opposite to the whole motion direction under the serial drive of the plurality of waterproof steering engines 21 to realize static or hovering.

In addition, when the robot needs to float, the control device 6 can control the operation of the buoyancy system, so that the air pump 31 in the sealed cabin 110 works, the passage of the first electromagnetic directional valve 32 in the sealed cabin 110 is opened, the second electromagnetic directional valve 33 is in a closed state, and the gas in the first air bag 4 in the sealed cabin 110 inflates the second air bag 30 in the soaking cabin 120, thereby assisting in realizing the floating movement of the robot.

When the robot needs to sink, the control device 6 can control the operation of the buoyancy system, so that the air pump 31 in the sealed cabin 110 stops working, the first electromagnetic directional valve 32 passage in the sealed cabin 110 is closed, the second electromagnetic directional valve 33 passage in the sealed cabin 110 is opened at the same time, and the gas in the second air bag 30 in the water immersion cabin 120 is discharged into the first air bag 4 in the sealed cabin 110 by using the pressure of the outside water, thereby assisting the robot in sinking.

The spherical shape of the clamping part 2222 and the spherical hole of the rotating part 2221 are matched with each other, so that the clamping part 2222 can rotate around the axis of the clamping part 2222, and the connecting part of the second connecting component 22 and the flexible bionic fin 24 has a rotational degree of freedom. The motion curve of the flexible bionic fin 24 is smoother, the resistance is smaller, and the driving efficiency is higher.

(2) When moving on land:

the movement principle of the robot on the land is basically the same as that of the robot in water, and the difference is that the movement on the land only has a plurality of movement modes of advancing, retreating and turning. The buoyancy system does not participate in the work.

When the robot needs to advance on land:

the tail end of the flexible bionic fin 24 is controlled by an output shaft of the waterproof steering engine 21 to be grounded and supported under the control of the control device 6, the flexible bionic fin 24 swings according to a sine-like rule, fins on two sides synchronously move, and the flexible bionic fin is pushed to move forwards by using the friction counter force of the ground.

When the robot needs to retreat on land:

the tail end of the flexible bionic fin 24 is controlled by an output shaft of the waterproof steering engine 21 to be grounded and supported under the control of the control device 6, the flexible bionic fin 24 swings like a sine according to the action opposite to the advancing action, fins on two sides move synchronously, and the flexible bionic fin is pushed to move backwards by using the friction counter force of the ground.

When the robot needs to turn on land:

the tail end of the flexible bionic fin 24 is controlled by an output shaft of the waterproof steering engine 21 to be supported on the ground under the control of the control device 6, the flexible bionic fins 24 on two sides swing in a sine-like rule with different amplitudes and frequencies, and the flexible bionic fins are pushed to turn and move to one side with smaller motion amplitude and frequency by using the friction counter force on the ground. The waterproof steering engine 21 is powered by a lithium battery.

2. When one buoyancy system unit 3 is in operation, i.e. when the buoyancy system is in operation:

when the robot needs to float by increasing buoyancy:

referring to fig. 10, the control device 6 controls the air pump 31 to start, the first electromagnetic directional valve 32, i.e., the two-position two-way electromagnetic directional valve for air intake, is in a passage open state, and the air pump 31 is controlled to start to pump the air in the first air bag 4 into the second air bag 30. Meanwhile, the control device 6 controls the second electromagnetic directional valve 33, that is, the two-position two-way electromagnetic directional valve for exhaust to be in a normally closed state. Therefore, the second air bag 30 can be in an inflated state, the overall buoyancy of the robot is increased, the balance state of gravity and buoyancy is broken, and the robot floats upwards by virtue of the buoyancy. In this way, the inflation of the second bladder 30 in the immersion tank 120 can be controlled to switch the magnitude of the different buoyancy forces.

When the robot needs to sink by reducing buoyancy:

the control device 6 controls the air pump 31 to stop, the first electromagnetic directional valve 32, namely the two-position two-way electromagnetic directional valve for air intake, is in a closed passage state, and meanwhile, the control device 6 controls the second electromagnetic directional valve 33, namely the two-position two-way electromagnetic directional valve for air exhaust, to be in an open passage state. Thus, the gas in the second air bag 30 can be discharged into the first air bag 4 through the second electromagnetic directional valve 33, namely, the two-position two-way electromagnetic directional valve for air discharge and the one-way throttle speed regulating valve 34 by means of the pressure of the external water. Therefore, the overall buoyancy of the robot is reduced, the balance state of gravity and buoyancy is broken, and the robot sinks. In this way, the second air bag 30 in the immersion tank 120 can be controlled to exhaust, and the switching of different buoyancy values can be realized. The speed of the exhaust gas can be regulated by the one-way throttle governor valve 34. The second airbag 30 can also be protected by the overflow pressure regulating valve 35. When the pressure in the second air bag 30 exceeds the set maximum pressure threshold of the relief pressure regulating valve 35, the gas in the second air bag 30 is discharged through the relief pressure regulating valve 35 passage into the first air bag 4. The water inlet hole is opened on the surface of the tail of the immersion tank 120, so that the immersion tank 120 is communicated with the outside water.

In addition, the adjusting medium used by the buoyancy system can also be oil with density lower than that of water, and correspondingly, the air pump 31 can be replaced by an oil pump. All air bags and oil bags are made of non-rigid materials. The electrical appliances of the entire buoyancy system are powered by the power supply means 5.

3. Sonar detection, environmental signal acquisition passback and obstacle avoidance working principle:

a plurality of sonar sensors 8 are used for detecting the position, shape and movement speed of the front, rear, left side, right side and lower target environment and acquiring signals, a control device 6 is used for controlling the sonar sensors, controlling a power system and a buoyancy system to act and implementing obstacle avoidance movement on the front obstacle target. Meanwhile, the collected signals can be transmitted with a receiving terminal through an underwater acoustic communication system or a radio communication system. The receiving terminal can be a special signal receiver, a special mobile phone and a special computer. The sonar sensor and the integrated controller are both powered by lithium batteries.

4. The working principle of camera shooting and environmental signal acquisition and return is as follows:

the waterproof camera 9 performs camera shooting and video recording on a target environment in front, and the camera shooting video is transmitted with a receiving terminal through an underwater acoustic communication system or a radio communication system. The receiving terminal can be a special signal receiver, a special mobile phone and a special computer. The waterproof camera and the integrated controller are both powered by lithium batteries.

5. The attitude control principle is as follows:

the attitude control is realized by sensing the attitude of the robot by a gyroscope attitude control system module in the control device 6, if the attitude needs to be adjusted, the motion of the waterproof steering engine 21 can be controlled by a power system, the attitude adjustment is carried out by the motion of the flexible bionic fin 24, and the attitude adjustment can also be carried out by a buoyancy system. The power system comprises a power system unit 2, a power control system module in a control device 6 and a power supply device 5, and the buoyancy system comprises a buoyancy system unit 3, a first air bag 4, a buoyancy control system module in the control device 6 and the power supply device 5.

6. Communication control principle:

the communication system comprises an underwater acoustic communication control system module, a radio communication control system module, a sonar sensor 8 and a power supply device 5 in the control device 6. And underwater acoustic communication with the receiving terminal is realized through a sonar and an underwater acoustic communication control system module of the integrated controller. Radio communication with a receiving terminal is realized by a radio communication control system module of the integrated controller.

7. Positioning and navigation principles:

the positioning and navigation of the robot are completed by the cooperation of a sonar sensor, a navigation control system module in the control device 6 and a communication system. The navigation control system module in the control device 6 comprises an inertial navigation module, a GPS positioning navigation module and a log module.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

Claims (9)

1. A cabin body vertically distributed amphibious robot is characterized by comprising a cabin body (1), a power system unit (2), a buoyancy system unit (3), a first air bag (4), a power supply device (5) and a control device (6);

the power system units (2) are symmetrically arranged at two sides of the cabin body (1) and are used for driving the cabin body (1) to move;

the buoyancy system unit (3) and the first air bag (4) are both arranged in the inner cavity of the cabin body (1), and the buoyancy system unit (3) is communicated with the first air bag (4) and is used for driving the cabin body (1) to float and sink in water;

the power supply device (5) and the control device (6) are arranged on the inner side of the cabin body (1), the power supply device (5) and the control device (6) are electrically connected and in signal connection, the power supply device (5) is respectively electrically connected with the power system unit (2) and the buoyancy system unit (3), and the control device (6) is respectively in signal connection with the power system unit (2) and the buoyancy system unit (3).

2. The vertically distributed amphibious robot with a cabin according to claim 1, wherein the power system unit (2) comprises a first connecting assembly (20), a plurality of waterproof steering engines (21), a plurality of connecting members (23), a plurality of second connecting assemblies (22) and flexible bionic fins (24);

the bilateral symmetry of the cabin body (1) installs first connecting assembly (20), the direction of advance parallel arrangement of first connecting assembly (20) and the cabin body (1), evenly set up on first connecting assembly (20) a plurality of waterproof steering wheel (21), the equal erection joint spare (23) of output of waterproof steering wheel (21), connecting piece (23) all are connected with flexible bionical fin (24) through second coupling assembling (22), so that waterproof steering wheel (21) drive flexible bionical fin (24) swing through second coupling assembling (22), power supply unit (5) and waterproof steering wheel (21) electric connection, controlling means (6) and waterproof steering wheel (21) signal connection.

3. The vertically-distributed amphibious robot with the cabin according to claim 2, wherein the first connecting assembly (20) comprises a plurality of first connecting plates (201), a first connecting plate framework (202) and a plurality of second connecting plates (203), the first connecting plate framework (202) is parallel to the advancing direction of the cabin (1), two sides of the cabin (1) are connected with one side wall of the first connecting plate framework (202) through the first connecting plates (201), the other side wall of the first connecting plate framework (202) is provided with the second connecting plates (203), the second connecting plates (203) are fixedly connected with waterproof steering engines (21), the second connecting plates (203) are connected with the waterproof steering engines (21) in a one-to-one correspondence manner, the waterproof steering engines (21) are uniformly distributed on the first connecting plate framework (202) along the advancing direction of the cabin (1), and output shafts of the waterproof steering engines (21) are connected with connecting pieces (23).

4. The vertically distributed amphibious robot with the cabin according to claim 3, wherein the second connection assembly (22) comprises a fixed structure (221) and clamping assemblies (222), the fixed structure (221) is connected with the connection members (23), the fixed structure (221) corresponds to the connection members (23) one by one, the clamping assemblies (222) are rotatably mounted on one side of the fixed structure (221), the clamping assemblies (222) are correspondingly connected with the fixed structure (221) one by one, and the clamping assemblies (222) are connected with the flexible bionic fins (24).

5. The hull vertically distributed amphibious robot according to claim 4, wherein the fixed structure (221) comprises a first fixed plate (2211), a third connecting plate (2214), a fourth connecting plate (2212) and a first connecting column (2213), and the clamping assembly (222) comprises a rotating member (2221) and a clamping member (2222);

one side of the first fixing plate (2211) is connected with the connecting piece (23), the other side wall of the first fixing plate (2211) is provided with a third connecting plate (2214), the third connecting plate (2214) is connected with a fourth connecting plate (2212), the contacting side walls of the third connecting plate (2214) and the fourth connecting plate (2212) are provided with hemispherical holes, the hemispherical hole in the third connecting plate (2214) and the hemispherical hole in the fourth connecting plate (2212) form a spherical hole, one side wall of the fourth connecting plate (2212) is connected with a first connecting column (2213), a cylindrical hole is formed in the first connecting column (2213), the central line of the cylindrical hole is collinear with the center of the hemispherical hole, and the cylindrical hole is communicated with the hemispherical hole in the fourth connecting plate (2212);

one end of the rotating piece (2221) is a spherical body, the other end of the rotating piece (2221) is connected with the clamping piece (2222), the spherical body at one end of the rotating piece (2221) is rotatably connected with the spherical hole, and the other end of the clamping piece (2222) is connected with the flexible bionic fin (24).

6. The vertically distributed amphibious robot with the cabin according to claim 1, wherein the cabin (1) comprises a sealed cabin (110) and a submerged cabin (120), the sealed cabin (110) is located below the submerged cabin (120), a first air bag (4) is installed in the sealed cabin (110), one part of the buoyancy system unit (3) is arranged in the sealed cabin (110), the other part of the buoyancy system unit (3) comprises a second air bag (30), wherein the second air bag (30) is arranged in the center of the submerged cabin (120), and one part of the buoyancy system unit (3) is communicated with the other part of the buoyancy system unit (3).

7. The vertically distributed amphibious robot with the cabin according to claim 6, wherein one part of the buoyancy system unit (3) comprises an air pump (31), a first electromagnetic directional valve (32), a second electromagnetic directional valve (33), a one-way throttle speed regulating valve (34), an overflow pressure regulating valve (35) and a pipeline (36), and the other part of the buoyancy system unit (3) comprises a second air bag (30);

a pipeline (36) is adopted to be communicated between the first air bag (4) and the air pump (31), between the air pump (31) and the first electromagnetic directional valve (32), between the first electromagnetic directional valve (32) and the second air bag (30), between the second air bag (30) and the second electromagnetic directional valve (33), between the second electromagnetic directional valve (33) and the one-way throttling speed regulating valve (34), between the one-way throttling speed regulating valve (34) and the first air bag (4), between the first air bag (4) and the overflow pressure regulating valve (35), and between the overflow pressure regulating valve (35) and the second air bag (30), wherein the pipeline (36) penetrates through the sealed cabin (110) to be communicated with the second air bag (30) positioned in the water immersion cabin (120), the power supply device (5) is respectively electrically connected with the air pump (31), the first electromagnetic directional valve (32) and the second electromagnetic directional valve (33), and the control device (6) is respectively connected with the air pump (31), the first electromagnetic directional valve (32) and the second electromagnetic directional valve (33) through signals.

8. The amphibious robot with the vertically distributed cabin according to claim 6, wherein the sealed cabin (110) comprises a sealed cabin shell (111) and a sealed cabin cover (112), the sealed cabin cover (112) is hermetically connected with the sealed cabin shell (111), the water immersion cabin (120) is of a non-sealed structure and is provided with water inlet and outlet holes, an integral shell (7) is arranged outside the water immersion cabin (120) and the sealed cabin (110), the integral shell (7) wraps the left side surface, the right side surface, the upper side surface and the front side surface and the rear side surface of the water immersion cabin (120) and the sealed cabin (110), and the integral shell (7) is of a non-sealed state.

9. The vertically-distributed amphibious robot with the cabin according to claim 8, wherein a plurality of sonar sensors (8) are arranged on the outer surface of the sealed cabin (110) and the outer surface of the submerged cabin (120), and a waterproof camera (9) is arranged on the front surface of the submerged cabin (120).

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